CN105108540B - Curved slab frock, rig and its boring method - Google Patents

Curved slab frock, rig and its boring method Download PDF

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Publication number
CN105108540B
CN105108540B CN201510610352.3A CN201510610352A CN105108540B CN 105108540 B CN105108540 B CN 105108540B CN 201510610352 A CN201510610352 A CN 201510610352A CN 105108540 B CN105108540 B CN 105108540B
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CN
China
Prior art keywords
workpiece
added
reverse
mechanical arm
fixed
Prior art date
Application number
CN201510610352.3A
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Chinese (zh)
Other versions
CN105108540A (en
Inventor
巩相峰
林朝霞
Original Assignee
淄博纽氏达特机器人系统技术有限公司
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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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Publication of CN105108540B publication Critical patent/CN105108540B/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

Curved slab frock, rig and its boring method, belong to special-shaped board processing device field.The workpiece to be added being fixed on reverse side stationary work-table is the arc that two ends are bent upwards, workpiece to be added is located between first support and second support, first support upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece one end to be added, and second support 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 carries out located lateral to machined part.Curved slab rig detects the vertical range between borehole drill construction and workpiece to be added by drilling-hole positioning device in real time, the drilling of the automatic workpiece to be added to special-shaped tabular of rig on mechanical arm, mitigates operation intensity, improves operating efficiency, reduction processing cost, improves borehole accuracy.Curved slab boring method, the resistance that can be subject to according to drill bit adjusts the working method of drill bit, improves bit life, it is ensured that operating efficiency.

Description

Curved slab frock, rig and its boring method
Technical field
Curved slab frock, rig and its boring method, belong to special-shaped board processing device field.
Background technology
Structure of the existing equipment in clamping curved slab is all extremely complex, generally requires by substantial amounts of fixture come to curved surface Plate is positioned and fixed, in the engineering processed to curved slab, and process equipment and fixture are easily interfered.To different When shape plate is drilled, due to its surface be arc, existing equipment can not laundering period arc-shaped curved surface, for example grain storage produce On line, it is often necessary on grain-guard door drill, due to grain-guard door be drilled on arc-shaped structure, arc surface it is extremely difficult.At present On the market mostly using artificial drilling, personal injury is easily caused to practitioner, production efficiency is low, and staff's work Work amount is big, and positional precision and dimensional accuracy are all not guaranteed.
The content of the invention
The technical problem to be solved in the present invention is:Overcoming the deficiencies in the prior art, there is provided one kind is simple in construction, easy to operate Curved slab frock, also provide one kind sketch plate can be drilled, mitigate operation intensity, improve operating efficiency, reduction add Work cost, the curved slab rig and its boring method for improving borehole accuracy.
The technical solution adopted for the present invention to solve the technical problems is:The curved slab frock, including reverse side fixation work Platform, reverse side vertical location device and reverse side transverse positioning mechanism, reverse side vertical location device are fixed on reverse side including interval and fixed First support and second support on workbench, the workpiece to be added being fixed on reverse side stationary work-table are what two ends were bent upwards Arc, workpiece to be added is located between first support and second support, and first support upper end is provided with pressure holding workpiece one end to be added Reverse side pressure holding mechanism, second support upper end is provided with height adjustable and clamps the clamping fixture of the workpiece other end to be added;Reverse side is horizontal Detent mechanism is arranged on the both sides of reverse side stationary work-table, and the both sides for clamping workpiece to be added carry out located lateral to machined part.
It is preferred that, the clamping fixture includes fixture fixed seat, quick chuck, connecting rod and the connecting rod for promoting connecting rod swing Driver element, the adjustable for height fixation of fixture fixed seat on the secondary support bracket, one end of quick chuck and connecting rod driver element One end is respectively hinged in fixture fixed seat, and one end of connecting rod rotates with the output end of connecting rod driver element and is connected, connecting rod it is another One end and the middle part of quick chuck, which are rotated, to be connected, and connecting rod driver element drives quick chuck to swing by connecting rod, quick chuck The other end is pressed on the upside of the end of workpiece to be added.
It is preferred that, the top of the first support is further fixed on a reverse side longitudinal register cylinder, in the upper of first support Portion offers a positioning via hole, and positioning via hole is located at the lower section of reverse side pressure holding mechanism, the work of reverse side longitudinal register cylinder Stopper rod promotes part longitudinal register to be processed through after positioning via hole.Further promotion using reverse side longitudinal register cylinder is to be added Workpiece carries out longitudinal register, and workpiece to be added fixes more firm, and positioning is also more accurate, improves machining accuracy.
It is preferred that, in addition at least one front stationary work-table, front stationary work-table is arranged on reverse side fixation work Interval is fixed with two fixed blocks on the side of platform, front stationary work-table, is fixed on to be processed on the stationary work-table of front Part is the reclinate arc in two ends, and workpiece to be added is fixed between two fixed blocks, and at least one fixed block is solid along front Determine workbench length direction slidably to set, the both sides of front stationary work-table are provided with front transverse positioning mechanism;It is positive horizontal The both sides for clamping workpiece to be added to detent mechanism carry out located lateral to machined part.
