CN106736061A - A kind of aluminum alloy bodywork automatically grinding back chipping system - Google Patents
A kind of aluminum alloy bodywork automatically grinding back chipping system Download PDFInfo
- Publication number
- CN106736061A CN106736061A CN201611132007.4A CN201611132007A CN106736061A CN 106736061 A CN106736061 A CN 106736061A CN 201611132007 A CN201611132007 A CN 201611132007A CN 106736061 A CN106736061 A CN 106736061A
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- Prior art keywords
- robot
- aluminum alloy
- back chipping
- machining
- automatically grinding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/10—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to cutting or desurfacing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of aluminum alloy bodywork automatically grinding back chipping system, including tool holder, work stage, the tool holder is provided with three layers, and every layer is provided with several machining tools；Work stage, the work stage is used to fix workpiece；Robot, the robot is placed on slide rail, the mechanical arm of the robot is provided with electro spindle, clamp system is connected on electro spindle, the clamp system is used to clamp machining tool, and the clamp system side is provided with scanner, and the scanner is used for scanning machining part, the coordinate data of workpiece is obtained, the robot is electrically connected with switch board；Software control module, the software control module includes off-line programing module and on-line amending module.Aluminum alloy bodywork automatically grinding back chipping system of the present invention is solved in secondary operation big part of car body of aluminum alloy, replaces handwork to produce with automated production, improve production efficiency.
Description
Technical field
The invention belongs to machining equipment technical field, more particularly, to a kind of aluminum alloy bodywork automatically grinding back chipping system
System.
Background technology
EMU is higher to car body mass requirement in the fabrication process, in process of production, because welding becomes in the past
The reason such as shape and dimensional tolerance, car body big parts such as side wall, roof, bottom frame floor etc. cannot realize time processing in group postwelding
Shaping, certain allowance need to be left, take manual work mode to complete after its processing, mainly there is weld seam to polish, back chipping,
The operation such as deburring and end fluting.This " secondary operation " not only wastes time and energy, less efficient, the bottleneck as restriction production capacity
Operation, and manual operations easily injures mother metal, there is certain quality risk, while the security of operation is also difficult to ensure that.
To improve polishing quality, lifting process level reduces labour intensity, and for miscellaneous part post-process treatment provides reason
By support and practical experience, exploitation car body big parts automatically grinding, back chipping technology are imperative.Using this kind of new technique, should
Deficiency hand-manipulated is made up with the intelligentized feature of manipulator, handwork is replaced with automatic mechanical hand, and then realize producing
The chip processing of product welding deformation position and complex three-dimensional curved surface.
The content of the invention
In view of this, the present invention is directed to propose a kind of aluminum alloy bodywork automatically grinding back chipping system, to solve secondary plus
During work big part of car body of aluminum alloy, handwork is replaced to produce with automated production, improve production efficiency.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of aluminum alloy bodywork automatically grinding back chipping system, including
Tool holder, the tool holder is provided with three layers, and every layer is provided with several machining tools；
Work stage, the work stage is used to fix workpiece；
Robot, the robot is placed on slide rail, and the mechanical arm of the robot is provided with electro spindle, connects on electro spindle
Clamp system is connect, the clamp system is used to clamp machining tool, and the clamp system side is provided with scanner, the scanner
For scanning machining part, the coordinate data of workpiece is obtained, the robot is electrically connected with switch board；
Software control module, the software control module includes off-line programing module and on-line amending module, described offline
Programming module is used to generate the machining path of workpiece, and the on-line amending module is the actual coordinate and standard coordinate according to workpiece
Difference between data, corrects machining path.
Further, the off-line programing module includes machining path generation unit and automatic tool changer unit, the processing
Coordinates measurement unit is according to the fixed machining path of manufacturing procedure generation, difference of the automatic tool changer unit according to manufacturing procedure
Corresponding machining tool is changed, to realize rapid changing knife.
Further, the on-line amending module includes automatic detection unit and automatic back chipping unit, the automatic detection
Unit carries out automatic grinding, the automatic back chipping unit, for correcting because welding deformation, product are public according to underproof region
Practical work piece and the error of theoretical model that difference accumulation etc. causes, additionally it is possible to correct different workpieces and drawn due to positioning in frock
The displacement error in the length and width direction risen.
Further, the scanner is three-dimensional laser scanner.
Further, the artificial six degree of freedom industrial robot of the machine.
Relative to prior art, a kind of aluminum alloy bodywork automatically grinding back chipping system of the present invention has following excellent
Gesture：
Aluminum alloy bodywork automatically grinding back chipping system of the present invention is operated instead of handwork, improves operating efficiency
And yield rate, the security of operative is also guaranteed, and realizes Product jointing deformation position and complex three-dimensional curved surface
Chip is processed, the automatically replaceable machining tool of the system, highly versatile high using flexibility.
