CN106956286A - Composite machinery hand machining integrated system - Google Patents
Composite machinery hand machining integrated system Download PDFInfo
- Publication number
- CN106956286A CN106956286A CN201710352992.8A CN201710352992A CN106956286A CN 106956286 A CN106956286 A CN 106956286A CN 201710352992 A CN201710352992 A CN 201710352992A CN 106956286 A CN106956286 A CN 106956286A
- Authority
- CN
- China
- Prior art keywords
- cover body
- hole
- cutting insert
- dedusting cover
- insert assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0458—Connections means having a frustroconical member
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The invention discloses the mechanical hand machining integrated system of composite, it includes machining robot, cutting insert assembly, cutting insert assembly is arranged on to the mounting assembly on the mechanical arm of machining robot, and the numerical control structure being controlled by servo structure to the machining path of cutting insert assembly；Attachment structure includes the connecting plate being fixedly connected with mechanical arm, the intermediate die plate for installing cutting insert assembly, and at least one linking arm；Also including the precision measurement and detection unit being fixedly connected with attachment structure, the dust removing units being fixedly connected with intermediate die plate and the cutter cooling unit cooled down to the cutter head of cutting insert assembly that is connected with dust removing units；Wherein, the dedusting cover body of dust arrester is detachably arranged in below flexible pipe installing plate by automatic loading and unloading structure, cutting insert assembly is wrapped in its cavity positioned at intermediate die plate section below by dedusting cover body, and the cutter head of cutting insert assembly is stretched out by the suction port of dedusting cover body.
Description
Technical field
The present invention relates to manipulator manufacture field, specifically, it is related to a kind of mechanical hand machining of composite integrated
System.
Background technology
With continuing to develop for electromechanical integration technology, popularization and the application of electromechanical integration technology improve control system
Intelligence degree, the popularization of new and high technology make it that long-range unmanned manipulation system is developed rapidly, and then strengthens electromechanical assembly
Mechanization attribute, mechanical arm arises at the historic moment, with continuing to develop for mechanical arm, the application of mechanical arm more and more extensively,
Mechanical arm can be any object or instrument spatially pose（Position and attitude）Time-varying requirement move, so as to complete a certain
Industrial job requirements.But in process, not only need to cut work piece on manipulator clamping cutter
Cut, in addition it is also necessary to which the machining accuracy to work piece measures, carries out dedusting and cutter is cooled down etc..
But, general relatively simpleization of function of current mechanical arm, common mechanical arm can be only done clamping cutter and carry out
The task of processing, and machining accuracy measurement, dedusting and cooling etc. are required for being separately provided in addition, and the independent of these parts is set
Put and not only occupy than larger space, also affect the convenience of processing.
Therefore, now need to provide a kind of composite mechanical hand machining integrated system, add automatically to meet manipulator
The purpose of the integrated processing such as work, detection, cooling, improves the convenience of machining, reduces space-consuming, reduces cost.
The content of the invention
Therefore, the present invention provides a kind of composite suitable for manipulator mechanical hand machining integrated system, and
A kind of manipulator machining detection method.
In order to solve the above technical problems, the invention provides a kind of mechanical hand machining integrated system of composite, its
Including machining robot, the cutting insert assembly is arranged on the mechanical arm of the machining robot by cutting insert assembly
On mounting assembly, and the numerical control structure being controlled by servo structure to the machining path of the cutting insert assembly；
The attachment structure includes the connecting plate being fixedly connected with the mechanical arm, the centre for installing the cutting insert assembly
Installing plate, and at least one linking arm that the connecting plate and the intermediate die plate are linked into an integrated entity；Also include and institute
The dust removing units that state precision measurement and detection unit that attachment structure is fixedly connected, are fixedly connected with the intermediate die plate and
Be connected the cutter cooling unit cooled down to the cutter head of the cutting insert assembly with the dust removing units；Wherein, it is described to remove
The dedusting cover body of dirt device is detachably arranged in below the flexible pipe installing plate by automatic loading and unloading structure, when the machinery
Arm is installed after the dedusting cover body by the connection of automatic loading and unloading structure, and the cutting insert assembly, which is located in the middle of described, to be installed
Plate section below is wrapped in its cavity by the dedusting cover body, and the cutting insert assembly cutter head by the dust excluding hood
The suction port of body stretches out.
The cutting insert assembly includes the electric machine main shaft in the second through hole of the intermediate die plate, is connected to
Handle of a knife and cutter head below the electric machine main shaft；When the mechanical arm passes through the automatic loading and unloading structure connection installation dust excluding hood
After body, the handle of a knife is located in the cavity of the dedusting cover body, and the cutter head is by the suction port of the dedusting cover body
Stretch out.
The automatic loading and unloading structure includes：Dust excluding hood supporting support, for supporting the dedusting after not installing or removing
Cover body, the dust excluding hood supporting support is provided with some spacer pins for the spacing dedusting cover body；
Dust excluding hood connects annulus, is movably set in outside the dedusting cover body, is formed on the dust excluding hood connection annulus some
Spacing hole, some first pass through hole and some second screwed holes, wherein, the spacing hole coordinates to described with the spacer pin
The progress of dedusting cover body is spacing, and the first screw rod is bottom-up to sequentially pass through described first through hole, spring and the embedded dedusting
In the first screwed hole in the upper end flange of cover body and the two screw thread coordinate fix, the second screw rod pass through the dedusting cover body
Upper end flange on second through in second screwed hole on hole and the embedded dust excluding hood connection annulus and the two spiral shell
Line, which coordinates, to be fixed；And dust excluding hood connecting plate, it is fixedly connected on below the dedusting flexible pipe installing plate, the dust excluding hood connecting plate
On form the second intermediate throughholes, some interconnected the first screw cap holes and the second screw cap hole, wherein, first screw cap hole
For through hole, U-shaped step surface is formed in second screw cap hole；
The dedusting cover body and rotate described that the mechanical arm is placed in the dust excluding hood supporting support by extruding
Dust excluding hood connecting plate so that second screw rod on the dedusting cover body slips into second spiral shell from first screw cap hole
Cap aperture and nut offsets with the U-shaped step surface, completes the automatic installation of the dedusting cover body；Or cause the dust excluding hood
The nut of second screw rod on body separates with the U-shaped step surface and slips into the first nut by second screw cap hole
Hole, completes the automatic dismantling of the dedusting cover body.
