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

Abstract

The invention relates to tooling for curved plates, drilling equipment and a drilling method thereof, belonging to the field of special-shaped plate processing equipment. The workpiece to be processed fixed on the fixed workbench on the reverse side is an arc-shaped plate with both ends bent upwards. The workpiece to be processed is located between the first bracket and the second bracket. The upper end of the second bracket is provided with a height-adjustable clamping fixture that clamps the other end of the workpiece to be processed; the reverse lateral positioning mechanism performs lateral positioning of the workpiece to be processed. The curved panel drilling equipment detects the vertical distance between the drilling mechanism and the workpiece to be processed in real time through the drilling positioning device, and the drilling equipment on the mechanical arm automatically drills the irregular-shaped plate-shaped workpiece to be processed, reducing the operating intensity and improving Improve operating efficiency, reduce processing costs, and improve drilling accuracy. The drilling method of the curved plate can adjust the working mode of the drill according to the resistance of the drill, improve the life of the drill and ensure the working efficiency.

Description

Curved panel tooling, drilling equipment and drilling method thereof

technical field

The invention relates to tooling for curved panels, drilling equipment and a drilling method thereof, belonging to the field of special-shaped panel processing equipment.

Background technique

The structure of the existing equipment when clamping the curved panel is very complicated, and a large number of fixtures are often required to position and fix the curved panel. In the project of processing the curved panel, the processing equipment and the fixture are prone to interfere with each other. When drilling special-shaped plates, because the surface is arc-shaped, the existing equipment cannot adapt to the long-term arc-shaped surface. For example, in the grain storage production line, it is often necessary to drill holes on the grain retaining door, because the grain retaining door is a circular arc Shaped structure, it is very difficult to drill holes on the arc surface. At present, most of the holes on the market are manually drilled, which is easy to cause personal injury to the practitioners, low production efficiency, and the workload of the staff is heavy, and the positional accuracy and dimensional accuracy are not guaranteed.

Contents of the invention

The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, to provide a curved panel tooling with simple structure and convenient operation, and to provide a tool capable of drilling special-shaped panels, reducing work intensity, improving work efficiency, reducing The invention relates to a curved panel drilling equipment and a drilling method thereof which improve the drilling accuracy and processing cost.

The technical solution adopted by the present invention to solve the technical problem is: the curved panel tooling includes a reverse fixed workbench, a reverse longitudinal positioning mechanism and a reverse transverse positioning mechanism, and the reverse longitudinal positioning mechanism includes a first fixed on the reverse fixed workbench at intervals. The bracket and the second bracket, the workpiece to be processed fixed on the fixed workbench on the reverse side is an arc-shaped plate with both ends bent upwards, the workpiece to be processed is located between the first bracket and the second bracket, and the upper end of the first bracket is provided with a pressing and holding device. The reverse clamping mechanism at one end of the workpiece, the upper end of the second bracket is equipped with a clamping fixture that can be adjusted in height and clamps the other end of the workpiece to be processed; the reverse lateral positioning mechanism is set on both sides of the reverse fixed worktable to clamp the workpiece to be processed Lateral positioning of the workpiece to be processed on both sides.

Preferably, the clamping fixture includes a clamp fixing base, a quick chuck, a connecting rod and a connecting rod drive unit that pushes the connecting rod to swing, the clamp fixing base is fixed on the second bracket with an adjustable height, one end of the quick chuck and One end of the connecting rod drive unit is respectively hinged on the fixture fixing seat, one end of the connecting rod is rotatably connected with the output end of the connecting rod drive unit, the other end of the connecting rod is rotatably connected with the middle part of the quick chuck, and the connecting rod drive unit passes through the connecting rod The quick chuck is driven to swing, and the other end of the quick chuck is pressed against the upper side of the end of the workpiece to be processed.

Preferably, a reverse longitudinal positioning cylinder is also fixed on the upper part of the first bracket, and a positioning auxiliary hole is opened on the upper part of the first bracket, the positioning auxiliary hole is located below the reverse pressing mechanism, and the piston rod of the reverse longitudinal positioning cylinder After passing through the positioning auxiliary hole, promote the longitudinal positioning of the workpiece to be processed. Using the reverse longitudinal positioning cylinder to further push the workpiece to be processed for longitudinal positioning, the workpiece to be processed is fixed more firmly, and the positioning is more precise, which improves the processing accuracy.