It is preferred that, in addition to X-axis track plates, the front stationary work-table and the relatively independent cunning of reverse side stationary work-table Dynamic to be arranged on X-axis track plates, front stationary work-table and reverse side stationary work-table are respectively between X-axis track plates provided with driving Its workbench actuating unit slided.
A kind of curved slab rig, it is characterised in that:Including above-mentioned curved slab frock, in the top of curved slab frock Be further fixed at least one gantry frame and mechanical arm, the top of gantry frame has a horizontal Y-axis crossbeam, Y-axis crossbeam with it is anti- Face stationary work-table is arranged in a mutually vertical manner, and mechanical arm is arranged on Y-axis crossbeam, and the lower end of mechanical arm is provided with borehole drill construction and drilling Positioner, the mechanical arm between mechanical arm and Y-axis crossbeam provided with driving mechanical arm around the axis oscillating parallel to Y-axis crossbeam is put It is also associated with driving the drill bit elevating mechanism of borehole drill construction lifting, Y-axis crossbeam and reverse side stationary work-table on motivation structure, mechanical arm It can be relatively moved in reverse side stationary work-table length direction.
It is preferred that, two mechanical arms are arranged with the Y-axis crossbeam, driving is additionally provided between mechanical arm and Y-axis crossbeam Mechanical arm transverse-moving mechanism of the mechanical arm along Y-axis crossbeam transverse shifting;The borehole drill construction include be sequentially connected servo-driver, Drilled servomotor, reductor and drill bit, and servo-driver is connected with controller.
It is preferred that, the drilling-hole positioning device includes positioning roller and electronic ruler, and electronic ruler is vertically fixed on the robotic arm, Positioning roller is connected by magnet attraction mechanism with the flexible range cells of electronic ruler lower end.
It is preferred that, the magnet attraction mechanism includes strong magnets, roller mounting seat and magnet fixed seat, positioning roller rolling Dynamic to be arranged in roller mounting seat, roller mounting seat passes through the strong magnets and magnet fixed seat adhesive;
The flexible range cells include small-sized ram and line slideway auxiliary, and small-sized ram is connected to electronic ruler by spring Lower end, small-sized ram is slidably arranged on line slideway auxiliary, and magnet fixed seat is fixed on line slideway auxiliary and promotes small-sized Ram is lifted.
A kind of curved slab boring method, including above-mentioned curved slab rig, it is characterised in that:Comprise the following steps:
Step 1), start, system back to zero;
Step 2), workpiece to be added is fixed using curved slab frock, step 3 is programmed into if desired), otherwise enter step Rapid 5);
Step 3), programming, the swinging track of setting mechanical arm, the lengthwise travel rate and stroke of setting workpiece to be added;
Step 4), mechanical arm and workpiece sky to be added are walked, if mechanical arm can drive borehole drill construction treating in workpiece to be added Bore position is drilled, into step 5), otherwise return to step 3);
Step 5), automatic running, curved slab frock drives workpiece to be added to vertically move, mechanical arm swing mechanism driving mechanical Arm is swung along workpiece surface curvature to be added, drilling-hole positioning device and workpiece upper surface to be added, detection borehole drill construction with The vertical range of workpiece surface to be added, drill bit elevating mechanism drives borehole drill construction lifting, and borehole drill construction is bored to machined part Hole;
Step 6), drill and complete, workpiece is pulled down;
The borehole drill construction includes servo-driver, drilling servomotor, reductor and the drill bit being sequentially connected, and servo is driven Dynamic device is connected with controller;Drilling-hole positioning device is connected with controller;Step 5)In bored to machined part in borehole drill construction During hole, drilling-hole positioning device sends the data detected to controller, while servo-driver detection drilling servo electricity The electric current of machine simultaneously feeds back to controller, and controller judges the stressing conditions of drill bit according to the electric current of drilling servomotor, and passes through Servo-driver changes the rotating speed of drilling servomotor accordingly.
Compared with prior art, the present invention is had an advantageous effect in that:
1st, first support upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece one end to be added, and second support upper end is provided with height Clamping fixture that is adjustable and clamping the workpiece other end to be added, is positioned to machined part using reverse side pressure holding mechanism at one end, The other end is positioned by clamping fixture, it is to avoid two ends simultaneously using action component carry out positioning be interfere or There is stress in person, and simple in construction, easy to operate, and cost is low.Treated simultaneously using the clamping of reverse side transverse positioning mechanism The both sides of workpiece carry out located lateral to machined part, further improve positioning precision and operating efficiency.