The precision measurement and detection unit includes being fixed on detection installing plate in the attachment structure, installed in the inspection
The detection head and error evaluation system surveyed on installing plate；Wherein, the detection head is connected with the numerical control structure, the inspection
Gauge head is detected according to pre-set programs to work piece, and testing result is fed back into the error evaluation system, the mistake
Testing result is compared by poor assessment system with given error preset range, described if testing result exceeds preset range
The new machining path of numerical control structural generation, the cutting insert assembly is processed again to the work piece.
The dust excluding hood supporting support includes support body, and being arranged on is used for the cover body branch for placing the dedusting cover body on support body
Support structure, and the tool magazine being arranged on the support body.
The cutter cooling unit includes the cooling tube being arranged on the dedusting cover body and installed installed in flexible pipe
The pipe joint of the connection cooling tube and cooling pump on plate, wherein, can for screw thread between the pipe joint and the cooling tube
Dismounting connection, the outlet of the cooling tube is at the suction port of the dedusting cover body；When the mechanical arm pass through it is automatic
Construct for handling connection is installed after the dedusting cover body, the cutter head of the cutting insert assembly by the dedusting cover body dust suction
Mouth stretches out to be processed to work piece, and the cutter cooling unit carries out air cooling by the cooling tube to the cutter head.
Also include cutting force detection unit, the cutting force detection unit includes rotation dynamometer and connected with the dust excluding hood
The dynamometer installing plate that fishplate bar is detachably connected, the rotor of the rotation dynamometer and the electric machine main shaft of the cutting insert assembly
Coaxially it is arranged, the stator of the rotation dynamometer is fixedly connected with the dynamometer installing plate；Detect the cutting insert assembly
Cutting force when, the mechanical arm is unloaded the dedusting cover body by the automatic loading and unloading structure, the cutting tool
The electric machine main shaft of component unloads handle of a knife and cutter head, installs the dynamometer installing plate and by the rotor of the rotation dynamometer
Fixation is set in outside the electric machine main shaft, and the cutting force detection unit is detected.
Also include the clamping workpiece unit for fixing work piece on workbench, the clamping workpiece unit bag
Some vacuum holes being molded on mould, the vacuum cup and Vacuuming structure connected with the vacuum hole are included, it is described to take out true
Hollow structure, which is adsorbed the work piece being placed on the mould by the vacuum cup and the vacuum hole, to be fixed.
Multiple first through hole are formed on the connecting plate, multiple connecting screw rods will be described through multiple first through hole
Connecting plate is fixedly connected with the flange of the mechanical arm；Multiple 3rd screwed holes are formed on the intermediate die plate, it is described
The upper surface of dedusting flexible pipe installing plate forms that position is corresponding and corresponding 4th nut bore of quantity, and connecting screw rod is the described 3rd
The intermediate die plate is fixedly connected with the dedusting flexible pipe installing plate under the cooperation of screwed hole and the 4th nut bore.
The intermediate die plate fastens shape in a ring, and it includes being used to install the second of the electric machine main shaft of cutting insert assembly
Through hole, the first buckling parts and the second buckling parts, the electric machine main shaft of the cutting insert assembly are arranged in second through hole, and
It is fastened to by the fastening of first buckling parts and second buckling parts in second through hole.
The above-mentioned technical proposal of the present invention has advantages below compared with prior art：
In the present invention, the machining unit, precision measurement and detection unit, dedusting list are provided with simultaneously on mechanical arm
Member and cutter cooling unit, it meets the purpose that manipulator such as processed, and detected, cool down at the integrated processing automatically, improves machinery and adds
The convenience of work, reduces space-consuming, reduces cost；In addition, the cutting insert assembly the cutter head to work piece
While being processed, the dust arrester can remove the dust that processing is produced simultaneously, so that environmental protection and workers ' health；
And when needing to change cutter, mechanical arm described first is unloaded the dedusting cover body by the automatic loading and unloading structure,
Then normal cutter changing is can be carried out, after cutter changing is finished, the mechanical arm is again by the automatic dress
Structure is unloaded to install the dedusting cover body；To sum up, the present invention can not only go chalk dust removing, environmental protection and work in time
People's health, and it can interfere the exchanging knives process of the cutting insert assembly with synchronized dust removal and not.
Brief description of the drawings
In order that present disclosure is more likely to be clearly understood, specific embodiment and combination below according to the present invention
Accompanying drawing, the present invention is further detailed explanation.