Preferably, it also includes at least one front fixed workbench, the front fixed workbench is arranged on one side of the reverse fixed workbench, two fixed blocks are fixed at intervals on the front fixed workbench, and the workpiece to be processed fixed on the front fixed workbench It is an arc-shaped plate with both ends bent downward. The workpiece to be processed is fixed between two fixed blocks. At least one fixed block is slidable along the length direction of the front fixed workbench. The two sides of the front fixed workbench are provided with front transverse Positioning mechanism; the front lateral positioning mechanism clamps both sides of the workpiece to be processed for lateral positioning.

Preferably, it also includes an X-axis track plate, the front fixed worktable and the reverse fixed workbench are relatively independently slidably arranged on the X-axis track plate, and the front fixed workbench and the reverse fixed workbench are respectively connected to the X-axis track plate. It is equipped with a worktable power mechanism to drive its sliding.

A curved panel drilling equipment, characterized in that: it includes the above-mentioned curved panel tooling, at least one gantry frame and a mechanical arm are fixed above the curved panel tooling, the upper part of the gantry frame has a horizontal Y-axis beam, and the Y-axis beam It is set perpendicular to the fixed workbench on the opposite side. The mechanical arm is set on the Y-axis beam. The lower end of the mechanical arm is equipped with a drilling mechanism and a drilling positioning device. A driving mechanical arm is installed between the mechanical arm and the Y-axis beam. The axis of the axis crossbeam swings the mechanical arm swing mechanism, and the mechanical arm is also connected with a drill lifting mechanism that drives the drilling mechanism to lift. The Y-axis crossbeam and the reverse fixed worktable can move relatively in the length direction of the reverse fixed workbench.

Preferably, two mechanical arms are arranged symmetrically on the Y-axis crossbeam, and a mechanical arm traversing mechanism for driving the mechanical arm to move laterally along the Y-axis crossbeam is also provided between the mechanical arm and the Y-axis crossbeam; the drilling mechanism includes The servo driver, drilling servo motor, reducer and drill bit connected in sequence, the servo driver is connected with the controller.

Preferably, the drilling positioning device includes a positioning roller and an electronic ruler, the electronic ruler is vertically fixed on the mechanical arm, and the positioning roller is connected to the telescopic distance measuring unit at the lower end of the electronic ruler through a magnet attraction mechanism.

Preferably, the magnet attraction mechanism includes a powerful magnet, a roller mounting seat and a magnet fixing seat, the positioning roller is rolled and arranged on the roller mounting seat, and the roller mounting seat is attracted to the magnet fixing seat through the powerful magnet;

The telescopic ranging unit includes a small ram and a linear guide pair, the small ram is connected to the lower end of the electronic scale through a spring, the small ram is slidably arranged on the linear guide pair, and the magnet fixing seat is fixed on the linear guide pair and pushes the small Ram lift.

A method for drilling a curved panel, including the above-mentioned curved panel drilling equipment, is characterized in that it includes the following steps:

Step 1), power on, the system returns to zero;

Step 2), use the curved plate tooling to fix the workpiece to be processed, if programming is required, go to step 3), otherwise go to step 5);

Step 3), programming, setting the swing trajectory of the robotic arm, and setting the longitudinal movement speed and stroke of the workpiece to be processed;

Step 4), the robot arm and the workpiece to be processed are empty, if the robot arm can drive the drilling mechanism to drill holes at the position of the workpiece to be processed, go to step 5), otherwise return to step 3);

Step 5), automatic operation, the curved surface tooling drives the workpiece to be processed to move longitudinally, the mechanical arm swing mechanism drives the mechanical arm to swing along the surface curvature of the workpiece to be processed, the drilling positioning device contacts the upper surface of the workpiece to be processed, and the detection of the drilling mechanism and The vertical distance of the surface of the workpiece to be processed, the drill lifting mechanism drives the drilling mechanism to lift, and the drilling mechanism drills the workpiece to be processed;

Step 6), the drilling is completed, and the workpiece is removed;

The drilling mechanism includes a servo driver connected in sequence, a drilling servo motor, a reducer and a drill bit, the servo driver is connected to the controller; the drilling positioning device is connected to the controller; in step 5), the drilling mechanism performs the processing on the workpiece to be processed. During the drilling process, the drilling positioning device sends the detected data to the controller. At the same time, the servo drive detects the current of the drilling servo motor and feeds it back to the controller. The controller judges the force of the drill bit according to the current of the drilling servo motor. , and correspondingly change the rotation speed of the drilling servo motor through the servo driver.