Brief description of the drawings
The accompanying drawing for constituting a part of the invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate, for explaining the present invention, not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the overall structure diagram described in the embodiment of the present invention；
Fig. 2 is the process chart described in the embodiment of the present invention.
Description of reference numerals：
1- tool holders；2- work stages；3- electro spindles；4- robots；5- slide rails；6- clamp systems；7- scanners；8- is controlled
Cabinet processed；9- off-line programing modules；10- on-line amending modules.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of and describes the present invention and simplify to describe, rather than instruction or dark
Showing the device or element of meaning must have specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
Limitation of the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in figure 1, a kind of aluminum alloy bodywork automatically grinding back chipping system, including
Tool holder 1, the tool holder 1 is provided with three layers, and every layer is provided with several machining tools, and machining tool includes mill
Flat cutter tool, back-chipping cutter and deburrer；
Work stage 2, the work stage 2 is used to fix workpiece；
Robot 4, the robot 4 is six degree of freedom industrial robot, and the robot 4 is placed on slide rail 5, described
The mechanical arm of robot 4 is provided with electro spindle 3, and clamp system 6 is connected on electro spindle 3, and the clamp system 6 is various for clamping
Process tool, electro spindle 3 and the handle of a knife of robot 4 can be compatible, and all types of cutter interface shapes are unified, fast to realize
Quick change knife, the side of the clamp system 6 is provided with scanner 7, and the scanner 7 is used for scanning machining part, and the scanner 7 is three
Dimension laser scanner, obtains the actual coordinate data of workpiece, and the robot 4 is electrically connected with switch board 8；
Software control module, the software control module include off-line programing module 9 and on-line amending module 10, it is described from
Line programming module 9 is used to generate the machining path of workpiece, and the off-line programing module 9 is including machining path generation unit and automatically
Tool changing unit, the machining path generation unit is according to the fixed machining path of manufacturing procedure generation, the automatic tool changer unit
Difference according to manufacturing procedure changes corresponding machining tool, and to realize rapid changing knife, the on-line amending module 10 is basis
Difference between the actual coordinate and standard coordinate data of workpiece, corrects machining path, and the on-line amending module 10 is included certainly
Dynamic detection unit and automatic back chipping unit, the automatic detection unit carry out automatic grinding according to underproof region, it is described from
Dynamic back chipping unit, the error of the practical work piece and theoretical model for causing is accumulated etc. for correcting due to welding deformation, product tolerance,
The displacement error in the length and width direction that different workpieces are caused in frock due to positioning can also be corrected.
As shown in Fig. 2 procedure of processing of the invention is as follows：
Corresponding processing workpiece is clamped in work stage 2, the program of input off-line programing module 9 in the controlled cabinet 8 of robot 4
Control, spatial digitizer 7 is scanned and obtains the actual coordinate data of workpiece, the Workpiece standard being then input into off-line programing module 9
Coordinate data compares and can determine whether workpiece coordinate deviation, then carries out coordinate modification by on-line amending module 10, so that
To the reality processing path of manipulator, so the control of switch board 8 robot 4 go corresponding processing stations carry out polishing processing or
Clean-up machining, back chipping treatment mainly weld preceding polishing, postwelding polishing and weld seam and polishes, and polishing is mainly sharp corner and repaiies
Whole, processing reinforcement is polished, the grinding of tapping diagonal bar and right angle reconditioning etc., and the system can also realize automatic detection, and can be directed to
Underproof region carries out automatic grinding.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (5)
1. a kind of aluminum alloy bodywork automatically grinding back chipping system, it is characterised in that：Including
Tool holder, the tool holder is provided with three layers, and every layer is provided with several machining tools；
Work stage, the work stage is used to fix workpiece；
Robot, the robot is placed on slide rail, and the mechanical arm of the robot is provided with electro spindle, connection clip on electro spindle
Tight mechanism, the clamp system is used to clamp machining tool, and the clamp system side is provided with scanner, and the scanner is used for
Scanning machining part, obtains the coordinate data of workpiece, and the robot is electrically connected with switch board；
Software control module, the software control module includes off-line programing module and on-line amending module, the off-line programing
Module is used to generate the machining path of workpiece, and the on-line amending module is the actual coordinate and standard coordinate data according to workpiece
Between difference, correct machining path.
2. a kind of aluminum alloy bodywork automatically grinding back chipping system according to claim 1, it is characterised in that：The offline volume
Journey module includes machining path generation unit and automatic tool changer unit, and the machining path generation unit is generated according to manufacturing procedure
Fixed machining path, the automatic tool changer unit changes corresponding machining tool according to the difference of manufacturing procedure, fast to realize
Quick change knife.