Wherein, Fig. 1 is the mechanical hand machining integrated system schematic diagram of composite of the present invention；
Fig. 2 is dust removing units schematic diagram of the present invention；
Fig. 3 is dust removing units schematic cross-section of the present invention；
Fig. 4 is cutting force detection unit schematic diagram of the present invention；
Fig. 5 is dust excluding hood supporting support schematic diagram of the present invention；
Fig. 6 is Workpiece clamping cell schematics of the present invention；
Fig. 7 is dedusting cover body schematic diagram of the present invention；
Fig. 8 is flexible pipe installing plate schematic diagram of the present invention
Fig. 9 is dust excluding hood connection annulus schematic diagram of the present invention；
Figure 10 is dust excluding hood connecting plate schematic diagram of the present invention；
Figure 11 is attachment structure schematic diagram of the present invention；
Description of reference numerals：1- flexible pipe installing plates；2- mechanical arms；3- dedusting cover bodies；4- mounting holes；It is logical in the middle of 5- first
Hole；6- communication grooves；7- dust excluding hood supporting supports；8- spacer pins；9- dust excluding hoods connect annulus；10- spacing holes；11- first is worn
Via；12- second passes through hole；13- springs；The screwed holes of 14- second；The screw rods of 15- first；The screw rods of 16- second；17- dust excluding hoods connect
Fishplate bar；The intermediate throughholes of 18- second；The screw cap holes of 19- first；The screw cap holes of 20- second；21-U type step surfaces；22- arcuate sockets；23- prevents
Hit ring；24- connecting plates；25- intermediate die plates；26- linking arms；27- first through hole；The through holes of 28- second；The screwed holes of 29- the 3rd；
The nut bores of 30- the 4th；31- first is fastened；The buckling parts of 32- second；33- cutter heads；34- electric machine main shafts；35- detects installing plate；36-
Detection head；37- shield support structures；38- tool magazines；39- pipe joints；40- cooling tubes；41- rotates dynamometer；42- dynamometers are pacified
Fill plate；43- moulds；44- vacuum cups；45- vacuum holes；46- first installs screwed hole；47- second installs screwed hole；48- pacifies
Fill through hole.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
As shown in figs. 1-11, the mechanical hand machining integrated system of the composite of the present embodiment, it includes processing machine
The cutting insert assembly is arranged on the installation group on the mechanical arm 2 of the machining robot by people, cutting insert assembly
Part, and the numerical control structure being controlled by servo structure to the machining path of the cutting insert assembly；The connection knot
Structure includes the connecting plate 24 being fixedly connected with the mechanical arm 2, the intermediate die plate for installing the cutting insert assembly
25, and at least one linking arm 26 that the connecting plate 24 and the intermediate die plate 25 are linked into an integrated entity；Also include with
Precision measurement and detection unit that the attachment structure is fixedly connected, the dust removing units being fixedly connected with the intermediate die plate 25,
And the cutter cooling unit cooled down to the cutter head 33 of the cutting insert assembly that is connected with the dust removing units；Wherein,
The dedusting cover body 3 of the dust arrester is detachably arranged in the lower section of flexible pipe installing plate 1 by automatic loading and unloading structure, when
The mechanical arm 2 is installed after the dedusting cover body 3 by the connection of automatic loading and unloading structure, and the cutting insert assembly is located at institute
The section below of intermediate die plate 25 is stated to be wrapped in its cavity by the dedusting cover body 3, and the knife of the cutting insert assembly
First 33 are stretched out by the suction port of the dedusting cover body 3.
In the cutting process of composite, substantial amounts of dust can be produced, if being purged not in time, it will pollution
Environment and harm operating personnel it is healthy；And in the present embodiment, with being removed described in the dedusting soft pipe connection of the dust arrester
Boot body 3 is set in outside the cutting insert assembly, and the cutter head 33 stretched out from the lower end of the dedusting cover body 3 is right
While the work piece is processed, the dust arrester starts and will just processed in time by the dedusting cover body 3
The dust of complete generation is siphoned away, so as to be carried out while realizing processing and dedusting.
Meanwhile, in the present embodiment, being additionally provided with the suction port of the dedusting cover body 3 prevents the dedusting cover body 3
The anticollision ring 23 of the work piece is collided, so that avoid the dedusting cover body 3 from interfering the process of the work piece,
Ensure the non-interference of dust removal process and tool sharpening process.
On the one hand, as shown in Fig. 2 in the present embodiment, the cutting list is provided with simultaneously on mechanical arm 2
Member, precision measurement and detection unit, dust removing units and cutter cooling unit, it meets manipulator and processes, detects, cools down automatically
The purpose of integrated processing, improves the convenience of machining, reduces space-consuming, reduces cost.
On the other hand, in the present embodiment, the mounted dedusting cover body 3 is to be set in the cutting insert assembly
Outside, the cutter head 33 of the cutting insert assembly stretches out from the suction port of the dedusting cover body 3；Therefore, in the cutting
While the cutter head 33 of toolbox is processed to work piece, the dust arrester can remove processing simultaneously and produce
Dust so that environmental protection and workers ' health；And when need change cutter when, mechanical arm 2 described first by it is described from
Dynamic construct for handling unloads the dedusting cover body 3, normal cutter changing is then can be carried out, when cutter changing is finished
Afterwards, the mechanical arm 2 installs the dedusting cover body 3 again by the automatic loading and unloading structure；To sum up, this hair
It is bright not only to remove chalk dust removing, environmental protection and workers ' health in time, and it can interfere the cutting with synchronized dust removal and not
The exchanging knives process of toolbox.
Specifically, as shown in figure 3, in the present embodiment, the cutting insert assembly, which includes being arranged in the middle of described, to be installed
Electric machine main shaft 34 in second through hole 28 of plate 25, is connected to the handle of a knife and cutter head 33 of the lower section of electric machine main shaft 34；When described
Mechanical arm 2 is installed after the dedusting cover body 3 by the connection of automatic loading and unloading structure, and the handle of a knife is located at the dedusting cover body
In 3 cavity, and the cutter head 33 is stretched out by the suction port of the dedusting cover body 3.