Compared with prior art, the beneficial effect that the present invention has is:

1. The upper end of the first bracket is provided with a reverse clamping mechanism that clamps one end of the workpiece to be processed, and the upper end of the second bracket is equipped with a clamping fixture that can be adjusted in height and clamps the other end of the workpiece to be processed. The workpiece is positioned, and the other end is positioned by the clamping fixture, which avoids mutual interference or stress when the two ends are positioned by the moving parts at the same time, and the structure is simple, the operation is convenient, and the cost is low. At the same time, the reverse side lateral positioning mechanism is used to clamp both sides of the workpiece to be processed to perform lateral positioning of the workpiece to further improve the positioning accuracy and work efficiency.

2. The present invention detects the vertical distance between the drilling mechanism and the workpiece to be processed in real time through the drilling positioning device, and utilizes the drill lifting mechanism to drive the drilling mechanism to lift to ensure that there is a constant distance between the drilling mechanism and the workpiece to be processed, and then Use the mechanical arm swing mechanism to drive the mechanical arm to swing, adapt to the arc-shaped workpiece to be processed, so that the drilling mechanism can drill holes perpendicular to the workpiece to be processed, and the Y-axis beam and the worktable move relatively, so that the drilling equipment on the mechanical arm The workpiece to be processed is drilled along the longitudinal direction, which realizes the automatic drilling of special-shaped plate-shaped workpieces to be processed, reduces the working intensity, improves the working efficiency, reduces the processing cost and improves the drilling accuracy.

3. The positioning roller is connected to the telescopic distance measuring unit at the lower end of the electronic ruler through the magnetic attraction mechanism. The surface of the workpiece to be processed is often rough, and sometimes there are some raised or sunken parts on the surface, especially the curved plate. The positioning roller It is easy to be impacted during the walking process. The positioning roller and the telescopic distance measuring unit are attracted by the magnet suction mechanism, which can separate the positioning roller from the telescopic distance measuring unit in the event of an accidental collision, thereby preventing damage to parts, especially the higher priced ones. Electronic ruler reduces operating cost and makes operation more reliable.

4. There is a worktable power mechanism that drives the worktable to slide between the worktable and the X-axis track plate. It has been proved by experiments that if the workbench is set to slide, it is easier to move the workbench during the processing than to move the gantry frame. Firstly, it reduces the required space, and can reduce the error caused by the movement of the mechanical arm and improve the machining accuracy. .

5. When the current increases, it means that the material of the workpiece to be processed here is relatively hard, and the drill bit is subjected to greater resistance. At this time, the controller can control the rotation speed of the drilling servo motor to decrease through the servo driver, so that the drill bit can be effectively avoided. Damaged or even directly broken. Similarly, when the current decreases, it means that the material of the workpiece to be processed here is relatively soft, and the resistance of the drill bit is small. At this time, the controller can control the speed of the drilling servo motor to increase through the servo driver. Thereby, processing efficiency can be improved.

Description of drawings

Fig. 1 is a structural schematic diagram of Embodiment 1 of the curved panel tooling.

FIG. 2 is a partial enlarged view of A in FIG. 1 .

Fig. 3 is a partially enlarged view of the place B in Fig. 1 .

Fig. 4 is a schematic structural view of a reverse fixed workbench on which workpieces to be processed are fixed.

Fig. 5 is a schematic structural view of Embodiment 2 of the curved panel tooling.

FIG. 6 is a partially enlarged view at point C in FIG. 5 .

Fig. 7 is a structural schematic diagram of the curved panel drilling equipment.

FIG. 8 is a partially enlarged view at D in FIG. 7 .

