CN105108540A - Curved plate tool and curved plate drilling equipment and drilling method thereof - Google Patents

Curved plate tool and curved plate drilling equipment and drilling method thereof Download PDF

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Publication number
CN105108540A
CN105108540A CN201510610352.3A CN201510610352A CN105108540A CN 105108540 A CN105108540 A CN 105108540A CN 201510610352 A CN201510610352 A CN 201510610352A CN 105108540 A CN105108540 A CN 105108540A
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CN
China
Prior art keywords
workpiece
added
mechanical arm
reverse side
stationary work
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Granted
Application number
CN201510610352.3A
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Chinese (zh)
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CN105108540B (en
Inventor
巩相峰
林朝霞
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Zibo Newstart Robot System Technology Co Ltd
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Zibo Newstart Robot System Technology Co Ltd
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Priority to CN201510610352.3A priority Critical patent/CN105108540B/en
Publication of CN105108540A publication Critical patent/CN105108540A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06Work-clamping means
    • B23Q3/08Work-clamping means other than mechanically-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23BTURNING; BORING
    • B23B41/00Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/20Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/02Driving main working members
    • B23Q5/04Driving main working members rotary shafts, e.g. working-spindles
    • B23Q5/10Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2703/00Work clamping
    • B23Q2703/02Work clamping means
    • B23Q2703/04Work clamping means using fluid means or a vacuum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2703/00Work clamping
    • B23Q2703/02Work clamping means
    • B23Q2703/10Devices for clamping workpieces of a particular form or made from a particular material

Abstract

The invention discloses a curved plate tool and curved plate drilling equipment and a drilling method thereof, and belongs to the field of special-shaped plate machining equipment. A to-be-machined workpiece fixed on a back-face fixing workbench adopts an arc-shaped plate with two ends bending upwards, the to-be-machined workpiece is located between a first support and a second support, the upper end of the first support is provided with a back-face pressing mechanism used for pressing one end of the to-be-machined workpiece, the upper end of the second support is provided with a clamping fixture with the height adjustable, and the clamping fixture is used for clamping the other end of the to-be-machined workpiece; a back-face transverse positioning mechanism performs transverse positioning on the to-be-machined workpiece. The curved plate drilling equipment detects the vertical distance between a drilling mechanism and the to-be-machined workpiece in real time through a drilling positioning device, the drilling equipment on a mechanical arm automatically drills the to-be-machined workpiece in the shape of the special-shaped plate, therefore, the working intensity is lowered, the working efficiency is improved, the machining cost is lowered, and the drilling precision is improved. According to the curved plate drilling method, the working mode of a drill bit can be adjusted according to the resistance borne by the drill bit, the life of the drill bit is prolonged, and the working efficiency is improved.