2nd, the present invention detects the vertical range between borehole drill construction and workpiece to be added by drilling-hole positioning device in real time, utilizes Drill bit elevating mechanism drives borehole drill construction lifting, it is ensured that have constant distance, Ran Houli between borehole drill construction and workpiece to be added With mechanical arm swing mechanism driving mechanical arm swing, the workpiece to be added of arc is adapted to, enables borehole drill construction perpendicular to be processed Part is drilled, and Y-axis crossbeam is relatively moved with workbench, so that the rig on mechanical arm enters to machined part along longitudinal direction Row drills, and realizes the drilling of the automatic workpiece to be added to special-shaped tabular, and mitigation operation intensity, raising operating efficiency, reduction add Work cost, raising borehole accuracy.
3rd, positioning roller is connected by magnet attraction mechanism with the flexible range cells of electronic ruler lower end, the table of workpiece to be added Face is often relatively rough, and surface also has some raised or sunken parts, especially arc sometimes, and positioning roller is in walking Process is easily impacted, by magnet attraction mechanism adhesive positioning roller and flexible range cells, can occur unexpected touch Positioning roller is set to be separated with flexible range cells when hitting, so as to prevent from damaging the higher electronic ruler of parts, especially price, drop Low operating cost, runs relatively reliable.
4th, the workbench actuating unit slided between workbench and X-axis track plates provided with driving workbench.By testing card It is real, the slip that workbench is set, mobile work platform is simple for mobile gantry framework in process, first Required space is first reduced, and mechanical arm can be reduced because the mobile error produced, improves machining accuracy.
5th, when the current increases, illustrate that workpiece material to be added herein is harder, drill bit receives larger resistance, this time control Device processed can be reduced by servo-driver with the rotating speed of keyhole servomotor, avoid drill bit impaired very so as to effective To being direct fracture, equally, when the current decreases, illustrate that workpiece material to be added herein is relatively soft, the resistance that drill bit is subject to Smaller, now controller can be improved by the rotating speed of servo-driver keyhole servomotor, so as to improve processing Efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of the curved slab frock embodiment 1.
Fig. 2 is the partial enlarged drawing at A in Fig. 1.
Fig. 3 is the partial enlarged drawing at B in Fig. 1.
Fig. 4 is the structural representation for the reverse side stationary work-table for being fixed with workpiece to be added.
Fig. 5 is the structural representation of the curved slab frock embodiment 2.
Fig. 6 is the partial enlarged drawing at C in Fig. 5.
Fig. 7 is the structural representation of curved slab rig.
Fig. 8 is the partial enlarged drawing at D in Fig. 7.
Fig. 9 is the structural representation at E in Fig. 7.
Figure 10 is the structural representation of boring positioning mechanism.
Figure 11 is the logic diagram of arc boring method.
Figure 12 is specific drilling theory diagram in arc boring method.
Wherein:1st, column 2, Y-axis crossbeam 3, alarm 4, Y-axis guide rail 5, Y-axis rack 6, mechanical arm wobble servo electricity Machine 7, Y-axis servomotor 8, drag chain fixed mount 801, rack side plate 9, mechanical arm 10, workpiece to be added 11, reverse side regular worker Make platform 12, front stationary work-table 13, first support 14, second support 15, X-axis track plates 16, fixed block 17, machinery Arm fixed seat 18, mechanical arm swing limit switch 19, ranging fixed plate 20, unit head fixed plate 21, electronic ruler 22, bullet Spring 23, drilling servomotor 24, reductor 25, positioning roller 26, drill bit 27, strong magnets 28, magnet fixed seat 29th, small-sized ram 30, detection head 31, line slideway auxiliary 32, roller mounting seat 33, briquetting 34, reverse side longitudinal register cylinder 35th, located lateral cylinder 36, locating support 37, locating piece 38, positioning via hole 39, fixture fixed seat 40, quick chuck 41st, connecting rod 42, clamp cylinder 43, front longitudinal register cylinder.
Embodiment
1 ~ 12 pair of curved slab frock of the present invention, rig and its boring method are described further below in conjunction with the accompanying drawings.
Embodiment 1
Reference picture 1, the curved slab frock, including reverse side stationary work-table 11, reverse side vertical location device and reverse side are horizontal Detent mechanism, reverse side vertical location device includes being spaced the first support 13 being fixed on reverse side stationary work-table 11 and second Frame 14, the workpiece to be added 10 being fixed on reverse side stationary work-table 11 is the arc that two ends are bent upwards, workpiece 10 to be added Between first support 13 and second support 14, the upper end of first support 13 is provided with the reverse side pressure holding machine of pressure holding one end of workpiece 10 to be added Structure, the upper end of second support 14 is provided with height adjustable and clamps the clamping fixture of the other end of workpiece 10 to be added;Clamping fixture height can That adjusts is arranged in second support 14, is so adapted to the workpiece to be added 10 of differently curved height, and the He of first support 13 The lower end of second support 14 can be fixed on reverse side stationary work-table along the length direction adjustment position of reverse side stationary work-table 11 On 11, the workpiece to be added 10 of different length is so adapted to;And reverse side pressure holding mechanism pressure sets one end with workpiece 10 to be added, Clamping fixture acts and clamps the other end of workpiece 10 to be added, so as to complete to machined part 10 positioning and fixation, operation side Just.