In the present embodiment, as shown in figure 8, the flexible pipe installing plate 1 forms the peace for installing the dedusting flexible pipe
Fill hole 4, and the first intermediate throughholes 5 for being connected with the dedusting cover body 3；Wherein, the mounting hole 4 and described first
Intermediate throughholes 5 are connected；In the present embodiment, the lower end of first intermediate throughholes 5 and the lower end of the mounting hole 4 pass through even
Logical groove 6 is connected.
Further, the automatic loading and unloading structure includes：Dust excluding hood supporting support 7, after not installed or removed for support
The dedusting cover body 3, the dust excluding hood supporting support 7 is provided with some spacing for the spacing dedusting cover body 3
Pin 8；
Dust excluding hood connects annulus 9, is movably set in outside the dedusting cover body 3, if being formed on dust excluding hood connection annulus 9
Dry spacing hole 10, some first pass through hole 11 and some second screwed holes 14, wherein, the spacing hole 10 and the spacer pin
8 coordinate and the dedusting cover body 3 are carried out spacing, and the first screw rod 15 is bottom-up to be sequentially passed through described first and pass through hole 11, bullet
In the first screwed hole in the upper end flange of spring 13 and the embedded dedusting cover body 3 and the two screw thread coordinates and fixed, the second spiral shell
Bar 16 is passed through on hole 12 and the embedded dust excluding hood connection annulus 9 through second in the upper end flange of the dedusting cover body 3
Second screwed hole 14 in and the two screw thread coordinate fix；
And dust excluding hood connecting plate 17, it is fixedly connected on the lower section of dedusting flexible pipe installing plate 1, the dust excluding hood connecting plate 17
The second intermediate throughholes 18, some interconnected the first screw cap holes 19 and the second screw cap hole 20 are formed, wherein, first spiral shell
Cap aperture 19 is to form U-shaped step surface 21 in through hole, second screw cap hole 20；
The mechanical arm 2 is placed on the dedusting cover body 3 and rotation institute in the dust excluding hood supporting support 7 by extruding
State dust excluding hood connecting plate 17 so that second screw rod 16 on the dedusting cover body 3 is slipped into from first screw cap hole 19
Second screw cap hole 20 and nut offsets with the U-shaped step surface 21, completes the automatic installation of the dedusting cover body 3；Or
Person make it that the nut of second screw rod 16 on the dedusting cover body 3 is separated with the U-shaped step surface 21 and by described
Two screw cap holes 20 slip into the first screw cap hole 19, complete the automatic dismantling of the dedusting cover body 3.
Specifically, as shown in Fig. 5,7,8,9 and 10, in the present embodiment, during installation, the mechanical arm 2 drives described
Dust excluding hood connecting plate 17 causes from up to down close to the dedusting cover body 3 being placed in the dust excluding hood supporting support 7
Second screw rod 16 is embedded in first screw cap hole 19, and the mechanical arm 2 presses down on the dedusting cover body 3 and band
Move the dust excluding hood connecting plate 17 to rotate, the spring 13 being set on first screw rod 15 is compressed and second spiral shell
Bar 16 slips into second screw cap hole 20 by first screw cap hole 19, and the mechanical arm 2 drives the dust excluding hood connecting plate
17 release the extruding to the dedusting cover body 3 upwards, and the spring 13 resets and the nut of second screw rod 16 is described
The U-shaped step surface 21 in second screw cap hole 20 is blocked, and the dedusting cover body 3 is connected with the dust excluding hood, is completed
The automatic installation of the dedusting cover body 3；
During dismounting, the mechanical arm 2 is placed the dedusting cover body 3 to the dust excluding hood by the automatic loading and unloading structure
In supporting support 7 and the spacing hole 10 is set to coordinate with the spacer pin 8, the mechanical arm 2 is connected by the dust excluding hood
Plate 17 presses the dedusting cover body 3 and rotated, and the spring 13 being set on first screw rod 15 is pressed
Contracting, the nut of second screw rod 16 separates with the U-shaped step surface 21 and slips into described first by second screw cap hole 20
Screw cap hole 19, the mechanical arm 2 drives the dust excluding hood connecting plate 17 to release the extruding to the dedusting cover body 3 upwards,
The spring 13 resets and second screw rod 16 is deviate from from first screw cap hole 19, the dedusting cover body 3 with it is described
Dust excluding hood connecting plate 17 is separated, and completes the automatic dismantling of the dedusting cover body 3.
Also formed on the lower surface of the flexible pipe installing plate 1 corresponding to first screw cap hole 19 and second nut
The arcuate socket 22 that hole 20 is set；So, when the mechanical arm 2 extrudes the dedusting cover body 3, it is easy to second screw rod
16 are embedded in first screw cap holes 19 and slip into, skid off second screw cap hole 20, meet robotic handling requirement.
Wherein, as preferred embodiment, the spacing hole 10 and second screwed hole 14 be set to three, described
One is set to six through screwed hole 11, and is uniformly distributed in the circumference that the dust excluding hood connects annulus 9；Certainly, it is corresponding described
Spacer pin 8 and first screwed hole are also set to three, and described second is also set to six through hole 12.
As shown best in figures 2 and 11, on the basis of above-described embodiment, the flexible pipe installing plate 1 by attachment structure with it is described
Mechanical arm 2 is fixedly connected；Wherein, the attachment structure includes the connecting plate 24 being fixedly connected with the mechanical arm 2, is used for
The intermediate die plate 25 of the dedusting flexible pipe installing plate 1 is installed, and the connecting plate 24 is connected with the intermediate die plate 25
It is connected at least one integral linking arm 26.
Multiple first through hole 27 are formed on the connecting plate 24, multiple connecting screw rods pass through multiple first through hole 27
The connecting plate 24 is fixedly connected with the flange of the mechanical arm 2.