Description

Curved slab frock, rig and boring method thereof
Technical field
Curved slab frock, rig and boring method thereof, belong to sketch plate process equipment field.
Background technology
The structure of existing equipment when clamping curved slab is all very complicated, often needs to be positioned curved slab by a large amount of fixtures and fix, and in the engineering of processing curved slab, mutual interference easily occurs for process equipment and fixture.When holing to sketch plate, because its surface is arc, existing equipment cannot laundering period arc-shaped curved surface, such as, on grain storage production line, often needs to hole on grain-guard door, because grain-guard door is arc-shaped structure, arc surface is holed very difficult.Mostly adopt artificial boring on the market at present, easily cause personal injury to practitioner, production efficiency is low, and worker workload is large, and positional precision and dimensional accuracy all do not ensure.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, the curved slab frock that a kind of structure is simple, easy to operate is provided, also provide one can hole to sketch plate, alleviate operation intensity, improve operating efficiency, the curved slab rig of the borehole accuracy that cuts down finished cost, improves and boring method thereof.
The technical solution adopted for the present invention to solve the technical problems is: this curved slab frock, comprise reverse side stationary work-table, reverse side vertical location device and reverse side transverse positioning mechanism, reverse side vertical location device comprises interval and is fixed on the first support on reverse side stationary work-table and the second support, the workpiece to be added be fixed on reverse side stationary work-table is the arc that two ends are bent upwards, workpiece to be added is between the first support and the second support, first pedestal upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece one end to be added, second pedestal upper end is provided with height adjustable and clamps the clamping fixture of the workpiece other end to be added, reverse side transverse positioning mechanism is arranged on the both sides of reverse side stationary work-table, and located lateral is carried out to machined part in the both sides clamping workpiece to be added.
Preferably, described clamping fixture comprises fixture holder, quick chuck, connecting rod and promotes the connecting rod driver element of connecting rod swing, fixture holder is adjustable for height to be fixed on the secondary support bracket, one end of quick chuck and one end of connecting rod driver element are hinged on fixture holder respectively, one end of connecting rod and the output of connecting rod driver element are rotationally connected, the other end of connecting rod and the middle part of quick chuck are rotationally connected, connecting rod driver element drives quick chuck to swing by connecting rod, and the other end of quick chuck is pressed on the upside of the end of workpiece to be added.
Preferably, the top of described first support is also fixed with a reverse side longitudinal register cylinder, a location via hole is offered on the top of the first support, location via hole is positioned at the below of reverse side pressure holding mechanism, and the piston rod of reverse side longitudinal register cylinder promotes to be processed longitudinal register through after the via hole of location.Utilize the further promotion workpiece to be added of reverse side longitudinal register cylinder to carry out longitudinal register, workpiece to be added is fixing more firm, and location is also more accurate, improves machining accuracy.
Preferably, also comprise at least one front stationary work-table, front stationary work-table is arranged on the side of reverse side stationary work-table, on the stationary work-table of front, interval is fixed with two fixed blocks, the workpiece to be added be fixed on the stationary work-table of front is the reclinate arcs in two ends, workpiece to be added is fixed between two fixed blocks, and at least one fixed block is slidably arranged along front stationary work-table length direction, and the both sides of front stationary work-table are provided with front transverse positioning mechanism; Located lateral is carried out to machined part in the both sides that front transverse positioning mechanism clamps workpiece to be added.
Preferably, also comprise X-axis track plates, described front stationary work-table and reverse side stationary work-table relatively independent be slidably arranged on X-axis track plates, front stationary work-table and reverse side stationary work-table are respectively and be provided with the workbench actuating unit driving it to slide between X-axis track plates.
A kind of curved slab rig, it is characterized in that: comprise above-mentioned curved slab frock, at least one gantry frame and mechanical arm is also fixed with above curved slab frock, the top of gantry frame has the Y-axis crossbeam of level, Y-axis crossbeam is arranged with reverse side stationary work-table is mutually vertical, mechanical arm is arranged on Y-axis crossbeam, the lower end of mechanical arm is provided with borehole drill construction and drilling-hole positioning device, driving machine mechanical arm is provided with around the mechanical arm swing mechanism of axis oscillating being parallel to Y-axis crossbeam between mechanical arm and Y-axis crossbeam, mechanical arm is also connected with the drill bit elevating mechanism driving borehole drill construction lifting, Y-axis crossbeam and reverse side stationary work-table can relative movements at reverse side stationary work-table length direction.
Preferably, described Y-axis crossbeam is arranged with two mechanical arms, between mechanical arm and Y-axis crossbeam, is also provided with the mechanical arm transverse-moving mechanism of driving machine mechanical arm along Y-axis crossbeam transverse shifting; Described borehole drill construction comprises the servo-driver connected successively, hole servomotor, reductor and drill bit, and servo-driver is connected with controller.
Preferably, described drilling-hole positioning device comprises positioning roller and electronic ruler, and electronic ruler is vertically fixed on the robotic arm, and positioning roller is connected with the flexible range cells of electronic ruler lower end by magnet attraction mechanism.
Preferably, described magnet attraction mechanism comprises strong magnets, roller mount pad and magnet holder, and positioning roller rolls and is arranged on roller mount pad, and roller mount pad is by described strong magnets and the adhesive of magnet holder;
Described flexible range cells comprises small-sized ram and line slideway auxiliary, and small-sized ram is connected to the lower end of electronic ruler by spring, and small-sized ram is slidably arranged on line slideway auxiliary, and magnet holder to be fixed on line slideway auxiliary and to promote the lifting of small-sized ram.