Reverse side transverse positioning mechanism is arranged on the both sides of reverse side stationary work-table 11, and the both sides for clamping workpiece 10 to be added are treated Workpiece 10 carries out located lateral, specifically, reverse side transverse positioning mechanism includes multiple located lateral cylinders 35, located lateral branch Frame 36 and multiple locating pieces 37, located lateral support 36 are fixed on the both sides of workbench, located lateral cylinder 35 and locating piece 37 it is adjustable for height be separately fixed on corresponding locating support 36, located lateral cylinder 35 is oppositely arranged on locating piece 37 and treated The both sides of workpiece 10.
Reference picture 2, reverse side pressure holding mechanism is fixed on the front side of first support 13, further, after first support 13 Side is further fixed on a reverse side longitudinal register cylinder 34, to coordinate reverse side longitudinal register cylinder 34, on the top of first support 13 A positioning via hole 38 is offered, positioning via hole 38 is located at the lower section of reverse side pressure holding mechanism, reverse side longitudinal register cylinder 34 Piston rod through positioning via hole 38 after can promote the longitudinal register of workpiece 10 to be added, workpiece 10 to be added fixes more firm, Positioning is also more accurate, improves machining accuracy, can be vertical in reverse side of course for preferably 10 being positioned to machined part A push pedal is fixed to the front end of the piston rod of positioning cylinder 34.Specifically, the reverse side pressure holding mechanism in the present embodiment is a L-shaped Briquetting 33.
Reference picture 3 and 4, clamping fixture includes fixture fixed seat 39, quick chuck 40, connecting rod 41 and promotes connecting rod 41 to put Dynamic clamp cylinder 42, fixture fixed seat 39 is adjustable for height to be fixed in second support 14, one end of quick chuck 40 and folder One end of tool cylinder 42 is respectively hinged in fixture fixed seat 39, and one end of connecting rod 41 connects with the piston rod rotation of clamp cylinder 42 Connect, the other end of connecting rod 41 is rotated with the middle part of quick chuck 40 and is connected, clamp cylinder 42 drives quick chuck by connecting rod 41 40 are swung, and 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 over workbench On, located lateral cylinder 35 is acted, and is promoted the transverse shifting of workpiece 10 to be added, workpiece 10 to be added is clamped in located lateral cylinder 35 Between locating piece 37, mobile first support 13 and second support 14, make the briquetting 33 of the upper end of first support 13 press set with it is to be added One end of workpiece 10, reverse side longitudinal register cylinder 34 acts and contacts one end of workpiece 10 to be added, promotes the longitudinal direction of workpiece 10 to be added It is mobile, the other end of workpiece 10 to be added is in contact with second support 14, clamp cylinder 42 is acted, drive quick chuck 40 to put Dynamic, the other end of quick chuck 40 is pressed on the upside of the end of workpiece 10 to be added, thus complete 10 positioning to machined part and It is fixed, it is easy to operate.
Embodiment 2
Reference picture 5, the present embodiment and the difference of embodiment 1 are that the curved slab frock also includes a positive regular worker Make platform 12(Reverse side stationary work-table 11 is not drawn into figure), front stationary work-table 12 is arranged on the one of reverse side stationary work-table 11 Side, front stationary work-table 12 and the separate slip of reverse side stationary work-table 11 are set, and are fixed on front stationary work-table Workpiece to be added 10 on 12 is the reclinate arc in two ends, and can so be selected according to the shape of workpiece 10 to be added will be to be added Workpiece 10 is fixed on front stationary work-table 12 or reverse side stationary work-table 11, for example can be by the relatively smooth one side in surface As upper surface so as to fixed in corresponding curved slab frock.
Interval is fixed with two fixed blocks 16 on reference picture 5 and 6, front stationary work-table 12, is fixed on positive regular worker The workpiece to be added 10 made on platform 12 is the reclinate arc in two ends, and workpiece 10 to be added is fixed between two fixed blocks 16, At least one fixed block 16 is slidably set along the length direction of front stationary work-table 12, the both sides of front stationary work-table 12 Provided with front transverse positioning mechanism, front longitudinal register cylinder 43 is fixed with fixed block 16, two fixed blocks 16 are to be processed Part 10 carries out longitudinal Primary Location, then promotes workpiece 10 to be added to carry out further longitudinal direction by front longitudinal register cylinder 43 Positioning, because the workpiece to be added 10 on front stationary work-table 12 is the reclinate arc in two ends, so workpiece to be added 10 Two ends all the time fall below, so the adjustment of height need not be considered.Front transverse positioning mechanism is fixed on positive regular worker Make the both sides of platform 12, the both sides for clamping workpiece 10 to be added 10 carry out located lateral to machined part.Front transverse positioning mechanism Including multiple located lateral cylinders 35 and locating piece 37, the located lateral cylinder 35 at two ends is fixed on fixed block 16, middle part Located lateral cylinder 35 is adjustable for height to be fixed on locating support 36, and located lateral cylinder 35 is oppositely arranged with locating piece 37.