3. a kind of aluminum alloy bodywork automatically grinding back chipping system according to claim 1, it is characterised in that：It is described to repair online
Positive module includes automatic detection unit and automatic back chipping unit, and the automatic detection unit is carried out automatically according to underproof region
Reconditioning, the automatic back chipping unit, for correcting the practical work piece and theory that cause due to welding deformation, product tolerance accumulation etc.
The error of model, additionally it is possible to correct the mobile mistake in the length and width direction that different workpieces are caused in frock due to positioning
Difference.
4. a kind of aluminum alloy bodywork automatically grinding back chipping system according to claim 1, it is characterised in that：The scanner
It is three-dimensional laser scanner.
5. a kind of aluminum alloy bodywork automatically grinding back chipping system according to claim 1, it is characterised in that：The robot
It is six degree of freedom industrial robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611132007.4A CN106736061A (en) | 2016-12-09 | 2016-12-09 | A kind of aluminum alloy bodywork automatically grinding back chipping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611132007.4A CN106736061A (en) | 2016-12-09 | 2016-12-09 | A kind of aluminum alloy bodywork automatically grinding back chipping system |
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| CN106736061A true CN106736061A (en) | 2017-05-31 |
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| CN201611132007.4A Pending CN106736061A (en) | 2016-12-09 | 2016-12-09 | A kind of aluminum alloy bodywork automatically grinding back chipping system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705224A (en) * | 2018-05-02 | 2018-10-26 | 华中科技大学 | A kind of high energy beam shifting cutting edge of a knife or a sword method of machining path planning |
| CN110434679A (en) * | 2019-07-25 | 2019-11-12 | 王东 | A kind of Intelligent Machining method for the workpiece with random size error |
| CN110560754A (en) * | 2019-09-05 | 2019-12-13 | 奇瑞新能源汽车股份有限公司 | Self-adaptive machining system, control method thereof and vehicle body machining equipment |
| CN111496937A (en) * | 2020-03-24 | 2020-08-07 | 苏州昆仑绿建木结构科技股份有限公司 | Flexible machining system based on mechanical arm and used for ultra-large plate |
| CN111774987A (en) * | 2020-07-14 | 2020-10-16 | 江苏卓钇智能数控装备有限公司 | Multi-deformation casting grinding processing equipment and grinding method thereof |
| CN111843716A (en) * | 2020-07-03 | 2020-10-30 | 福州国化智能技术有限公司 | Intelligent polishing system for various subway handrails |
| CN112792571A (en) * | 2020-12-31 | 2021-05-14 | 广州数控设备有限公司 | Automatic grinding scraping system |
| CN113146110A (en) * | 2021-04-28 | 2021-07-23 | 中车长春轨道客车股份有限公司 | Urban rail vehicle small part welding system adopting off-line programming and on-line calibration method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705224A (en) * | 2018-05-02 | 2018-10-26 | 华中科技大学 | A kind of high energy beam shifting cutting edge of a knife or a sword method of machining path planning |
| CN108705224B (en) * | 2018-05-02 | 2019-06-28 | 华中科技大学 | A kind of high energy beam shifting cutting edge of a knife or a sword method of machining path planning |
| CN110434679A (en) * | 2019-07-25 | 2019-11-12 | 王东 | A kind of Intelligent Machining method for the workpiece with random size error |
| CN110560754A (en) * | 2019-09-05 | 2019-12-13 | 奇瑞新能源汽车股份有限公司 | Self-adaptive machining system, control method thereof and vehicle body machining equipment |
| CN111496937A (en) * | 2020-03-24 | 2020-08-07 | 苏州昆仑绿建木结构科技股份有限公司 | Flexible machining system based on mechanical arm and used for ultra-large plate |
| CN111843716A (en) * | 2020-07-03 | 2020-10-30 | 福州国化智能技术有限公司 | Intelligent polishing system for various subway handrails |
| CN111774987A (en) * | 2020-07-14 | 2020-10-16 | 江苏卓钇智能数控装备有限公司 | Multi-deformation casting grinding processing equipment and grinding method thereof |
| CN112792571A (en) * | 2020-12-31 | 2021-05-14 | 广州数控设备有限公司 | Automatic grinding scraping system |
| CN112792571B (en) * | 2020-12-31 | 2021-12-21 | 广州数控设备有限公司 | Automatic grinding scraping system |
| CN113146110A (en) * | 2021-04-28 | 2021-07-23 | 中车长春轨道客车股份有限公司 | Urban rail vehicle small part welding system adopting off-line programming and on-line calibration method |
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Application publication date: 20170531 |