FIG. 9 is a schematic diagram of the structure at E in FIG. 7 .

Fig. 10 is a structural schematic diagram of the drilling positioning mechanism.

Fig. 11 is a logical block diagram of the drilling method for the curved plate.

Fig. 12 is a block diagram of specific drilling principles in the method for drilling arc-shaped plates.

Among them: 1. Column 2, Y-axis beam 3, alarm 4, Y-axis guide rail 5, Y-axis rack 6, mechanical arm swing servo motor 7, Y-axis servo motor 8, drag chain fixing frame 801, bracket side plate 9 , mechanical arm 10, workpiece to be processed 11, reverse fixed table 12, front fixed table 13, first bracket 14, second bracket 15, X-axis track plate 16, fixed block 17, mechanical arm fixing seat 18, mechanical arm Swing limit switch 19, ranging fixing plate 20, power head fixing plate 21, electronic scale 22, spring 23, drilling servo motor 24, reducer 25, positioning roller 26, drill bit 27, powerful magnet 28, magnet fixing seat 29 , small ram 30, detection head 31, linear guide rail pair 32, roller mounting seat 33, pressure block 34, reverse longitudinal positioning cylinder 35, lateral positioning cylinder 36, positioning bracket 37, positioning block 38, positioning auxiliary hole 39, fixture fixing Seat 40, quick chuck 41, connecting rod 42, clamp cylinder 43, front longitudinal positioning cylinder.

detailed description

Below in conjunction with accompanying drawing 1～12, the curved plate frock, drilling equipment and drilling method thereof of the present invention are further described.

Example 1

Referring to Figure 1, the curved panel tooling includes a reverse fixed workbench 11, a reverse longitudinal positioning mechanism and a reverse transverse positioning mechanism, and the reverse longitudinal positioning mechanism includes a first bracket 13 and a second bracket 14 fixed on the reverse fixed workbench 11 at intervals , the workpiece 10 to be processed fixed on the fixed workbench 11 on the reverse side is an arc-shaped plate with both ends bent upwards, the workpiece 10 to be processed is located between the first bracket 13 and the second bracket 14, and the upper end of the first bracket 13 is provided with a pressing The reverse side pressing mechanism at one end of the workpiece 10 to be processed, the upper end of the second bracket 14 is provided with a clamping fixture that is adjustable in height and clamps the other end of the workpiece 10 to be processed; the height of the clamping fixture is adjustable on the second bracket 14, This can adapt to workpieces 10 of different bending heights, and the lower ends of the first support 13 and the second support 14 can be fixed on the reverse fixed workbench 11 along the lengthwise direction of the reverse fixed workbench 11, which can be adapted to different lengths. The workpiece 10 to be processed; and the reverse side pressing mechanism is pressed against one end of the workpiece 10 to be processed, the clamping fixture moves and clamps the other end of the workpiece 10 to be processed, thereby completing the positioning and fixing of the workpiece 10 to be processed, and the operation is convenient.

The reverse lateral positioning mechanism is arranged on both sides of the reverse fixed workbench 11, clamping the two sides of the workpiece 10 to be processed and laterally positioning the workpiece 10. Specifically, the reverse lateral positioning mechanism includes a plurality of lateral positioning cylinders 35, lateral positioning brackets 36 and a plurality of positioning blocks 37, the lateral positioning bracket 36 is fixed on both sides of the workbench, the horizontal positioning cylinder 35 and the positioning block 37 are adjustable in height and are respectively fixed on the corresponding positioning bracket 36, the horizontal positioning cylinder 35 and the positioning block 37 They are oppositely arranged on both sides of the workpiece 10 to be processed.

Referring to Fig. 2, the reverse pressing mechanism is fixed on the front side of the first support 13, further, a reverse longitudinal positioning cylinder 34 is also fixed on the rear side of the first support 13, for coordinating the reverse longitudinal positioning cylinder 34, on the first The top of support 13 is provided with a positioning auxiliary hole 38, and positioning auxiliary hole 38 is positioned at the below of reverse side press-and-holding mechanism, and the piston rod of reverse side longitudinal positioning cylinder 34 passes through positioning auxiliary hole 38 and can promote the longitudinal positioning of workpiece 10 to be processed. Part 10 is fixed more firmly, and positioning is also more accurate, has improved processing precision, and certainly in order to treat processing part 10 to be positioned better, can fix a push plate at the front end of longitudinal positioning cylinder 34 piston rods on the reverse side. Specifically, the reverse pressing mechanism in this embodiment is an L-shaped pressing block 33 .