Multiple 3rd screwed holes 29, the upper surface of the dedusting flexible pipe installing plate 1 are formed on the intermediate die plate 25
Form that position is corresponding and corresponding 4th nut bore 30 of quantity, connecting screw rod is in the 3rd screwed hole 29 and the 4th spiral shell
Say that the intermediate die plate 25 is fixedly connected with the dedusting flexible pipe installing plate 1 under the cooperation in female hole.
The intermediate die plate 25 fastens shape in a ring, and it includes being used to install the of the electric machine main shaft of cutting insert assembly
Two through holes 28, first fasten 31 and the second buckling parts 32, and the electric machine main shaft of the cutting insert assembly is arranged on described second
In through hole 28, and second through hole 28 is fastened to by the described first fastening for fastening 31 and second buckling parts 32
It is interior.
In the present embodiment, after the electric machine main shaft 34 is installed, the upper surface of the flexible pipe installing plate 1 is by the motor
Main shaft 34 is closed, thus the dedusting cover body 3 after installing by the first intermediate throughholes 5 and second intermediate throughholes 18 with
The dedusting soft pipe connection.
On the basis of above-described embodiment, the precision measurement and detection unit of the present embodiment includes being fixed on the connection
Detection installing plate 35 in structure, detection head 36 and error evaluation system on the detection installing plate 35；Its
In, the detection head 36 is connected with the numerical control structure, and the detection head 36 is detected according to pre-set programs to work piece,
And testing result is fed back into the error evaluation system, the error evaluation system presets testing result with given error
Scope is compared, if testing result exceeds preset range, the new machining path of the numerical control structural generation, the cutting tool
Component is processed again to the work piece.
As shown in Figures 2 and 4, as preferred embodiment, the detection head 3 is set to Reinshaw detection head, the error
Measurement feedback and error evaluation module are provided with assessment system, the module is compared testing result with the preset range
Compared with and judge, the on-line checking structure and the cutting insert assembly are all arranged on the mechanical arm 1, work as work piece
After completion of processing, need to only rotate the mechanical arm 1 can carry out on-line checking to the work piece, and testing result is anti-
Feed the error evaluation system, realize error compensation and the amendment of work piece；Meanwhile, when processing in detection or again
All without carrying out the secondary cutting again for clamping, not interfering with the work piece, the manipulator machining to work piece
Detecting system ensure that the processing efficiency of the work piece while machining accuracy of work piece is provided.
As shown in figure 5, in the present embodiment, the dust excluding hood supporting support 7 includes support body, being arranged on support body is used to put
The shield support structure 37 of the dedusting cover body 3 is put, and the tool magazine 38 being arranged on the support body；Wherein, the cover body
Supporting construction 37 includes support ring and multiple spacer pins in the support ring, and if being set on the tool magazine 38
Dry cutter head.
When needing to change cutter, mechanical arm 2 described first is by the automatic loading and unloading structure by the dust excluding hood sheet
Body 3 is unloaded, and then the cutter head 33 of original cutting insert assembly is unloaded and installed after new cutter head, the mechanical arm
2 are again installed the dedusting cover body 3 by the automatic loading and unloading structure, then carry out new process all right.
As shown in Fig. 2 further, the cutter cooling unit includes the cooling being arranged on the dedusting cover body 3
Pipe 40 and connect the cooling tube 40 and the pipe of cooling pump with the dust excluding hood connecting plate 17 installed in flexible pipe installing plate 1
Joint 39, wherein, it is detachably connected between the pipe joint 39 and the cooling tube 40 for screw thread, the outlet of the cooling tube 40
At the suction port of the dedusting cover body 3；When the mechanical arm 2 passes through the automatic loading and unloading structure connection installation dedusting
After cover body 3, the cutter head 33 of the cutting insert assembly is stretched out by the suction port of the dedusting cover body 3 to be carried out to work piece
Processing, the cutter cooling unit carries out air cooling by 40 pairs of the cooling tube cutter head 33, wherein, the flexible pipe installing plate
1 and the dust excluding hood connecting plate 17 be located at be used for install the pipe joint 29 first install screwed hole 46, the dust excluding hood sheet
The upper end flange of body 3, which is provided with, to be used on the second installation screwed hole 47 for installing the cooling tube, the dust excluding hood connection annulus 9
Provided with the fitting through aperture 48 that the cooling tube 40 is passed through altogether.
As shown in figure 4, the mechanical hand machining integrated system of composite described in the present embodiment also includes cutting force and examined
Unit is surveyed, the cutting force detection unit includes rotation dynamometer 41 and the survey being detachably connected with the dust excluding hood connecting plate 17
Power instrument installing plate 42, the electric machine main shaft 34 of rotor and the cutting insert assembly of the rotation dynamometer 41 is coaxial to be arranged, institute
The stator for stating rotation dynamometer 41 is fixedly connected with the dynamometer installing plate 42；Detect the cutting force of the cutting insert assembly
When, the mechanical arm 2 is unloaded the dedusting cover body 3 by the automatic loading and unloading structure, the cutting insert assembly
The electric machine main shaft 34 unloads handle of a knife and cutter head 33, installs the dynamometer installing plate 42 and turning the rotation dynamometer 41
Son fixation is set in outside the electric machine main shaft 34, and the cutting force detection unit is detected；In the present embodiment, when needs pair
When the size of the cutting force of the cutting insert assembly is detected, mechanical arm 2 described first passes through the automatic loading and unloading knot
The dedusting cover body 3 is offloaded in the dust excluding hood supporting support 7 by structure, then the electric machine main shaft 34 by the handle of a knife and
The cutter head 33 is unloaded and stored to the tool magazine 38 of the dust excluding hood supporting support 7, finally by the dynamometer installing plate 42
The lower section of the dust excluding hood connecting plate 17 is fixedly mounted on, and the rotation fixation of the rotation dynamometer 41 is set in the electricity
Outside owner's axle 34, it can then start the cutting force detection unit and be detected；After detection is finished, the cutting force is detected
After unit is unloaded, the handle of a knife, the cutter head 33 and the dedusting cover body 3 are reinstalled again can enter machining program.