A kind of curved slab boring method, comprises above-mentioned curved slab rig, it is characterized in that: comprise the following steps:
Step 1), start, system back to zero;
Step 2), utilize curved slab frock to be fixed by workpiece to be added, if need to be programmed into step 3), otherwise enter step 5);
Step 3), programming, the swinging track of setting mechanical arm, sets lengthwise travel rate and the stroke of workpiece to be added;
Step 4), mechanical arm and workpiece sky to be added are walked, if mechanical arm can drive borehole drill construction to hole in the position hole to be drilled of workpiece to be added, enter step 5), otherwise return step 3);
Step 5), automatic operation, curved slab frock drives workpiece to be added to vertically move, mechanical arm swing mechanism driving mechanical arm swings along workpiece surface curvature to be added, drilling-hole positioning device contacts with workpiece surface to be added, detect the vertical range of borehole drill construction and surface of the work to be added, drill bit elevating mechanism drives borehole drill construction lifting, and borehole drill construction is holed to machined part;
Step 6), boring completes, and is pulled down by workpiece;
Described borehole drill construction comprises the servo-driver connected successively, hole servomotor, reductor and drill bit, and servo-driver is connected with controller; Drilling-hole positioning device is connected with controller; Carry out to machined part in boring procedure at borehole drill construction in step 5), the data detected are sent to controller by drilling-hole positioning device, servo-driver detects the electric current of boring servomotor and feeds back to controller simultaneously, controller judges the stressing conditions of drill bit according to the electric current of boring servomotor, and is changed the rotating speed of boring servomotor accordingly by servo-driver.
Compared with prior art, the beneficial effect that the present invention has is:
1, the first pedestal upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece one end to be added, second pedestal upper end is provided with height adjustable and clamps the clamping fixture of the workpiece other end to be added, reverse side pressure holding mechanism is at one end utilized to position to machined part, the other end is positioned by clamping fixture, avoiding two ends, to utilize action component to position be the situation that stress occurs mutually to interfere or exist simultaneously, and structure is simple, easy to operate, cost is low.Located lateral is carried out to machined part in the both sides simultaneously utilizing reverse side transverse positioning mechanism to clamp workpiece to be added, improves positioning precision and operating efficiency further.
2, the present invention detects the vertical range between borehole drill construction and workpiece to be added in real time by drilling-hole positioning device, drill bit elevating mechanism is utilized to drive borehole drill construction lifting, ensure, between borehole drill construction and workpiece to be added, there is constant distance, then the arm swing of mechanical arm swing mechanism driving mechanical is utilized, adapt to the workpiece to be added of arc, borehole drill construction is holed perpendicular to workpiece to be added, Y-axis crossbeam and workbench relative movement, thus the rig on mechanical arm is longitudinally holed to machined part, achieve the boring automatically to the workpiece to be added of special-shaped tabular, alleviate operation intensity, improve operating efficiency, cut down finished cost, improve borehole accuracy.
3, positioning roller is connected with the flexible range cells of electronic ruler lower end by magnet attraction mechanism, the surface of workpiece to be added is often more coarse, sometimes surface also has some raised or sunken parts, especially arc, positioning roller is easily impacted at walking process, by magnet attraction mechanism adhesive positioning roller and flexible range cells, positioning roller can be separated with flexible range cells when meeting accident collision, thus prevent from damaging parts, especially the electronic ruler that price is higher, reduce operating cost, run more reliable.
4, the workbench actuating unit driving workbench to slide is provided with between workbench and X-axis track plates.Confirmed by test, by the slip that workbench is arranged, in process, travelling table wants simple relative to mobile gantry framework, reduce firstly required space, and can reduce engine mechanical arm because the mobile error produced, improve machining accuracy.
5, when the current increases, illustrate that workpiece material to be added is herein harder, drill bit receives larger resistance, this Time Controller by servo-driver can keyhole servomotor rotating speed reduce, thus can effectively avoid drill bit impaired or even directly rupture, equally, when the current decreases, illustrate that workpiece material to be added is herein relatively soft, the resistance that drill bit is subject to is less, this Time Controller can be improved by the rotating speed of servo-driver keyhole servomotor, thus can improve working (machining) efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of this curved slab frock embodiment 1.
Fig. 2 is the partial enlarged drawing at A place in Fig. 1.
Fig. 3 is the partial enlarged drawing at B place in Fig. 1.
Fig. 4 is the structural representation of the reverse side stationary work-table being fixed with workpiece to be added.
Fig. 5 is the structural representation of this curved slab frock embodiment 2.
Fig. 6 is the partial enlarged drawing at C place in Fig. 5.
Fig. 7 is the structural representation of curved slab rig.
Fig. 8 is the partial enlarged drawing at D place in Fig. 7.
Fig. 9 is the structural representation at E place in Fig. 7.
Figure 10 is the structural representation of boring detent mechanism.
Figure 11 is the logic diagram of arc boring method.
Figure 12 is theory diagram of specifically holing in arc boring method.
Wherein: 1, column 2, Y-axis crossbeam 3, alarm 4, Y-axis guide rail 5, Y-axis tooth bar 6, mechanical arm wobble servo motor 7, Y-axis servomotor 8, drag chain fixed mount 801, rack side plate 9, mechanical arm 10, workpiece 11 to be added, reverse side stationary work-table 12, front stationary work-table 13, first support 14, second support 15, X-axis track plates 16, fixed block 17, mechanical arm holder 18, mechanical arm swings limit switch 19, range finding fixed head 20, unit head fixed head 21, electronic ruler 22, spring 23, boring servomotor 24, reductor 25, positioning roller 26, drill bit 27, strong magnets 28, magnet holder 29, small-sized ram 30, detection head 31, line slideway auxiliary 32, roller mount pad 33, briquetting 34, reverse side longitudinal register cylinder 35, located lateral cylinder 36, locating support 37, locating piece 38, location via hole 39, fixture holder 40, quick chuck 41, connecting rod 42, clamp cylinder 43, front longitudinal register cylinder.