Referring to Figures 3 and 4, the clamping fixture includes a fixture holder 39, a quick chuck 40, a connecting rod 41 and a clamp cylinder 42 that pushes the connecting rod 41 to swing, and the holder holder 39 is fixed on the second support 14 with an adjustable height. One end of the quick chuck 40 and one end of the clamp cylinder 42 are respectively hinged on the clamp holder 39, one end of the connecting rod 41 is connected to the piston rod of the clamp cylinder 42 in rotation, and the other end of the connecting rod 41 is rotated with the middle of the quick chuck 40 Connect, the clamp cylinder 42 drives the quick chuck 40 to swing through the connecting rod 41, and the other end of the quick chuck 40 is pressed on the end upper side of the workpiece 10 to be processed. The workpiece 10 to be processed is placed on the workbench, and the lateral positioning cylinder 35 acts to push the workpiece 10 to move laterally, so that the workpiece 10 to be processed is clamped between the lateral positioning cylinder 35 and the positioning block 37, and the first support 13 and The second support 14 makes the briquetting block 33 on the upper end of the first support 13 be pressed against one end of the workpiece 10 to be processed, and the reverse longitudinal positioning cylinder 34 moves and contacts one end of the workpiece 10 to be processed, and promotes the workpiece 10 to move longitudinally, so that the workpiece 10 to be processed moves The other end of the workpiece 10 is in contact with the second bracket 14, and the clamp cylinder 42 moves to drive the quick chuck 40 to swing, and the other end of the quick chuck 40 is pressed against the upper side of the end of the workpiece 10 to be processed, thereby completing the processing The positioning and fixing of the part 10 is easy to operate.

Example 2

Referring to Figure 5, the difference between this embodiment and Embodiment 1 is that the curved panel tooling also includes a front fixed worktable 12 (the reverse fixed workbench 11 is not shown in the figure), and the front fixed workbench 12 is arranged on the reverse fixed workbench. On one side of the table 11, the front fixed workbench 12 and the reverse fixed workbench 11 are independently slidably arranged, and the workpiece 10 to be processed fixed on the front fixed workbench 12 is an arc-shaped plate bent downward at both ends, so that the The shape of the workpiece 10 to be processed is selected to fix the workpiece 10 on the front fixed table 12 or the reverse fixed table 11. For example, the smoother side can be used as the upper surface to be fixed on the corresponding curved panel tooling.

Referring to Figures 5 and 6, two fixed blocks 16 are fixed at intervals on the front fixed workbench 12, and the workpiece 10 to be processed fixed on the front fixed workbench 12 is an arc-shaped plate with both ends bent downward, and the workpiece 10 to be processed is fixed Between the two fixed blocks 16, at least one fixed block 16 is slidably arranged along the length direction of the front fixed workbench 12, and the two sides of the front fixed workbench 12 are provided with front lateral positioning mechanisms, and the fixed block 16 is fixed with a front longitudinal Positioning cylinder 43, two fixed blocks 16 carry out longitudinal preliminary positioning of the workpiece 10 to be processed, and then promote the workpiece 10 to be processed by the front longitudinal positioning cylinder 43 to carry out further longitudinal positioning, because the workpiece 10 to be processed on the front fixed workbench 12 is two The arc-shaped plate with the ends bent downward, so the two ends of the workpiece 10 to be processed always fall below, so there is no need to consider the adjustment of the height. The front lateral positioning mechanism is fixed on both sides of the front fixed workbench 12, and clamps the two sides of the workpiece 10 to be processed to perform lateral positioning of the workpiece 10 to be processed. The front lateral positioning mechanism also includes a plurality of lateral positioning cylinders 35 and positioning blocks 37. The lateral positioning cylinders 35 at both ends are fixed on the fixed block 16, and the horizontal positioning cylinders 35 in the middle are fixed on the positioning bracket 36 with adjustable height. 35 is set opposite to the positioning block 37.

Referring to Fig. 7, the present invention also provides a curved panel drilling equipment, including the curved panel tooling of any of the above-mentioned embodiments, at least one gantry frame and mechanical arm 9 are fixed above the curved panel tooling, and the upper part of the gantry frame has The horizontal Y-axis crossbeam 2, the Y-axis crossbeam 2 and the fixed workbench 11 on the opposite side are arranged perpendicular to each other, the mechanical arm 9 is arranged on the Y-axis crossbeam 2, and the lower end of the mechanical arm 9 is provided with a drilling mechanism and a drilling positioning device. 9 and the Y-axis crossbeam 2 are provided with a mechanical arm swing mechanism that drives the mechanical arm 9 to swing around the axis parallel to the Y-axis crossbeam 2. The mechanical arm 9 is also connected with a drill lifting mechanism that drives the drilling mechanism up and down. The Y-axis crossbeam 2 and the reverse fixed worktable 11 can move relatively in the reverse fixed workbench 11 length direction. The present invention detects the vertical distance between the drilling mechanism and the workpiece 10 in real time through the drilling positioning device, and utilizes the drill lifting mechanism to drive the drilling mechanism up and down to ensure that there is a constant distance between the drilling mechanism and the workpiece 10, and then Utilize the mechanical arm swing mechanism to drive the mechanical arm 9 to swing, adapt to the arc-shaped workpiece 10 to be processed, so that the drilling mechanism can drill holes perpendicular to the workpiece 10 to be processed, and the Y-axis beam 2 and the fixed worktable 11 on the opposite side can move relatively, thereby Make the drilling equipment on the mechanical arm 9 drill the workpiece 10 to be processed in the longitudinal direction, realize the automatic drilling of the irregular plate-shaped workpiece 10 to be processed, reduce the working intensity, improve the working efficiency, reduce the processing cost, and improve the drilling efficiency. precision.

Further, the curved panel tooling in the above-mentioned embodiment 1 or embodiment 2 also includes an X-axis track plate 15, the front fixed table 12 and the reverse fixed table 11 are relatively independently slidably arranged on the X-axis track plate 15, and the front fixed Between the workbench 12 and the fixed workbench 11 on the reverse side and the X-axis track plate 15, there is a workbench power mechanism to drive them to slide. Specifically, the power mechanism of the workbench includes an X-axis gear fixed on the lower side of the workbench and an X-axis rack fixed on the upper side of the X-axis track plate 15, and an X-axis servo motor driving the X-axis gear is fixed on the lower part of the workbench. The shaft gear meshes with the X-axis rack and drives the table to slide along the X-axis direction.

Preferably, the gantry frame in this embodiment also includes columns 1 on both sides, the Y-axis beam 2 is horizontally fixed on the two columns, the two ends of the Y-axis beam 2 are fixed with alarms 3, and the curved panel tooling is arranged on two between columns 1. Moreover, in this embodiment, two mechanical arms 9 are mirrored on the Y-axis beam 2 , and a mechanical arm traversing mechanism for driving the mechanical arm 9 to move laterally along the Y-axis beam 2 is provided between the robotic arms 9 and the Y-axis beam 2 . The present invention can drive the mechanical arm 9 to move between the front fixed workbench 12 and the reverse fixed workbench 11 through the mechanical arm traversing mechanism, so that when the workpiece 10 to be processed on one workbench is processed, another workpiece to be processed can be moved 10 is fixed on another workbench to further improve work efficiency.

One side of the mechanical arm 9 is provided with a cover plate, and the drill bit lifting mechanism is fixed between the cover plate and the mechanical arm 9. Specifically, the drill bit lifting mechanism includes a screw assembly and a ram (not shown in the figure), and the screw assembly It is relatively fixed with the cover plate and connected to the mechanical arm 9, and the mechanical arm 9 is driven up and down by the screw assembly, and the ram is arranged between the mechanical arm 9 and the cover plate to realize the guidance of the mechanical arm 9 lifting. Certainly the drill lifting mechanism among the present invention can also be arranged between mechanical arm 9 and the drilling mechanism, directly drives the drilling mechanism lifting.

Referring to Fig. 8, the mechanical arm traverse mechanism includes a Y-axis rack 5, a Y-axis gear (not shown in the figure) and a mechanical arm fixing seat 17, and the Y-axis rack 5 is laterally fixed on the Y-axis crossbeam 2, and the Y-axis crossbeam 2. Fix the Y-axis guide rail 4 parallel to the Y-axis rack 5. The mechanical arm fixing seat 17 is slid on the Y-axis guide rail 4 through a slider (not shown in the figure), and the Y-axis gear is fixed on the mechanical arm fixing seat 17. and meshes with the Y-axis rack 5, and the Y-axis servo motor 7 that drives the Y-axis gear to rotate is fixed on the mechanical arm holder 17. Preferably, in this embodiment, there are two upper and lower Y-axis guide rails 4, and the Y-axis rack 5 is arranged between the two Y-axis guide rails 4, so that the force is more uniform. The mechanical arm swing mechanism is a mechanical arm swing servo motor 6 fixed on the mechanical arm holder 17, and the mechanical arm swing servo motor 6 is connected with the above-mentioned cover plate and drives the mechanical arm 9 to swing.

The upper side of mechanical arm holder 17 is fixed with a towline fixed mount 8, preferably, the upper side of mechanical arm 9 is fixed with two mechanical arm swing limit switches 18, one side of corresponding towline fixed mount 8 There is a support side plate 801, when the mechanical arm 9 swings to the maximum position, the mechanical arm swing limit switch 18 is in contact with or close to the support side plate 801, thereby preventing the mechanical arm 9 from continuing to swing and colliding. The bit switch 18 can realize one backup and one use, prevent the switch from aging, and improve reliability.

Referring to Fig. 9, the drilling mechanism in this embodiment includes a servo driver, a drilling servo motor 23, a speed reducer 24 and a drill bit 26 connected in sequence, the servo driver is connected to the controller (not shown in the figure), and the servo driver detects the drilling The current of the servo motor 23 is fed back to the controller, and the controller can judge the stress situation of the drill bit 26 in real time through the current. When the current increases, it means that the material of the workpiece 10 to be processed here is relatively hard, and the drill bit 26 has been subjected to a large force. At this time, the controller can control the rotation speed of the drilling servo motor 23 to decrease through the servo driver, so that the drill bit 26 can be effectively prevented from being damaged or even directly broken. Similarly, when the current decreases, it means that the material of the workpiece 10 to be processed here is Relatively soft, the resistance to which the drill bit 26 is subjected is small. At this time, the controller can control the speed of the drilling servo motor 23 to increase through the servo driver, thereby improving the processing efficiency. The drilling servo motor 23 , the speed reducer 24 and the drill bit 26 among the present embodiment are fixed on the lower end of the mechanical arm 9 by a power head fixing plate 20 .

Referring to Fig. 10, as a further improvement, the drilling positioning device in this embodiment includes a positioning roller 25 and an electronic ruler 21, the electronic ruler 21 is vertically fixed on the mechanical arm 9, and the positioning roller 25 is fixed on a roller mount 32 At the lower end, the roller mounting seat 32 is connected to the telescopic distance measuring unit at the lower end of the electronic ruler 21 through a magnetic attraction mechanism. The surface of the workpiece 10 to be processed is often rough, and sometimes there are some convex or concave parts on the surface, especially arc-shaped The positioning roller 25 is easily impacted during the walking process. In this embodiment, the positioning roller 25 and the telescopic distance-measuring unit are attracted by the magnet attraction mechanism, so that the positioning roller 25 can be separated from the telescopic distance-measuring unit when an accidental collision occurs, thereby preventing Damaged components, especially the electronic ruler 21 with a higher price, reduce the operating cost and make the operation more reliable. The drilling positioning device in this embodiment is fixed on the power head fixing plate 20 through a distance measuring fixing plate 19 , and the distance measuring fixing plate 19 and the power head fixing plate 20 are perpendicular to each other.