Reference picture 7, the present invention also provides a kind of curved slab rig, includes the curved slab work of any of the above-described embodiment Dress, is further fixed at least one gantry frame and mechanical arm 9, the top of gantry frame has level above curved slab frock Y-axis crossbeam 2, Y-axis crossbeam 2 is arranged in a mutually vertical manner with reverse side stationary work-table 11, and mechanical arm 9 is arranged on Y-axis crossbeam 2, machine The lower end of tool arm 9 be provided with borehole drill construction and drilling-hole positioning device, between mechanical arm 9 and Y-axis crossbeam 2 provided with driving mechanical arm 9 around Parallel to the mechanical arm swing mechanism of the axis oscillating of Y-axis crossbeam 2, it is also associated with driving borehole drill construction lifting on mechanical arm 9 Drill bit elevating mechanism, Y-axis crossbeam 2 relative can be moved with reverse side stationary work-table 11 in the length direction of reverse side stationary work-table 11 It is dynamic.The present invention detects the vertical range between borehole drill construction and workpiece to be added 10 by drilling-hole positioning device in real time, utilizes drill bit Elevating mechanism drives borehole drill construction lifting, it is ensured that has constant distance between borehole drill construction and workpiece to be added 10, then utilizes Mechanical arm swing mechanism driving mechanical arm 9 is swung, and is adapted to the workpiece to be added 10 of arc, is enable borehole drill construction perpendicular to be processed Part 10 is drilled, and Y-axis crossbeam 2 can be relatively moved with reverse side stationary work-table 11, so that the rig on mechanical arm 9 10 drilled to machined part along longitudinal direction, realize the drilling of the automatic workpiece to be added 10 to special-shaped tabular, mitigate operation strong Degree, raising operating efficiency, reduction processing cost, raising borehole accuracy.
Further, the curved slab frock in above-described embodiment 1 or embodiment 2 also includes X-axis track plates 15, and front is fixed Workbench 12 with reverse side stationary work-table 11 is relatively independent is slidably arranged on X-axis track plates 15, front stationary work-table 12 And reverse side stationary work-table 11 is respectively between X-axis track plates 15 provided with the workbench actuating unit for driving it to slide.Specifically, Workbench actuating unit includes the X-axis gear being fixed on the downside of workbench and the X-axis rack for being fixed on the upside of X-axis track plates 15, Workbench bottom is fixed with the X-axis servomotor of driving X-axis gear, and X-axis gear engages with X-axis rack and drives workbench along X Direction of principal axis is slided.
Preferably, the gantry frame in the present embodiment also includes the column 1 of both sides, Y-axis crossbeam 2 is horizontally fixed on two branch On post, alarm 3 is fixed at the two ends of Y-axis crossbeam 2, and curved slab frock is arranged between two columns 1.And Y in the present embodiment Mirror image is provided with two mechanical arms 9 on axle crossbeam 2, driving mechanical arm 9 is additionally provided between mechanical arm 9 and Y-axis crossbeam 2 horizontal along Y-axis The mechanical arm transverse-moving mechanism of the transverse shifting of beam 2.The present invention can be fixed in front with driving mechanical arm 9 by mechanical arm transverse-moving mechanism Moved between workbench 12 and reverse side stationary work-table 11, so that during workpiece 10 to be added on a workbench is processed, can be with Another workpiece 10 to be added is fixed on another workbench, operating efficiency is further improved.
The side of mechanical arm 9 is provided with cover plate, and drill bit elevating mechanism is fixed between cover plate and mechanical arm 9, specifically, drill bit Elevating mechanism includes screw component and ram(It is not shown in figure), screw component is relatively fixed with cover plate and is connected mechanical arm 9, Lifted by lead screw assembly driving mechanical arm 9, ram is arranged between mechanical arm 9 and cover plate, realize leading for the lifting of mechanical arm 9 To.Certainly the drill bit elevating mechanism in the present invention can also be arranged between mechanical arm 9 and borehole drill construction, directly drive drilling machine Structure is lifted.
Reference picture 8, mechanical arm transverse-moving mechanism includes Y-axis rack 5, Y-axis gear(It is not drawn into figure)With mechanical arm fixed seat 17, Y-axis rack 5 is secured transverse on Y-axis crossbeam 2, and the Y-axis guide rail 4 parallel to Y-axis rack 5, mechanical arm are fixed on Y-axis crossbeam 2 Fixed seat 17 passes through sliding block(It is not drawn into figure)It is slidably arranged in Y-axis guide rail 4, Y-axis gear is fixed on mechanical arm fixed seat 17 Engage above and with Y-axis rack 5, the Y-axis servomotor 7 of driving Y-axis pinion rotation is fixed with mechanical arm fixed seat 17.Preferably , in the present embodiment Y-axis guide rail 4 have above and below two, Y-axis rack 5 is arranged between two Y-axis guide rails 4, is more uniformly stressed. Mechanical arm swing mechanism is the mechanical arm wobble servo motor 6 being fixed in mechanical arm fixed seat 17, mechanical arm wobble servo electricity Machine 6 is connected with above-mentioned cover plate and driving mechanical arm 9 is swung.
The upside of mechanical arm fixed seat 17 is fixed with a drag chain fixed mount 8, preferably, the top side of mechanical arm 9 is consolidated Surely there are two mechanical arm swing limit switches 18, the side of corresponding drag chain fixed mount 8 has a rack side plate 801, machinery When arm 9 swings to maximum position, mechanical arm swing limit switch 18 coordinates with rack side plate 801 to be contacted or close, so as to prevent Mechanical arm 9 continues to swing and collide, and two mechanical arm swing limit switches 18 can realize a preparation and a use, when preventing switch Effect, improves reliability.
In reference picture 9, the present embodiment borehole drill construction include be sequentially connected servo-driver, drilling servomotor 23, subtract Fast machine 24 and drill bit 26, servo-driver and controller(It is not drawn into figure)Connection, servo-driver detection drilling servomotor 23 electric current simultaneously feeds back to controller, and controller can be with the stressing conditions of real-time judge drill bit 26, when electric current increase by electric current When, illustrate that the material of workpiece to be added 10 herein is harder, drill bit 26 receives larger resistance, and now controller passes through servo-drive Device can be reduced with the rotating speed of keyhole servomotor 23, avoid drill bit 26 impaired even directly disconnected so as to effective Split, equally, when the current decreases, illustrate that the material of workpiece to be added 10 herein is relatively soft, the resistance that drill bit 26 is subject to is smaller, this When controller can be improved by the rotating speed of servo-driver keyhole servomotor 23, so as to improve processing efficiency. Drilling servomotor 23, reductor 24 and drill bit 26 in the present embodiment are fixed on mechanical arm by a unit head fixed plate 20 9 lower end.
Reference picture 10, as a further improvement, the drilling-hole positioning device in the present embodiment include positioning roller 25 and electricity Sub- chi 21, electronic ruler 21 is vertically fixed on mechanical arm 9, and positioning roller 25 is fixed on the lower end of a roller mounting seat 32, rolling Wheel mounting seat 32 is connected by magnet attraction mechanism with the flexible range cells of the lower end of electronic ruler 21, and the surface of workpiece 10 to be added is past Past relatively rough, surface also has some raised or sunken parts, especially arc sometimes, and positioning roller 25, which is expert at, passes by Cheng Rongyi is impacted, and the present embodiment, can be in hair by magnet attraction mechanism adhesive positioning roller 25 and flexible range cells Positioning roller 25 is set to be separated with flexible range cells during raw accident collision, so as to prevent that damage parts, especially price are higher Electronic ruler 21, reduce operating cost, run it is relatively reliable.Drilling-hole positioning device in the present embodiment is fixed by a ranging Plate 19 is fixed in unit head fixed plate 20, and ranging fixed plate 19 is mutually perpendicular to unit head fixed plate 20.
Specifically, magnet attraction mechanism includes strong magnets 27 and magnet fixed seat 28, positioning roller 25 is rolled and is arranged on In roller mounting seat 32, roller mounting seat 32 passes through the strong magnets 27 and the adhesive of magnet fixed seat 28;Flexible range cells Including small-sized ram 29 and line slideway auxiliary 31, small-sized ram 29 is connected to the lower end of electronic ruler 21, small-sized cunning by spring 22 Pillow 29 is slidably arranged on line slideway auxiliary 31, and the lower end of small-sized ram 29 is fixed with a detection head 30, magnet fixed seat 28 It is fixed on line slideway auxiliary 31, magnet fixed seat 28 contacts detection head 30 and promotes small-sized ram 29 to lift after rising.
The present invention also provides a kind of curved slab boring method, using above-mentioned curved slab rig, reference picture 11, specifically Comprise the following steps:
Step 1), start, system back to zero;
Step 2), workpiece 10 to be added is fixed using curved slab frock, step 3 is programmed into if desired), otherwise enter Step 5), need to reprogram in the new workpiece 10 to be added of processing, to adapt to the shape of new workpiece 10 to be added, and identical is treated Workpiece 10 need not then be programmed, and be directly processed using identical program;
Step 3), program, set the swinging track of mechanical arm 9 and the lifting track of drill bit 26, set workpiece 10 to be added Lengthwise travel rate and stroke;
Step 4), mechanical arm 9 and the sky of workpiece to be added 10 are walked, if mechanical arm 9 can drive borehole drill construction in workpiece to be added 10 hole site to be drilled is drilled, into step 5), otherwise return to step 3);
Step 5), automatic running, curved slab frock drives workpiece 10 to be added to vertically move, mechanical arm swing mechanism band motivation Tool arm 9 is swung along the surface curvature of workpiece 10 to be added, drilling-hole positioning device and the upper surface of workpiece 10 to be added, detection drilling Mechanism and the vertical range on the surface of workpiece 10 to be added, drill bit elevating mechanism drive borehole drill construction lifting, move borehole drill construction to be added Workpiece 10 is drilled;
Step 6, drilling is completed, and workpiece is pulled down;
Reference picture 12, step 5)In borehole drill construction to machined part 10 carry out boring procedures in, controller is set first Relevant parameter, include the distance on drill bit 26 and the surface of workpiece 10 to be added, the upper lower limit value of the electric current for the servomotor 23 that drills, bore Hole positioning device sends the data detected to controller, and controller converts this data to drill bit 26 and the table of workpiece 10 to be added The vertical range in face, the electric current of servo-driver detection drilling servomotor 23 simultaneously feeds back to controller, and controller is according to drilling Set parameter, judges the stressing conditions of drill bit 26, and pass through servo-driver in the electric current and controller of servomotor 23 The corresponding rotating speed for changing drilling servomotor 23, the unit head shown in figure refer to drill bit 26, drilling servomotor and Mechanical arm 9.Specifically, when the current increases, illustrating that the material of workpiece to be added 10 herein is harder, drill bit 26 receives larger resistance Power, now controller can be with the rotating speed reduction of keyhole servomotor 23, so as to effectively keep away by servo-driver Exempt from the impaired even directly fracture of drill bit 26, equally, when the current decreases, illustrate the material of workpiece to be added 10 herein relatively Soft, the resistance that drill bit 26 is subject to is smaller, and now controller can be by the rotating speed of servo-driver keyhole servomotor 23 Improve, so as to improve processing efficiency.Certainly it can also adjust the speed of the axial feed of drill bit 26 to adapt to by controller Resistance suffered by drill bit 26, specifically, when the current increases, controller reduces drill bit 26 axially by mechanical arm elevating mechanism The speed of feeding, avoids the impaired even directly fracture of drill bit 26, when the current decreases, controller passes through so as to effective Mechanical arm elevating mechanism improves the speed of the axial feed of drill bit 26, so as to improve processing efficiency.
The above described is only a preferred embodiment of the present invention, being not the limitation for making other forms to the present invention, appoint What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc. Imitate embodiment.But it is every without departing from technical solution of the present invention content, the technical spirit according to the present invention is to above example institute Any simple modification, equivalent variations and the remodeling made, still fall within the protection domain of technical solution of the present invention.

Claims (9)

1. a kind of curved slab frock, it is characterised in that:Including reverse side stationary work-table(11), reverse side vertical location device and reverse side Transverse positioning mechanism, reverse side vertical location device is fixed on reverse side stationary work-table including interval(11)On first support(13) And second support(14), it is fixed on reverse side stationary work-table(11)On workpiece to be added(10)The arc being bent upwards for two ends Plate, workpiece to be added(10)Positioned at first support(13)And second support(14)Between, first support(13)Treated provided with pressure holding upper end Workpiece(10)The reverse side pressure holding mechanism of one end, second support(14)Upper end is provided with height adjustable and clamps workpiece to be added(10)Separately The clamping fixture of one end;Reverse side transverse positioning mechanism is arranged on reverse side stationary work-table(11)Both sides, clamp workpiece to be added (10)Both sides to machined part(10)Carry out located lateral;The clamping fixture includes fixture fixed seat(39), quick chuck (40), connecting rod(41)And promote connecting rod(41)The connecting rod driver element of swing, fixture fixed seat(39)Adjustable for height fixation In second support(14)On, quick chuck(40)One end and one end of connecting rod driver element be respectively hinged at fixture fixed seat (39)On, connecting rod(41)The output end of one end and connecting rod driver element rotate and be connected, connecting rod(41)The other end and quick clip Head(40)Middle part rotate connection, connecting rod driver element passes through connecting rod(41)Drive quick chuck(40)Swing, quick chuck (40)The other end be pressed on workpiece to be added(10)End on the upside of.
2. curved slab frock according to claim 1, it is characterised in that:The first support(13)Top be further fixed on One reverse side longitudinal register cylinder(34), in first support(13)Top offer one positioning via hole(38), position auxiliary Help hole(38)Positioned at the lower section of reverse side pressure holding mechanism, reverse side longitudinal register cylinder(34)Piston rod through positioning via hole(38) After promote part to be processed(10)Longitudinal register.
3. curved slab frock according to claim 1, it is characterised in that:Also include at least one front stationary work-table (12), front stationary work-table(12)It is arranged on reverse side stationary work-table(11)Side, front stationary work-table(12)Between upper Every being fixed with two fixed blocks(16), it is fixed on front stationary work-table(12)On workpiece to be added(10)It is bent downwardly for two ends Arc, workpiece to be added(10)It is fixed on two fixed blocks(16)Between, at least one fixed block(16)Along positive regular worker Make platform(12)Length direction is slidably set, front stationary work-table(12)Both sides be provided with front transverse positioning mechanism;Just Face transverse positioning mechanism clamps workpiece to be added(10)Both sides to machined part(10)Carry out located lateral.