Detailed description of the invention
Be described further below in conjunction with 1 ~ 12 pair, accompanying drawing curved slab frock of the present invention, rig and boring method thereof.
Embodiment 1
With reference to Fig. 1, this curved slab frock, comprise reverse side stationary work-table 11, reverse side vertical location device and reverse side transverse positioning mechanism, reverse side vertical location device comprises interval and is fixed on the first support 13 and the second support 14 on reverse side stationary work-table 11, be fixed on the arc that the workpiece to be added 10 on reverse side stationary work-table 11 is bent upwards for two ends, workpiece 10 to be added is between the first support 13 and the second support 14, first support 13 upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece 10 to be added one end, second support 14 upper end is provided with height adjustable and clamps the clamping fixture of workpiece 10 other end to be added, clamping fixture is adjustable for height to be arranged on the second support 14, the workpiece to be added 10 of differently curved height can be adapted to like this, and first support 13 and the second support 14 lower end all can be fixed on reverse side stationary work-table 11 along reverse side stationary work-table 11 length direction adjustment position, the workpiece to be added 10 of different length can be adapted to like this, and reverse side pressure holding mechanism is installed with the one end with workpiece 10 to be added, clamping fixture action also clamps the other end of workpiece 10 to be added, thus completes the location of to machined part 10 and fixing, easy to operate.
Reverse side transverse positioning mechanism is arranged on the both sides of reverse side stationary work-table 11, located lateral 10 is carried out to machined part in the both sides clamping workpiece 10 to be added, concrete, reverse side transverse positioning mechanism comprises multiple located lateral cylinder 35, located lateral support 36 and multiple locating piece 37, located lateral support 36 is fixed on the both sides of workbench, located lateral cylinder 35 and locating piece 37 is adjustable for height is separately fixed on corresponding locating support 36, located lateral cylinder 35 and locating piece 37 are oppositely arranged on the both sides of workpiece 10 to be added.
With reference to Fig. 2, reverse side pressure holding mechanism is fixed on the front side of the first support 13, further, a reverse side longitudinal register cylinder 34 is also fixed with at the rear side of the first support 13, for coordinating reverse side longitudinal register cylinder 34, a location via hole 38 is offered on the top of the first support 13, location via hole 38 is positioned at the below of reverse side pressure holding mechanism, the piston rod of reverse side longitudinal register cylinder 34 can promote workpiece 10 longitudinal register to be added through after the via hole 38 of location, workpiece 10 to be added is fixing more firm, locate also more accurate, improve machining accuracy, certainly in order to better 10 position to machined part, a push pedal can be fixed in the front end of reverse side longitudinal register cylinder 34 piston rod.Concrete, the reverse side pressure holding mechanism in the present embodiment is the briquetting 33 of a L shape.
With reference to Fig. 3 and 4, clamping fixture comprises fixture holder 39, quick chuck 40, the clamp cylinder 42 that connecting rod 41 and promotion connecting rod 41 swing, fixture holder 39 is adjustable for height to be fixed on the second support 14, one end of quick chuck 40 and one end of clamp cylinder 42 are hinged on fixture holder 39 respectively, one end of connecting rod 41 is connected with the piston rod rotation of clamp cylinder 42, the other end of connecting rod 41 and the middle part of quick chuck 40 are rotationally connected, clamp cylinder 42 drives quick chuck 40 to swing by connecting rod 41, the other end of quick chuck 40 is pressed on the upside of the end of workpiece 10 to be added.Workpiece 10 to be added is positioned on workbench, located lateral cylinder 35 action, promote workpiece 10 transverse shifting to be added, workpiece 10 to be added is made to be clamped between located lateral cylinder 35 and locating piece 37, mobile first support 13 and the second support 14, the briquetting 33 of the first support 13 upper end is made to be installed with the one end with workpiece 10 to be added, cylinder 34 action of reverse side longitudinal register also contacts one end of workpiece 10 to be added, promote workpiece 10 to be added to vertically move, the other end of workpiece 10 to be added is contacted with the second support 14, clamp cylinder 42 action, quick chuck 40 is driven to swing, the other end of quick chuck 40 is pressed on the upside of the end of workpiece 10 to be added, thus complete the location of to machined part 10 and fix, easy to operate.
Embodiment 2
With reference to Fig. 5, the difference of the present embodiment and embodiment 1 is, this curved slab frock also comprises a front stationary work-table 12(reverse side stationary work-table 11 not shown in FIG.), front stationary work-table 12 is arranged on the side of reverse side stationary work-table 11, front stationary work-table 12 and the separate slip of reverse side stationary work-table 11 are arranged, the workpiece to be added 10 be fixed on front stationary work-table 12 is the reclinate arc in two ends, workpiece 10 to be added can be selected to be fixed on front stationary work-table 12 or reverse side stationary work-table 11 according to the shape of workpiece 10 to be added like this, such as one side comparatively smooth for surface can be fixed in corresponding curved slab frock as upper surface.
With reference to Fig. 5 and 6, on front stationary work-table 12, interval is fixed with two fixed blocks 16, the workpiece to be added 10 be fixed on front stationary work-table 12 is the reclinate arc in two ends, workpiece 10 to be added is fixed between two fixed blocks 16, at least one fixed block 16 is slidably arranged along front stationary work-table 12 length direction, the both sides of front stationary work-table 12 are provided with front transverse positioning mechanism, fixed block 16 is fixed with front longitudinal register cylinder 43, two fixed blocks 16 10 carry out longitudinal Primary Location to machined part, then promote workpiece 10 to be added by front longitudinal register cylinder 43 and carry out further longitudinal register, because the workpiece to be added 10 on front stationary work-table 12 is the reclinate arcs in two ends, so below the dropping on all the time of the two ends of workpiece 10 to be added, so the adjustment without the need to considering height.Front transverse positioning mechanism is fixed on the both sides of front stationary work-table 12, and located lateral 10 is carried out to machined part in the both sides clamping workpiece 10 to be added.Front transverse positioning mechanism also comprises multiple located lateral cylinder 35 and locating piece 37, the located lateral cylinder 35 at two ends is fixed on fixed block 16, the located lateral cylinder 35 at middle part is adjustable for height to be fixed on locating support 36, and located lateral cylinder 35 and locating piece 37 are oppositely arranged.
With reference to Fig. 7, the present invention also provides a kind of curved slab rig, comprise the curved slab frock of above-mentioned any embodiment, at least one gantry frame and mechanical arm 9 is also fixed with above curved slab frock, the top of gantry frame has the Y-axis crossbeam 2 of level, Y-axis crossbeam 2 is arranged with reverse side stationary work-table 11 is mutually vertical, mechanical arm 9 is arranged on Y-axis crossbeam 2, the lower end of mechanical arm 9 is provided with borehole drill construction and drilling-hole positioning device, driving machine mechanical arm 9 is provided with around the mechanical arm swing mechanism of axis oscillating being parallel to Y-axis crossbeam 2 between mechanical arm 9 and Y-axis crossbeam 2, mechanical arm 9 is also connected with the drill bit elevating mechanism driving borehole drill construction lifting, Y-axis crossbeam 2 and reverse side stationary work-table 11 can relative movements at reverse side stationary work-table 11 length direction.The present invention detects the vertical range between borehole drill construction and workpiece to be added 10 in real time by drilling-hole positioning device, drill bit elevating mechanism is utilized to drive borehole drill construction lifting, ensure, between borehole drill construction and workpiece to be added 10, there is constant distance, then mechanical arm swing mechanism driving mechanical arm 9 is utilized to swing, adapt to the workpiece to be added 10 of arc, borehole drill construction is holed perpendicular to workpiece 10 to be added, Y-axis crossbeam 2 and reverse side stationary work-table 11 can relative movements, thus the rig on mechanical arm 9 longitudinally 10 is holed to machined part, achieve the boring automatically to the workpiece to be added 10 of special-shaped tabular, alleviate operation intensity, improve operating efficiency, cut down finished cost, improve borehole accuracy.
Further, curved slab frock in above-described embodiment 1 or embodiment 2 also comprises X-axis track plates 15, what front stationary work-table 12 and reverse side stationary work-table 11 were relatively independent is slidably arranged on X-axis track plates 15, and front stationary work-table 12 and reverse side stationary work-table 11 are respectively and be provided with the workbench actuating unit driving it to slide between X-axis track plates 15.Concrete, workbench actuating unit comprises the X-axis gear be fixed on the downside of workbench and the X-axis tooth bar be fixed on the upside of X-axis track plates 15, workbench bottom is fixed with the X-axis servomotor driving X-axis gear, and X-axis gear engages with X-axis tooth bar and drives workbench to slide along X-direction.
Preferably, the gantry frame in the present embodiment also comprises the column 1 of both sides, and Y-axis crossbeam 2 is horizontally fixed on two pillars, and alarm 3 is fixed at the two ends of Y-axis crossbeam 2, and curved slab frock is arranged between two columns 1.And in the present embodiment on Y-axis crossbeam 2 mirror image be provided with two mechanical arms 9, be also provided with the mechanical arm transverse-moving mechanism of driving machine mechanical arm 9 along Y-axis crossbeam 2 transverse shifting between mechanical arm 9 and Y-axis crossbeam 2.The present invention can be moved by driving mechanical arm 9 by mechanical arm transverse-moving mechanism between front stationary work-table 12 and reverse side stationary work-table 11, thus during workpiece 10 to be added on processing workbench, another workpiece 10 to be added can be fixed on another workbench, increase work efficiency further.
The side of mechanical arm 9 is provided with cover plate, drill bit elevating mechanism is fixed between cover plate and mechanical arm 9, concrete, drill bit elevating mechanism comprises screw component and ram (all not shown in figure), screw component fixing also junctor mechanical arm 9 relative to cover plate, be elevated by lead screw assembly driving mechanical arm 9, ram is arranged between mechanical arm 9 and cover plate, realizes the guiding that mechanical arm 9 is elevated.Drill bit elevating mechanism in certain the present invention can also be arranged between mechanical arm 9 and borehole drill construction, directly drives borehole drill construction lifting.
With reference to Fig. 8, mechanical arm transverse-moving mechanism comprises Y-axis tooth bar 5, Y-axis gear (not shown in FIG.) and mechanical arm holder 17, Y-axis tooth bar 5 is laterally fixed on Y-axis crossbeam 2, Y-axis crossbeam 2 is fixedly parallel to the Y-axis guide rail 4 of Y-axis tooth bar 5, mechanical arm holder 17 is slidably arranged on Y-axis guide rail 4 by slide block (not shown in FIG.), Y-axis gear to be fixed on mechanical arm holder 17 and to engage with Y-axis tooth bar 5, mechanical arm holder 17 is fixed with the Y-axis servomotor 7 driving Y-axis pinion rotation.Preferably, in the present embodiment, Y-axis guide rail 4 has upper and lower two, and Y-axis tooth bar 5 is arranged between two Y-axis guide rails 4, stressed more even.Mechanical arm swing mechanism is the mechanical arm wobble servo motor 6 be fixed on mechanical arm holder 17, and mechanical arm wobble servo motor 6 is connected with above-mentioned cover plate and driving mechanical arm 9 swings.
The upside of mechanical arm holder 17 is fixed with a drag chain fixed mount 8, preferably, the side, top of mechanical arm 9 is fixed with two mechanical arms and swings limit switch 18, the side of corresponding drag chain fixed mount 8 has a rack side plate 801, when mechanical arm 9 swings to maximum position, mechanical arm swings limit switch 18 and rack side plate 801 and coordinates and to contact or close, thus prevent mechanical arm 9 from continuing swing and collide, two mechanical arms swing limit switch 18 and can realize a preparation and a use, prevent switch timeliness, improve reliability.