As shown in fig. 6, on the basis of above-described embodiment, the present embodiment also fixes quilt including being used on workbench
The clamping workpiece unit of workpiece, the clamping workpiece unit includes some vacuum holes being molded on mould 43 and described true
Vacuum cup 44 and Vacuuming structure that emptying aperture 45 is connected, the Vacuuming structure pass through the vacuum cup 44 and described
Vacuum hole 45, which adsorbs the work piece being placed on the mould 43, to be fixed.
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
1. composite machinery hand machining integrated system, it includes machining robot, cutting insert assembly, by the cutting
Toolbox is arranged on the mechanical arm of the machining robot（2）On mounting assembly, and by servo structure to described
The numerical control structure that the machining path of cutting insert assembly is controlled；It is characterized in that：The attachment structure includes and the machine
Tool arm（2）The connecting plate being fixedly connected（24）, the intermediate die plate for installing the cutting insert assembly（25）, and will
The connecting plate（24）With the intermediate die plate（25）At least one linking arm linked into an integrated entity（26）；Also include with it is described
Precision measurement and detection unit and the intermediate die plate that attachment structure is fixedly connected（25）The dust removing units that are fixedly connected, with
And the cutter head to the cutting insert assembly that is connected with the dust removing units（33）The cutter cooling unit cooled down；
Wherein, the dedusting cover body of the dust arrester（3）The flexible pipe is detachably arranged in by automatic loading and unloading structure to pacify
Fill plate（1）Lower section, when the mechanical arm（2）The dedusting cover body is installed by the connection of automatic loading and unloading structure（3）Afterwards, it is described
Cutting insert assembly is located at the intermediate die plate（25）Section below is by the dedusting cover body（3）It is wrapped in its cavity,
And the cutter head of the cutting insert assembly（33）By the dedusting cover body（3）Suction port stretch out.
2. the mechanical hand machining integrated system of composite according to claim 1, it is characterised in that：The bite
Having component includes being arranged on the intermediate die plate（25）The second through hole（28）Interior electric machine main shaft（34）, it is connected to the electricity
Owner's axle（34）The handle of a knife and cutter head of lower section（33）；When the mechanical arm（2）Install described by the connection of automatic loading and unloading structure
Dedusting cover body（3）Afterwards, the handle of a knife is located at the dedusting cover body（3）Cavity in, and the cutter head（33）Removed by described
Boot body（3）Suction port stretch out.
3. the mechanical hand machining integrated system of composite according to claim 1, it is characterised in that：The automatic dress
Unloading structure includes：Dust excluding hood supporting support（7）, for supporting the dedusting cover body after not installing or removing（3）, it is described to remove
Dust hood supporting support（7）Being provided with is used for the spacing dedusting cover body（3）Some spacer pins（8）；Dust excluding hood connects annulus
（9）, it is movably set in the dedusting cover body（3）Outside, the dust excluding hood connection annulus（9）On form some spacing holes
（10）, some first pass through hole（11）And some second screwed holes（14）, wherein, the spacing hole（10）With the spacer pin
（8）Coordinate to the dedusting cover body（3）Carry out spacing, the first screw rod（15）It is bottom-up to sequentially pass through described first through hole
（11）, spring（13）And the embedded dedusting cover body（3）Upper end flange on the first screwed hole in and the two screw thread coordinate
It is fixed, the second screw rod（16）Through the dedusting cover body（3）Upper end flange on second pass through hole（12）And it is embedded described
Dust excluding hood connects annulus（9）On second screwed hole（14）In and the two screw thread coordinate fix；And dust excluding hood connecting plate
（17）, it is fixedly connected on the dedusting flexible pipe installing plate（1）Lower section, the dust excluding hood connecting plate（17）On form in the middle of second
Through hole（18）, some the first interconnected screw cap holes（19）With the second screw cap hole（20）, wherein, first screw cap hole（19）
For through hole, second screw cap hole（20）Inside form U-shaped step surface（21）；The mechanical arm（2）Transported by designated program
Move the dust boot body（3）It is placed on the dust excluding hood supporting support（7）On, rotate the dust excluding hood connecting plate（17）,
So that the dedusting cover body（3）On second screw rod（16）From first screw cap hole（19）Slip into second nut
Hole（20）And nut and the U-shaped step surface（21）Offset, complete the dedusting cover body（3）Automatic installation；Or cause
The dedusting cover body（3）On second screw rod（16）Nut and the U-shaped step surface（21）Separation and by described the
Two screw cap holes（20）Slip into the first screw cap hole（19）, complete the dedusting cover body（3）Automatic dismantling.
4. the mechanical hand machining integrated system of composite according to claim 1, it is characterised in that：The processing essence
Degree detection unit includes the detection installing plate being fixed in the attachment structure（35）, installed in the detection installing plate（35）On
Detection head（36）And error evaluation system；Wherein, the detection head（36）It is connected with the numerical control structure, the detection
Head（36）Work piece is detected according to pre-set programs, and testing result is fed back into the error evaluation system, it is described
Testing result is compared by error evaluation system with given error preset range, if testing result exceeds preset range, institute
The new machining path of numerical control structural generation is stated, the cutting insert assembly is processed again to the work piece.