Specifically, the magnet suction mechanism includes a powerful magnet 27 and a magnet holder 28, and the positioning roller 25 is rolled on the roller installation seat 32, and the roller installation seat 32 is attracted to the magnet holder 28 by the powerful magnet 27; The unit includes a small ram 29 and a linear guide rail pair 31. The small ram 29 is connected to the lower end of the electronic scale 21 through a spring 22. The small ram 29 is slidably arranged on the linear guide rail pair 31. A detection device is fixed at the lower end of the small ram 29. The head 30 and the magnet fixing seat 28 are fixed on the linear guide rail pair 31, and the magnet fixing seat 28 contacts the detection head 30 after rising and pushes the small ram 29 up and down.

The present invention also provides a method for drilling a curved panel, using the above-mentioned drilling equipment for a curved panel, referring to Figure 11, specifically comprising the following steps:

Step 1), power on, the system returns to zero;

Step 2), use the curved plate tooling to fix the workpiece 10 to be processed, if programming is required, go to step 3), otherwise, go to step 5), when the new workpiece 10 to be processed needs to be reprogrammed to adapt to the new workpiece 10 to be processed shape, and the same workpiece 10 does not need to be programmed, and can be directly processed by the same program;

Step 3), programming, setting the swing trajectory of the mechanical arm 9 and the lifting trajectory of the drill bit 26, and setting the longitudinal moving speed and stroke of the workpiece 10 to be processed;

Step 4), the mechanical arm 9 and the workpiece 10 are idling, if the mechanical arm 9 can drive the drilling mechanism to drill holes at the position of the workpiece 10 to be drilled, go to step 5), otherwise return to step 3);

Step 5), automatic operation, the curved panel tooling drives the workpiece 10 to move longitudinally, the mechanical arm swing mechanism drives the mechanical arm 9 to swing along the surface curvature of the workpiece 10 to be processed, the drilling positioning device contacts the upper surface of the workpiece 10 to detect The vertical distance between the drilling mechanism and the surface of the workpiece 10 to be processed, the drill lifting mechanism drives the drilling mechanism to lift, and the moving drilling mechanism drills the workpiece 10 to be processed;

Step 6, the drilling is completed, and the workpiece is removed;

Referring to Fig. 12, in step 5), in the process of drilling the workpiece 10 to be processed by the drilling mechanism, first set the relevant parameters of the controller, including the distance between the drill bit 26 and the surface of the workpiece 10 to be processed, the current of the drilling servo motor 23 The upper and lower limits of the drilling positioning device send the detected data to the controller, the controller converts the data into the vertical distance between the drill bit 26 and the surface of the workpiece 10 to be processed, and the servo driver detects the current of the drilling servo motor 23 and feeds back To the controller, the controller judges the force situation of the drill bit 26 according to the current of the drilling servo motor 23 and the parameters set in the controller, and changes the rotating speed of the drilling servo motor 23 correspondingly through the servo driver, as shown in the figure The power head shown refers to drill bit 26, drilling servo motor and mechanical arm 9. Specifically, when the current increases, it means that the material of the workpiece 10 to be processed here is relatively hard, and the drill bit 26 is subject to greater resistance. At this time, the controller can control the rotation speed of the drilling servo motor 23 to decrease through the servo driver, so that Effectively prevent the drill bit 26 from being damaged or even directly broken. Similarly, when the current decreases, it means that the material of the workpiece 10 to be processed here is relatively soft, and the resistance received by the drill bit 26 is small. At this time, the controller can control the drill bit through the servo drive. The rotation speed of the hole servo motor 23 is increased, so that the machining efficiency can be improved. Of course, the speed of the axial feed of the drill bit 26 can also be adjusted by the controller to adapt to the resistance suffered by the drill bit 26. Specifically, when the current increases, the controller reduces the speed of the axial feed of the drill bit 26 through the mechanical arm lifting mechanism. Therefore, the drill bit 26 can be effectively prevented from being damaged or even directly broken. When the current decreases, the controller increases the axial feeding speed of the drill bit 26 through the lifting mechanism of the mechanical arm, thereby improving the processing efficiency.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention to other forms. Any skilled person who is familiar with this profession may use the technical content disclosed above to change or modify the equivalent of equivalent changes. Example. However, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the protection scope of the 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.