With reference to Fig. 9, in the present embodiment, borehole drill construction comprises the servo-driver connected successively, boring servomotor 23, reductor 24 and drill bit 26, servo-driver is connected with controller (not shown in FIG.), servo-driver detects the electric current of boring servomotor 23 and feeds back to controller, controller can the stressing conditions of real-time judge drill bit 26 by electric current, when the current increases, illustrate that workpiece to be added 10 material is herein harder, drill bit 26 receives larger resistance, this Time Controller by servo-driver can keyhole servomotor 23 rotating speed reduce, thus can effectively avoid drill bit 26 impaired or even directly rupture, equally, when the current decreases, illustrate that workpiece to be added 10 material is herein relatively soft, the resistance that drill bit 26 is subject to is less, this Time Controller can be improved by the rotating speed of servo-driver keyhole servomotor 23, thus can working (machining) efficiency be improved.Boring servomotor 23 in the present embodiment, reductor 24 and drill bit 26 are fixed on the lower end of mechanical arm 9 by a unit head fixed head 20.
With reference to Figure 10, as further improvement, drilling-hole positioning device in the present embodiment comprises positioning roller 25 and electronic ruler 21, electronic ruler 21 is vertically fixed on mechanical arm 9, positioning roller 25 is fixed on the lower end of a roller mount pad 32, roller mount pad 32 is connected with the flexible range cells of electronic ruler 21 lower end by magnet attraction mechanism, the surface of workpiece 10 to be added is often more coarse, sometimes surface also has some raised or sunken parts, especially arc, positioning roller 25 is easily impacted at walking process, the present embodiment is by magnet attraction mechanism adhesive positioning roller 25 and flexible range cells, positioning roller 25 can be separated with flexible range cells when meeting accident collision, thus prevent from damaging parts, especially the electronic ruler 21 that price is higher, reduce operating cost, run more reliable.Drilling-hole positioning device in the present embodiment is fixed on unit head fixed head 20 by a range finding fixed head 19, and range finding fixed head 19 is mutually vertical with unit head fixed head 20.
Concrete, magnet attraction mechanism comprises strong magnets 27 and magnet holder 28, and positioning roller 25 rolls and is arranged on roller mount pad 32, and roller mount pad 32 is by described strong magnets 27 and magnet holder 28 adhesive; Flexible range cells comprises small-sized ram 29 and line slideway auxiliary 31, small-sized ram 29 is connected to the lower end of electronic ruler 21 by spring 22, small-sized ram 29 is slidably arranged on line slideway auxiliary 31, the lower end of small-sized ram 29 is fixed with a detection head 30, magnet holder 28 is fixed on line slideway auxiliary 31, and contact detection 30 after magnet holder 28 rises also promotes small-sized ram 29 and is elevated.
The present invention also provides a kind of curved slab boring method, utilizes above-mentioned curved slab rig, with reference to Figure 11, specifically comprises the following steps:
Step 1), start, system back to zero;
Step 2), curved slab frock is utilized to be fixed by workpiece 10 to be added, if need to be programmed into step 3), otherwise enter step 5), need when processing new workpiece 10 to be added to reprogram, to adapt to the shape of new workpiece to be added 10, identical workpiece to be added 10 does not then need programming, directly utilizes identical program to carry out processing;
Step 3), programming, the setting swinging track of mechanical arm 9 and the lifting track of drill bit 26, set lengthwise travel rate and the stroke of workpiece 10 to be added;
Step 4), mechanical arm 9 and workpiece to be added 10 sky are walked, if mechanical arm 9 can drive borehole drill construction to hole in the position hole to be drilled of workpiece 10 to be added, enter step 5), otherwise return step 3);
Step 5), automatic operation, curved slab frock drives workpiece 10 to be added to vertically move, mechanical arm swing mechanism driving mechanical arm 9 swings along workpiece 10 surface curvature to be added, drilling-hole positioning device contacts with workpiece 10 upper surface to be added, detect the vertical range on borehole drill construction and workpiece to be added 10 surface, drill bit elevating mechanism drives borehole drill construction lifting, and dynamic borehole drill construction 10 is holed to machined part;
Step 6, boring completes, and is pulled down by workpiece;
With reference to Figure 12, 10 carry out in boring procedure to machined part at borehole drill construction in step 5), first the relevant parameter of setting controller, comprise the distance on drill bit 26 and workpiece 10 surface to be added, the upper lower limit value of the electric current of boring servomotor 23, the data detected are sent to controller by drilling-hole positioning device, these data are converted to the vertical range on drill bit 26 and workpiece 10 surface to be added by controller, servo-driver detects the electric current of boring servomotor 23 and feeds back to controller, controller is according to parameter set in the electric current of boring servomotor 23 and controller, judge the stressing conditions of drill bit 26, and the rotating speed of boring servomotor 23 is changed accordingly by servo-driver, unit head shown in figure refers to drill bit 26, boring servomotor and mechanical arm 9.Concrete, when the current increases, illustrate that workpiece to be added 10 material is herein harder, drill bit 26 receives larger resistance, this Time Controller by servo-driver can keyhole servomotor 23 rotating speed reduce, thus can effectively avoid drill bit 26 impaired or even directly rupture, equally, when the current decreases, illustrate that workpiece to be added 10 material is herein relatively soft, the resistance that drill bit 26 is subject to is less, and this Time Controller can be improved by the rotating speed of servo-driver keyhole servomotor 23, thus can improve working (machining) efficiency.The resistance that certainly speed of drill bit 26 axial feed can also be regulated to adapt to suffered by drill bit 26 by controller, concrete, when the current increases, controller reduces the speed of drill bit 26 axial feed by mechanical arm elevating mechanism, thus can effectively avoid drill bit 26 impaired or even directly rupture, when the current decreases, controller improves the speed of drill bit 26 axial feed by mechanical arm elevating mechanism, thus can improve working (machining) efficiency.
The above is only preferred embodiment of the present invention, and be not restriction the present invention being made to other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the Equivalent embodiments of equivalent variations.But everyly do not depart from technical solution of the present invention content, any simple modification, equivalent variations and the remodeling done above embodiment according to technical spirit of the present invention, still belong to the protection domain of technical solution of the present invention.

Claims (10)

1. a curved slab frock, it is characterized in that: comprise reverse side stationary work-table (11), reverse side vertical location device and reverse side transverse positioning mechanism, reverse side vertical location device comprises interval and is fixed on the first support (13) on reverse side stationary work-table (11) and the second support (14), be fixed on the arc that the workpiece to be added (10) on reverse side stationary work-table (11) is bent upwards for two ends, workpiece to be added (10) is positioned between the first support (13) and the second support (14), first support (13) upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece to be added (10) one end, second support (14) upper end is provided with height adjustable and clamps the clamping fixture of workpiece to be added (10) other end, reverse side transverse positioning mechanism is arranged on the both sides of reverse side stationary work-table (11), and located lateral is carried out in the both sides clamping workpiece to be added (10) to machined part (10).
2. curved slab frock according to claim 1, it is characterized in that: described clamping fixture comprises fixture holder (39), quick chuck (40), the connecting rod driver element that connecting rod (41) and promotion connecting rod (41) swing, fixture holder (39) is adjustable for height to be fixed on the second support (14), one end of quick chuck (40) and one end of connecting rod driver element are hinged on fixture holder (39) respectively, one end of connecting rod (41) and the output of connecting rod driver element are rotationally connected, the other end of connecting rod (41) and the middle part of quick chuck (40) are rotationally connected, connecting rod driver element drives quick chuck (40) to swing by connecting rod (41), the other end of quick chuck (40) is pressed on the upside of the end of workpiece to be added (10).
3. curved slab frock according to claim 1, it is characterized in that: the top of described first support (13) is also fixed with a reverse side longitudinal register cylinder (34), location via hole (38) is offered on the top of the first support (13), location via hole (38) is positioned at the below of reverse side pressure holding mechanism, and the piston rod of reverse side longitudinal register cylinder (34) promotes to be processed (10) longitudinal register afterwards through location via hole (38).
4. curved slab frock according to claim 1, it is characterized in that: also comprise at least one front stationary work-table (12), front stationary work-table (12) is arranged on the side of reverse side stationary work-table (11), the upper interval of front stationary work-table (12) is fixed with two fixed blocks (16), the workpiece to be added (10) be fixed on front stationary work-table (12) is the reclinate arc in two ends, workpiece to be added (10) is fixed between two fixed blocks (16), at least one fixed block (16) is slidably arranged along front stationary work-table (12) length direction, the both sides of front stationary work-table (12) are provided with front transverse positioning mechanism, located lateral is carried out in the both sides that front transverse positioning mechanism clamps workpiece to be added (10) to machined part (10).
5. curved slab frock according to claim 4, it is characterized in that: also comprise X-axis track plates (15), what described front stationary work-table (12) and reverse side stationary work-table (11) were relatively independent is slidably arranged on X-axis track plates (15), and front stationary work-table (12) and reverse side stationary work-table (11) are respectively and be provided with the workbench actuating unit driving it to slide between X-axis track plates (15).
6. a curved slab rig, it is characterized in that: comprise the curved slab frock described in any one of Claims 1 to 5, at least one gantry frame and mechanical arm (9) is also fixed with above curved slab frock, the top of gantry frame has the Y-axis crossbeam (2) of level, Y-axis crossbeam (2) is arranged with reverse side stationary work-table (11) is mutually vertical, mechanical arm (9) is arranged on Y-axis crossbeam (2), the lower end of mechanical arm (9) is provided with borehole drill construction and drilling-hole positioning device, driving machine mechanical arm (9) is provided with around the mechanical arm swing mechanism of axis oscillating being parallel to Y-axis crossbeam (2) between mechanical arm (9) and Y-axis crossbeam (2), mechanical arm (9) is also connected with the drill bit elevating mechanism driving borehole drill construction lifting, Y-axis crossbeam (2) and reverse side stationary work-table (11) can relative movements at reverse side stationary work-table (11) length direction.
7. curved slab rig according to claim 6, it is characterized in that: described Y-axis crossbeam (2) is arranged with two mechanical arms (9), between mechanical arm (9) and Y-axis crossbeam (2), be also provided with the mechanical arm transverse-moving mechanism of driving machine mechanical arm (9) along Y-axis crossbeam (2) transverse shifting; Described borehole drill construction comprises the servo-driver connected successively, hole servomotor (23), reductor (24) and drill bit (26), and servo-driver is connected with controller.
8. curved slab rig according to claim 6, it is characterized in that: described drilling-hole positioning device comprises positioning roller (25) and electronic ruler (21), electronic ruler (21) is vertically fixed on mechanical arm (9), and positioning roller (25) is connected with the flexible range cells of electronic ruler (21) lower end by magnet attraction mechanism.
9. curved slab rig according to claim 8, it is characterized in that: described magnet attraction mechanism comprises strong magnets (27), roller mount pad (32) and magnet holder (28), positioning roller (25) rolls and is arranged on roller mount pad (32), and roller mount pad (32) is by described strong magnets (27) and magnet holder (28) adhesive;
Described flexible range cells comprises small-sized ram (29) and line slideway auxiliary (31), small-sized ram (29) is connected to the lower end of electronic ruler (21) by spring (22), small-sized ram (29) is slidably arranged on line slideway auxiliary (31), and magnet holder (28) is fixed on line slideway auxiliary (31) and goes up and promote small-sized ram (29) lifting.
10. a curved slab boring method, comprises the curved slab rig described in any one of claim 6 ~ 9, it is characterized in that: comprise the following steps:
Step 1), start, system back to zero;
Step 2), utilize curved slab frock to be fixed by workpiece to be added (10), if need to be programmed into step 3), otherwise enter step 5);
Step 3), programming, the swinging track of setting mechanical arm (9), sets lengthwise travel rate and the stroke of workpiece to be added (10);
Step 4), mechanical arm (9) and workpiece to be added (10) sky are walked, if mechanical arm (9) can drive borehole drill construction to hole in the position hole to be drilled of workpiece to be added (10), enter step 5), otherwise return step 3);
Step 5), automatic operation, curved slab frock drives workpiece to be added (10) to vertically move, mechanical arm swing mechanism driving mechanical arm (9) swings along workpiece to be added (10) surface curvature, drilling-hole positioning device contacts with workpiece to be added (10) upper surface, detect the vertical range on borehole drill construction and workpiece to be added (10) surface, drill bit elevating mechanism drives borehole drill construction lifting, and borehole drill construction to machined part (10) is holed;
Step 6), boring completes, and is pulled down by workpiece;
Described borehole drill construction comprises the servo-driver connected successively, hole servomotor (23), reductor (24) and drill bit (26), and servo-driver is connected with controller; Drilling-hole positioning device is connected with controller; In step 5) borehole drill construction to machined part (10) carry out in boring procedure, the data detected are sent to controller by drilling-hole positioning device, servo-driver detects the electric current of boring servomotor (23) and feeds back to controller simultaneously, controller judges the stressing conditions of drill bit (26) according to the electric current of boring servomotor (23), and changes the rotating speed of boring servomotor (23) accordingly by servo-driver.
CN201510610352.3A 2015-09-23 2015-09-23 Curved slab frock, rig and its boring method Active CN105108540B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108637724A (en) * 2018-04-25 2018-10-12 西安飞机工业(集团)有限责任公司 A kind of aircraft class titanium alloy component processing tool platform hold-down mechanism
CN108655774A (en) * 2018-04-25 2018-10-16 西安飞机工业(集团)有限责任公司 A kind of aircraft class titanium alloy component processing tool platform working method
CN108673176A (en) * 2018-04-25 2018-10-19 西安飞机工业(集团)有限责任公司 A kind of aircraft class titanium alloy component processing tool sewing platform base adjustment fixed mechanism
CN108817455A (en) * 2018-06-25 2018-11-16 武汉冶钢结构有限责任公司 The centripetal accurate drilling device of large spherical surface plate and method
CN111230537A (en) * 2020-02-26 2020-06-05 江苏大学 Digital auxiliary clamping device for curved surface parts
CN111347082A (en) * 2020-04-27 2020-06-30 中国铁建重工集团股份有限公司 Lathe for drilling shield tail of shield machine
CN113084546A (en) * 2021-03-31 2021-07-09 柳州市银翔机械有限责任公司 Telescopic boom forklift frame vertical plate boring tool clamp
CN113441799A (en) * 2021-06-30 2021-09-28 重庆理工大学 Space curve slot hole processingequipment based on rope drive
CN113619272A (en) * 2021-08-05 2021-11-09 滁州市蓝鲸科技有限公司 Printing device and method for household appliance glass panel