5. the mechanical hand machining integrated system of composite according to claim 1, it is characterised in that：The dust excluding hood
Supporting support（7）Including support body, being arranged on is used for the shield support structure for placing the dedusting cover body on support body（37）, and
It is arranged on the tool magazine on the support body（38）.
6. the mechanical hand machining integrated system of composite according to claim 1, it is characterised in that：The cutter is cold
But unit includes being arranged on the dedusting cover body（3）On cooling tube（40）And installed in flexible pipe installing plate（1）On company
Lead to the cooling tube（40）With the pipe joint of cooling pump（39）, wherein, the pipe joint（39）With the cooling tube（40）Between
It is detachably connected for screw thread, the cooling tube（40）Outlet be located at the dedusting cover body（3）Suction port at；When the machine
Tool arm（2）The dedusting cover body is installed by the connection of automatic loading and unloading structure（3）Afterwards, the cutter head of the cutting insert assembly
（33）By the dedusting cover body（3）Suction port stretch out work piece is processed, the cutter cooling unit passes through institute
State cooling tube（40）To the cutter head（33）Carry out air cooling.
7. the mechanical hand machining integrated system of composite according to claim 1, it is characterised in that：Also include cutting
Power detection unit, the cutting force detection unit includes rotation dynamometer（41）With with the dust excluding hood connecting plate（17）Detachably
The dynamometer installing plate of connection（42）, the rotation dynamometer（41）Rotor and the cutting insert assembly electric machine main shaft
（34）Coaxially it is arranged, the rotation dynamometer（41）Stator and the dynamometer installing plate（42）It is fixedly connected；Detection is described
During the cutting force of cutting insert assembly, the mechanical arm（2）By the automatic loading and unloading structure by the dedusting cover body（3）
Unload, the electric machine main shaft of the cutting insert assembly（34）Unload handle of a knife and cutter head（33）, the dynamometer is installed and installed
Plate（42）And by the rotation dynamometer（41）Rotor fix be set in the electric machine main shaft（34）Outside, the cutting force detection
Unit is detected.
8. the mechanical hand machining integrated system of composite according to claim 1, it is characterised in that：Also include being located at
Being used on workbench fixes the clamping workpiece unit of work piece, and the clamping workpiece unit includes being molded over mould（43）On
Some vacuum holes（45）And the vacuum hole（45）The vacuum cup of connection（44）And Vacuuming structure, it is described to vacuumize
Structure passes through the vacuum cup（44）With the vacuum hole（45）The mould will be placed on（43）On work piece absorption
It is fixed.
9. the mechanical hand machining integrated system of composite according to claim 1, it is characterised in that：The connecting plate
（24）On form multiple first through hole（27）, multiple connecting screw rods pass through multiple first through hole（27）By the connecting plate
（24）With the mechanical arm（2）Flange be fixedly connected；The intermediate die plate（25）On form multiple 3rd screwed holes
（29）, the dedusting flexible pipe installing plate（1）Upper surface form that position is corresponding and corresponding 4th nut bore of quantity（30）, even
Screw rod is connect in the 3rd screwed hole（29）By the intermediate die plate under cooperation with the 4th nut bore（25）With it is described
Dedusting flexible pipe installing plate（1）It is fixedly connected.
10. the mechanical hand machining integrated system of composite according to claim 9, it is characterised in that：The centre
Installing plate（25）Shape is fastened in a ring, and it includes the electric machine main shaft for being used to install cutting insert assembly（34）The second through hole
（28）, first fasten（31）Portion and the second buckling parts（32）, the electric machine main shaft of the cutting insert assembly is installed in described second
Through hole（28）It is interior, and fastened by described first（31）Portion and second buckling parts（32）Fastening be fastened to described second
Through hole（28）It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710352992.8A CN106956286B (en) | 2017-05-18 | 2017-05-18 | Composite material machinery hand machining integrated system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710352992.8A CN106956286B (en) | 2017-05-18 | 2017-05-18 | Composite material machinery hand machining integrated system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106956286A true CN106956286A (en) | 2017-07-18 |
| CN106956286B CN106956286B (en) | 2019-07-19 |
Family
ID=59482043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710352992.8A Active CN106956286B (en) | 2017-05-18 | 2017-05-18 | Composite material machinery hand machining integrated system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106956286B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356480A (en) * | 2018-05-10 | 2018-08-03 | 芜湖东旭光电科技有限公司 | The prosthetic device of carry-over pinch rolls boss |
| CN109318238A (en) * | 2018-08-15 | 2019-02-12 | 南阳师范学院 | A kind of fire valve closing fire-fighting robot |
| CN109434875A (en) * | 2018-12-13 | 2019-03-08 | 青岛东卡环保工程技术有限公司 | A kind of master slave manipulator clamp remotely more changing device and its application method |
| CN111702486A (en) * | 2020-06-23 | 2020-09-25 | 成都科锐志科技有限公司 | Modularization welding-grinding switching integrated tube processing numerical control robot |
| CN111745676A (en) * | 2020-08-07 | 2020-10-09 | 国网江苏省电力有限公司常州供电分公司 | Universal power interface convenient to lock |