4. curved slab frock according to claim 3, it is characterised in that:Also include X-axis track plates(15), the front is admittedly Determine workbench(12)With reverse side stationary work-table(11)Relatively independent is slidably arranged in X-axis track plates(15)On, front is fixed Workbench(12)With reverse side stationary work-table(11)Respectively with X-axis track plates(15)Between provided with drive its slide workbench move Force mechanisms.
5. a kind of curved slab rig, it is characterised in that:Including the curved slab frock described in any one of Claims 1 to 4, At least one gantry frame and mechanical arm are further fixed on above curved slab frock(9), the top of gantry frame has horizontal Y Axle crossbeam(2), Y-axis crossbeam(2)With reverse side stationary work-table(11)It is arranged in a mutually vertical manner, mechanical arm(9)It is arranged on Y-axis crossbeam (2)On, mechanical arm(9)Lower end be provided with borehole drill construction and drilling-hole positioning device, mechanical arm(9)With Y-axis crossbeam(2)Between be provided with Drive mechanical arm(9)Around parallel to Y-axis crossbeam(2)Axis oscillating mechanical arm swing mechanism, mechanical arm(9)On be also associated with Drive the drill bit elevating mechanism of borehole drill construction lifting, Y-axis crossbeam(2)With reverse side stationary work-table(11)In reverse side stationary work-table (11)Length direction can be relatively moved.
6. curved slab rig according to claim 5, it is characterised in that:The Y-axis crossbeam(2)On be arranged with two Individual mechanical arm(9), mechanical arm(9)With Y-axis crossbeam(2)Between be additionally provided with driving mechanical arm(9)Along Y-axis crossbeam(2)Transverse shifting Mechanical arm transverse-moving mechanism;The borehole drill construction includes servo-driver, the drilling servomotor being sequentially connected(23), reductor (24)And drill bit(26), servo-driver is connected with controller.
7. curved slab rig according to claim 5, it is characterised in that:The drilling-hole positioning device includes positioning and rolled Wheel(25)And electronic ruler(21), electronic ruler(21)Vertically it is fixed on mechanical arm(9)On, positioning roller(25)Pass through magnet attraction machine Structure and electronic ruler(21)The flexible range cells connection of lower end.
8. curved slab rig according to claim 7, it is characterised in that:The magnet attraction mechanism includes strong magnetic Iron(27), roller mounting seat(32)With magnet fixed seat(28), positioning roller(25)Rolling is arranged on roller mounting seat(32)On, Roller mounting seat(32)Pass through the strong magnets(27)With magnet fixed seat(28)Adhesive;
The flexible range cells include small-sized ram(29)And line slideway auxiliary(31), small-sized ram(29)Pass through spring(22) It is connected to electronic ruler(21)Lower end, small-sized ram(29)It is slidably arranged in line slideway auxiliary(31)On, magnet fixed seat(28) It is fixed on line slideway auxiliary(31)Go up and promote small-sized ram(29)Lifting.
9. a kind of curved slab boring method, including the curved slab rig described in any one of claim 5 ~ 8, its feature exist In:Comprise the following steps:
Step 1), start, system back to zero;
Step 2), using curved slab frock by workpiece to be added(10)It is fixed, step 3 is programmed into if desired), otherwise enter step Rapid 5);
Step 3), programming, setting mechanical arm(9)Swinging track, set workpiece to be added(10)Lengthwise travel rate and stroke;
Step 4), mechanical arm(9)With workpiece to be added(10)Sky is walked, if mechanical arm(9)Borehole drill construction can be driven to be processed Part(10)Hole site to be drilled drilled, into step 5), otherwise return to step 3);
Step 5), automatic running, curved slab frock drive workpiece to be added(10)Vertically move, mechanical arm swing mechanism driving mechanical Arm(9)Along workpiece to be added(10)Surface curvature is swung, drilling-hole positioning device and workpiece to be added(10)Upper surface, detection Borehole drill construction and workpiece to be added(10)The vertical range on surface, drill bit elevating mechanism drives borehole drill construction lifting, borehole drill construction pair Workpiece to be added(10)Drilled;
Step 6), drill and complete, workpiece is pulled down;
The borehole drill construction includes servo-driver, the drilling servomotor being sequentially connected(23), reductor(24)And drill bit (26), servo-driver is connected with controller;Drilling-hole positioning device is connected with controller;Step 5)In in borehole drill construction to be added Workpiece(10)Carry out in boring procedure, drilling-hole positioning device sends the data detected to controller, while servo-driver Detection drilling servomotor(23)Electric current and feed back to controller, controller according to drilling servomotor(23)Electric current judge Drill bit(26)Stressing conditions, and change by servo-driver drilling servomotor accordingly(23)Rotating speed.
CN201510610352.3A 2015-09-23 2015-09-23 Curved slab frock, rig and its boring method CN105108540B (en)

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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
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
CN108817455B (en) * 2018-06-25 2020-12-11 武汉一冶钢结构有限责任公司 Centripetal accurate drilling device and method for large spherical panel
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

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