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108655774A (en) * 2018-04-25 2018-10-16 西安飞机工业(集团)有限责任公司 A kind of aircraft class titanium alloy component processing tool platform working method
CN108673176A (en) * 2018-04-25 2018-10-19 西安飞机工业(集团)有限责任公司 A kind of aircraft class titanium alloy component processing tool sewing platform base adjustment fixed mechanism
CN108637724B (en) * 2018-04-25 2020-06-30 西安飞机工业(集团)有限责任公司 Pressing mechanism of machining tool table for airplane-type titanium alloy parts
CN108637724A (en) * 2018-04-25 2018-10-12 西安飞机工业(集团)有限责任公司 A kind of aircraft class titanium alloy component processing tool platform hold-down mechanism
CN108655774B (en) * 2018-04-25 2020-06-30 西安飞机工业(集团)有限责任公司 Working method of machining tool table for airplane titanium alloy parts
CN108817455A (en) * 2018-06-25 2018-11-16 武汉冶钢结构有限责任公司 The centripetal accurate drilling device of large spherical surface plate and method
CN111230537B (en) * 2020-02-26 2022-03-22 江苏大学 Digital auxiliary clamping device for curved surface parts
CN111230537A (en) * 2020-02-26 2020-06-05 江苏大学 Digital auxiliary clamping device for curved surface parts
CN111347082A (en) * 2020-04-27 2020-06-30 中国铁建重工集团股份有限公司 Lathe for drilling shield tail of shield machine
CN111347082B (en) * 2020-04-27 2022-01-21 中国铁建重工集团股份有限公司 Lathe for drilling shield tail of shield machine
CN113084546A (en) * 2021-03-31 2021-07-09 柳州市银翔机械有限责任公司 Telescopic boom forklift frame vertical plate boring tool clamp
CN113441799A (en) * 2021-06-30 2021-09-28 重庆理工大学 Space curve slot hole processingequipment based on rope drive
CN113619272A (en) * 2021-08-05 2021-11-09 滁州市蓝鲸科技有限公司 Printing device and method for household appliance glass panel

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Denomination of invention: Curved panel tooling, drilling equipment and its drilling method

Effective date of registration: 20210729

Granted publication date: 20170825

Pledgee: Qishang bank Zhangdian sub branch

Pledgor: ZIBO NEWSTART ROBOT SYSTEM TECHNOLOGY Co.,Ltd.

Registration number: Y2021980007050