| CN113084855A (en) * | 2021-04-09 | 2021-07-09 | 北京石油化工学院 | Automatic tool changing system used on nuclear irradiation resistant emergency robot |
| CN114293814A (en) * | 2022-01-10 | 2022-04-08 | 湖南大学 | Stable dry grinding self-adaptive heavy concrete wall dismantling device |
| WO2022160347A1 (en) * | 2021-02-01 | 2022-08-04 | Abb Schweiz Ag | Assembly and apparatus for machining mechanical part |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5356245A (en) * | 1992-12-14 | 1994-10-18 | Fuji Jukogyo Kabushiki Kaisha | Cooling and dust collecting apparatus for a machine tool |
| JPH11216635A (en) * | 1998-01-30 | 1999-08-10 | Dainippon Printing Co Ltd | Dust collector |
| CN201619116U (en) * | 2010-01-29 | 2010-11-03 | 莱芜精瑞模具有限公司 | Manipulator cooling dust prevention device |
| CN102615409A (en) * | 2012-03-23 | 2012-08-01 | 天津振汉机械装备有限公司 | Smoke discharging device for plasma cutting machine |
| CN104907589A (en) * | 2015-06-15 | 2015-09-16 | 秦皇岛中青冶金阀门有限公司 | Intelligent mechanical arm for machining three-eccentric center butterfly valve and using method of intelligent mechanical arm |
| CN106112136A (en) * | 2016-08-09 | 2016-11-16 | 大同齿轮(昆山)有限公司 | High-efficiency environment friendly gear teeth processing pipeline |
-
2017
- 2017-05-18 CN CN201710352992.8A patent/CN106956286B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5356245A (en) * | 1992-12-14 | 1994-10-18 | Fuji Jukogyo Kabushiki Kaisha | Cooling and dust collecting apparatus for a machine tool |
| JPH11216635A (en) * | 1998-01-30 | 1999-08-10 | Dainippon Printing Co Ltd | Dust collector |
| CN201619116U (en) * | 2010-01-29 | 2010-11-03 | 莱芜精瑞模具有限公司 | Manipulator cooling dust prevention device |
| CN102615409A (en) * | 2012-03-23 | 2012-08-01 | 天津振汉机械装备有限公司 | Smoke discharging device for plasma cutting machine |
| CN104907589A (en) * | 2015-06-15 | 2015-09-16 | 秦皇岛中青冶金阀门有限公司 | Intelligent mechanical arm for machining three-eccentric center butterfly valve and using method of intelligent mechanical arm |
| CN106112136A (en) * | 2016-08-09 | 2016-11-16 | 大同齿轮(昆山)有限公司 | High-efficiency environment friendly gear teeth processing pipeline |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356480A (en) * | 2018-05-10 | 2018-08-03 | 芜湖东旭光电科技有限公司 | The prosthetic device of carry-over pinch rolls boss |
| CN108356480B (en) * | 2018-05-10 | 2023-10-20 | 芜湖东旭光电科技有限公司 | Repairing device for traction roller boss |
| CN109318238A (en) * | 2018-08-15 | 2019-02-12 | 南阳师范学院 | A kind of fire valve closing fire-fighting robot |
| CN109434875A (en) * | 2018-12-13 | 2019-03-08 | 青岛东卡环保工程技术有限公司 | A kind of master slave manipulator clamp remotely more changing device and its application method |
| CN109434875B (en) * | 2018-12-13 | 2023-06-23 | 青岛东卡环保工程技术有限公司 | Remote replacement device for master-slave manipulator clamp and use method thereof |
| CN111702486A (en) * | 2020-06-23 | 2020-09-25 | 成都科锐志科技有限公司 | Modularization welding-grinding switching integrated tube processing numerical control robot |
| CN111745676A (en) * | 2020-08-07 | 2020-10-09 | 国网江苏省电力有限公司常州供电分公司 | Universal power interface convenient to lock |
| WO2022160347A1 (en) * | 2021-02-01 | 2022-08-04 | Abb Schweiz Ag | Assembly and apparatus for machining mechanical part |
| CN113084855A (en) * | 2021-04-09 | 2021-07-09 | 北京石油化工学院 | Automatic tool changing system used on nuclear irradiation resistant emergency robot |
| CN114293814A (en) * | 2022-01-10 | 2022-04-08 | 湖南大学 | Stable dry grinding self-adaptive heavy concrete wall dismantling device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106956286B (en) | 2019-07-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106956286A (en) | Composite machinery hand machining integrated system | |
| CA2927161C (en) | Robotic system and drilling end effector for robotic system | |
| JP5382053B2 (en) | Robot system and inspection method using robot system | |
| JP2019141988A (en) | Portable programmable machine, robot end effector, and related method | |
| JP2017170604A (en) | Robot, robot system, and related method | |
| CN105499995B (en) | A kind of fuel pump production line | |
| CN106041955A (en) | Automatic hole making device of robot and machining method | |
| CN205519927U (en) | High -precision high -efficient automatic grinding and detection production line | |
| CN106270797A (en) | A kind of bent axle deburring machine and debarring process | |
| EP2480383A1 (en) | Quality control system and method for manufactured parts | |
| CN210649840U (en) | Feeding and discharging device for drill bit grinding equipment | |
| CN109176031A (en) | A kind of plate-like handware machine for automatic working structure | |
| CN108801069B (en) | Automatic assembling system for initiating explosive devices | |
| CN108818195A (en) | A kind of multistation burr remover | |
| CN109534254A (en) | A kind of automatic screw capping production line of Packaging Bottle robot | |
| CN110091161A (en) | A kind of sbw vehicle torsional spring automatic mounting machine | |
| CN104476336A (en) | Cylinder internal grinding clamp | |
| CN106216779A (en) | A kind of Gear Production chamfering device | |
| CN113418555A (en) | Turnover detection integrated equipment for flange machining | |
| CN104810987B (en) | The automatic assembling motor vehicle instrument step motor of streamline | |
| CN208713587U (en) | A kind of multistation burr remover | |
| CN106965243A (en) | Suitable for the manipulator machining dust pelletizing system of composite | |
| CN213984819U (en) | Size detection equipment with rotary structure for lamp mold machining | |
| CN109623595B (en) | Automatic grinding equipment of thin-wall multi-pass workpiece robot | |
| KR20180065609A (en) | An apparatus for inspecting the workpiece and a method for inspectin using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |