CN106956286B - Composite material machinery hand machining integrated system - Google Patents
Composite material machinery hand machining integrated system Download PDFInfo
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- CN106956286B CN106956286B CN201710352992.8A CN201710352992A CN106956286B CN 106956286 B CN106956286 B CN 106956286B CN 201710352992 A CN201710352992 A CN 201710352992A CN 106956286 B CN106956286 B CN 106956286B
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- China
- Prior art keywords
- cover body
- hole
- dedusting cover
- cutting insert
- insert assembly
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For Machine Tools (AREA)
Abstract
The invention discloses composite material machinery hand machining integrated systems, it includes machining robot, cutting insert assembly, cutting insert assembly is mounted on the mounting assembly on the mechanical arm of machining robot, and the numerical control structure controlled by machining path of the servo structure to cutting insert assembly；Connection structure includes the connecting plate being fixedly connected with mechanical arm, for installing the intermediate die plate and at least one linking arm of cutting insert assembly；Further include the precision measurement and detection unit being fixedly connected with connection structure, the dust removing units being fixedly connected with intermediate die plate and is connected with dust removing units and carries out cooling cutter cooling unit to the cutter head of cutting insert assembly；Wherein, the dedusting cover body of dust-extraction unit is detachably arranged in below hose mounting plate by automatic loading and unloading structure, cutting insert assembly is located at intermediate die plate section below and is wrapped in its cavity by dedusting cover body, and the cutter head of cutting insert assembly is stretched out by the suction inlet of dedusting cover body.
Description
Technical field
The present invention relates to manipulator manufacture fields, specifically, it is integrated to be related to a kind of composite material machinery hand machining
System.
Background technique
With the continuous development of electromechanical integration technology, the popularization and application of electromechanical integration technology improve control system
Intelligence degree, the popularization of new and high technology is so that long-range unmanned manipulation system is developed rapidly, and then enhances electromechanical assembly
Mechanization attribute, mechanical arm comes into being, with the continuous development of mechanical arm, mechanical arm application it is more and more extensive,
Mechanical arm can spatially the time-varying of pose (position and posture) requires to be moved any object or tool, to complete a certain
Industrial job requirements.But in process, it not only needs to cut work piece on manipulator clamping cutter
It cuts, it is also necessary to the machining accuracy of work piece be measured, be dusted and cutter is carried out cooling etc..
But the function of current mechanical arm generally relatively simpleization, common mechanical arm can be only done clamping cutter and carry out
The task of processing, and machining accuracy measurement, dedusting and cooling etc. require in addition to be separately provided, and the independent of these components is set
It sets and not only occupies bigger space, also affect the convenience of processing.
Therefore, it now needs to provide a kind of composite material machinery 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 occupied space, reduces cost.
Summary of the invention
For this purpose, the present invention provides a kind of composite material machinery hand machining integrated system suitable for manipulator, and
A kind of manipulator machining detection method.
In order to solve the above technical problems, the present invention provides a kind of composite material machinery hand machining integrated system,
Including machining robot, the cutting insert assembly is mounted on the mechanical arm of the machining robot by cutting insert assembly
On mounting assembly, and the numerical control structure controlled by machining path of the servo structure to the cutting insert assembly；
The connection structure includes the connecting plate being fixedly connected with the mechanical arm, for installing the cutting tool group
The intermediate die plate of part, and at least one linking arm that the connecting plate and the intermediate die plate are linked into an integrated entity；
The machining integrated system further includes the precision measurement and detection unit being fixedly connected with the connection structure, leads to
It crosses dust-extraction unit that hose mounting plate and the intermediate die plate are fixedly connected and is connected with the dust-extraction unit and cut to described
The cutter head of cutting knife tool component carries out cooling cutter cooling unit；
Wherein, the dedusting cover body of the dust-extraction unit is detachably arranged in the hose by automatic loading and unloading structure and pacifies
Below loading board, after the mechanical arm installs the dedusting cover body by the connection of automatic loading and unloading structure, the cutting tool
Component is located at the intermediate die plate section below and is wrapped in its cavity by the dedusting cover body, and the cutting tool group
The cutter head of part is stretched out by the suction inlet of the dedusting cover body.
The cutting insert assembly includes the electric machine main shaft being mounted in the second through-hole of the intermediate die plate, is connected to
Knife handle and cutter head below the electric machine main shaft；When the mechanical arm installs the dust excluding hood by the connection of automatic loading and unloading structure
After ontology, the knife handle is located in the cavity of the dedusting cover body, and the cutter head is by the suction inlet of the dedusting cover body
It stretches out.
The automatic loading and unloading structure includes
Dust excluding hood supporting support is used to support the dedusting cover body after not installing or removing, the dust excluding hood support
Bracket is equipped with several spacer pins for limiting the dedusting cover body；
Dust excluding hood connects annulus, is movably set in outside the dedusting cover body, forms on the dust excluding hood connection annulus
Several limit holes, several first pass through hole and several second threaded holes, wherein the limit hole and spacer pin cooperation pair
The dedusting cover body is limited, and the first screw rod is bottom-up to sequentially pass through described first across described in hole, spring and insertion
In the first threaded hole in the upper end flange of dedusting cover body and the two is threadedly engaged fixation, and the second screw rod passes through the dust excluding hood
Second in the upper end flange of ontology passes through hole and in second threaded hole that is embedded on dust excluding hood connection annulus and two
Person is threadedly engaged fixation；And
Dust excluding hood connecting plate is fixedly connected below the hose mounting plate, and the is formed on the dust excluding hood connecting plate
Two intermediate throughholes, several interconnected the first screw cap holes and the second screw cap hole, wherein first screw cap hole is through-hole, institute
It states and forms U-shaped step surface in the second screw cap hole；
The mechanical arm is by squeezing the dedusting cover body and the rotation that are placed in the dust excluding hood supporting support
The dust excluding hood connecting plate, so that second screw rod on the dedusting cover body slides into described the from first screw cap hole
Two screw cap holes and nut offsets with the U-shaped step surface, complete the automatic installation of the dedusting cover body；Or make described remove
The nut of second screw rod on boot body separates with the U-shaped step surface and slides into the first spiral shell by second screw cap hole
Cap aperture completes the automatic dismantling of the dedusting cover body.
The precision measurement and detection unit includes the detection mounting plate being fixed in the connection structure, is mounted on the inspection
Survey the detector and error evaluation system on mounting plate；Wherein, the detector is connected with the numerical control structure, the inspection
Gauge head detects work piece according to pre-set programs, and will test result and feed back to the error evaluation system, the mistake
Poor assessment system will test result and be compared 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 process the work piece again.
The dust excluding hood supporting support includes frame body, is arranged on frame body for placing the cover branch of the dedusting cover body
Support structure, and the tool magazine being arranged on the frame body.
The cutter cooling unit include the cooling tube being mounted on the dedusting cover body and be mounted on hose installation
The pipe fitting of the connection cooling tube and cooling pump on plate, wherein can for screw thread between the pipe fitting and the cooling tube
The outlet of dismantling connection, the cooling tube is set at the suction inlet of the dedusting cover body；When the mechanical arm passes through automatically
After the dedusting cover body is installed in construct for handling connection, the cutter head of the cutting insert assembly by the dedusting cover body dust suction
Mouth, which stretches out, processes work piece, and the cutter cooling unit is gas-cooled to the cutter head by the cooling tube.
It further include cutting force detection unit, the cutting force detection unit includes rotation dynamometer and connects with the dust excluding hood
The dynamometer mounting plate that fishplate bar is detachably connected, the rotor of the rotation dynamometer and the electric machine main shaft of the cutting insert assembly
It is coaxially arranged, the stator of the rotation dynamometer is fixedly connected with the dynamometer mounting 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 knife handle and cutter head, install the dynamometer mounting plate and by it is described rotation dynamometer rotor
Fixation is set in outside the electric machine main shaft, and the cutting force detection unit is detected.
It further include on workbench for fixing the clamping workpiece unit of work piece, the clamping workpiece unit packet
Several vacuum holes being molded on mold, the vacuum chuck and Vacuuming structure that are connected to the vacuum hole are included, it is described to take out very
Hollow structure, which is adsorbed the work piece being placed on the mold by the vacuum chuck and the vacuum hole, to be fixed.
Multiple first through hole are formed on the connecting plate, multiple connecting screws pass through multiple first through hole will be described
Connecting plate is fixedly connected with the flange of the mechanical arm；
Multiple third threaded holes are formed on the intermediate die plate, the upper surface of the hose mounting plate forms position
Corresponding and corresponding 4th nut bore of quantity, connecting screw will under the cooperation of the third threaded hole and the 4th nut bore
The intermediate die plate is fixedly connected with the hose mounting plate.
The intermediate die plate fastens shape in a ring comprising for installing 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 mounted in second through-hole, and
It is fastened in second through-hole by the fastening of first buckling parts and second buckling parts.
The above technical solution of the present invention has the following advantages over the prior art:
In the present invention, it is provided with the machining unit simultaneously on mechanical arm, precision measurement and detection unit, removes
Dirt device and cutter cooling unit meet the purpose that manipulator such as processed automatically, and detected, cooling down at the integrated processing, improve machine
The convenience of tool processing, reduces occupied space, reduces cost；In addition, the cutting insert assembly the cutter head to being added
While workpiece is processed, the dust-extraction unit can remove the dust that processing generates simultaneously, to protect environment and worker
Health；And when needing replacing cutter, the mechanical arm described first is by the automatic loading and unloading structure by the dedusting cover body
Unload, then can be carried out normal cutter changing, after cutter changing, the mechanical arm again by it is described from
Dynamic construct for handling installs the dedusting cover body；To sum up, the present invention can not only remove chalk dust removing, protection environment in time
And workers ' health, and it can interfere the exchanging knives process of the cutting insert assembly with synchronized dust removal and not.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is composite material machinery hand machining integrated system schematic diagram of the present invention；
Fig. 2 is dust-extraction unit schematic diagram of the present invention；
Fig. 3 is dust-extraction unit 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 hose mounting 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 symbols: 1- hose mounting plate；2- mechanical arm；3- dedusting cover body；4- mounting hole；Among 5- first
Through-hole；6- communication groove；7- dust excluding hood supporting support；8- spacer pin；9- dust excluding hood connects annulus；10- limit hole；11- first
Across hole；12- second passes through hole；13- spring；The second threaded hole of 14-；The first screw rod of 15-；The second screw rod of 16-；17- dust excluding hood
Connecting plate；The second intermediate throughholes of 18-；The first screw cap hole of 19-；The second screw cap hole of 20-；21-U type step surface；22- arcuate socket；23-
Anticollision ring；24- connecting plate；25- intermediate die plate；26- linking arm；27- first through hole；The second through-hole of 28-；29- third screw thread
Hole；The 4th nut bore of 30-；31- first is fastened；The second buckling parts of 32-；33- cutter head；34- electric machine main shaft；35- detects mounting plate；
36- detector；37- shield support structure；38- tool magazine；39- pipe fitting；40- cooling tube；41- rotates dynamometer；42- dynamometer
Mounting plate；43- mold；44- vacuum chuck；45- vacuum hole；46- first installs threaded hole；47- second installs threaded hole；48-
Fitting through aperture.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As shown in figs. 1-11, the composite material machinery hand machining integrated system of the present embodiment comprising processing machine
People, cutting insert assembly, the connection knot cutting insert assembly being mounted on the mechanical arm 2 of the machining robot
Structure, and the numerical control structure controlled by machining path of the servo structure to the cutting insert assembly；
The connection structure includes the connecting plate 24 being fixedly connected with the mechanical arm 2, for installing the bite
Has the intermediate die plate 25 of component, and at least one that the connecting plate 24 and the intermediate die plate 25 are linked into an integrated entity
Linking arm 26；
It further include the precision measurement and detection unit being fixedly connected with the connection structure, fixed with the intermediate die plate 25
The dust-extraction unit of connection and it is connected with the dust-extraction unit cooling cutter is carried out to the cutter head 33 of the cutting insert assembly
Cooling unit；
Wherein, the dedusting cover body 3 of the dust-extraction unit is detachably arranged in the hose by automatic loading and unloading structure
1 lower section of mounting plate, after the mechanical arm 2 installs dedusting cover body 3 by the connection of automatic loading and unloading structure, the cutting
Toolbox is located at 25 section below of intermediate die plate and is wrapped in its cavity by the dedusting cover body 3, and described cuts
The cutter head 33 of cutting knife tool component is stretched out by the suction inlet of the dedusting cover body 3.
In the cutting process of composite material, a large amount of dust can be generated, if being purged not in time, it will pollution
Environment and endanger operating personnel's health；And in the present embodiment, be connected to the dedusting hose of the dust-extraction unit described in remove
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-extraction unit starts and will just be processed in time by the dedusting cover body 3
The dust of complete generation siphons away, to realize processing and dedusting while progress.
Meanwhile in the present embodiment, being additionally provided at the suction inlet of the dedusting cover body 3 prevents the dedusting cover body 3
The anticollision ring 23 of the work piece is collided, so that the dedusting cover body 3 is avoided to interfere the process of the work piece,
Guarantee the non-interference of dust removal process and tool sharpening process.
On the one hand, as shown in Fig. 2, in the present embodiment, being provided with the cutting list simultaneously on mechanical arm 2
Member, precision measurement and detection unit, dust-extraction unit and cutter cooling unit, meet manipulator and process, detect, cool down automatically
The purpose of integrated processing, improves the convenience of machining, reduces occupied space, 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 is stretched out from the suction inlet of the dedusting cover body 3；Therefore, in the cutting
While the cutter head 33 of toolbox processes work piece, the dust-extraction unit can remove processing simultaneously and generate
Dust, to protect environment and workers ' health；And when needing replacing cutter, the mechanical arm 2 described first by it is described from
Dynamic construct for handling unloads the dedusting cover body 3, then can be carried out normal cutter changing, when cutter changing finishes
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, protection environment 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 includes being mounted on the intermediate installation
Electric machine main shaft 34 in second through-hole 28 of plate 25 is connected to the knife handle and cutter head 33 of 34 lower section of electric machine main shaft；When described
After mechanical arm 2 installs the dedusting cover body 3 by the connection of automatic loading and unloading structure, the knife handle is located at the dedusting cover body
In 3 cavity, and the cutter head 33 is stretched out by the suction inlet of the dedusting cover body 3.
In the present embodiment, as shown in figure 8, the hose mounting plate 1 forms the peace for installing the dedusting hose
Fill hole 4, and the first intermediate throughholes 5 for being connected to 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 company
Logical groove 6 is connected to.
Further, the automatic loading and unloading structure includes
Dust excluding hood supporting support 7 is used to support the dedusting cover body 3 after not installing or removing, the dust excluding hood branch
Bracket 7 is supportted equipped with several spacer pins 8 for limiting the dedusting cover body 3；
Dust excluding hood connects annulus 9, is movably set in outside the dedusting cover body 3, forms on the dust excluding hood connection annulus 9
There are several limit holes 10, several first to pass through hole 11 and several second threaded holes 14, wherein the limit hole 10 and the limit
The position cooperation of pin 8 limits the dedusting cover body 3, and the first screw rod 15 is bottom-up to be sequentially passed through described first and pass through hole
11, in spring 13 and the first threaded hole being embedded in the upper end flange of the dedusting cover body 3 and the two is threadedly engaged fixation,
What two screw rods 16 passed through in the upper end flange of the dedusting cover body 3 second passes through hole 12 and is embedded in dust excluding hood connection annulus
In second threaded hole 14 on 9 and the two is threadedly engaged fixation；And
Dust excluding hood connecting plate 17 is fixedly connected on 1 lower section of hose mounting plate, forms on the dust excluding hood connecting plate 17
There are the second intermediate throughholes 18, several interconnected the first screw cap holes 19 and the second screw cap hole 20, wherein first screw cap hole
19 be through-hole, and U-shaped step surface 21 is formed in second screw cap hole 20；
The mechanical arm 2 is by squeezing the dedusting cover body 3 being placed in the dust excluding hood supporting support 7 and rotation
Turn the dust excluding hood connecting plate 17, so that second screw rod 16 on the dedusting cover body 3 is from first screw cap hole 19
It slides into second screw cap hole 20 and nut offsets with the U-shaped step surface 21, complete the automatic peace of the dedusting cover body 3
Dress；Or the nut of second screw rod 16 on the dedusting cover body 3 is separated and with the U-shaped step surface 21 by institute
It states the second screw cap hole 20 and slides 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, when installation, the mechanical arm 2 drives described
Dust excluding hood connecting plate 17 makes 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
It moves 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 slides 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 blocks, and the dedusting cover body 3 is connected and fixed with the dust excluding hood, completes
The automatic installation of the dedusting cover body 3；
When disassembly, the dedusting cover body 3 is placed to described by the automatic loading and unloading structure and is removed by the mechanical arm 2
In dust hood supporting support 7 and cooperate the limit hole 10 with the spacer pin 8, the mechanical arm 2 passes through the dust excluding hood
Connecting plate 17 presses the dedusting cover body 3 and rotates, the spring 13 being set on first screw rod 15
It is compressed, the nut of second screw rod 16 is separated with the U-shaped step surface 21 and slid by second screw cap hole 20 described
First screw cap hole 19, the mechanical arm 2 drive the dust excluding hood connecting plate 17 to release squeezing to the dedusting cover body 3 upwards
Pressure, the spring 13 resets and second screw rod 16 is deviate from from first screw cap hole 19, the dedusting cover body 3 and institute
The separation of dust excluding hood connecting plate 17 is stated, the automatic dismantling of the dedusting cover body 3 is completed.
It is also formed on the lower end surface of the hose mounting plate 1 corresponding to first screw cap hole 19 and second nut
The arcuate socket 22 that hole 20 is arranged；In this way, being convenient for second screw rod when the mechanical arm 2 squeezes the dedusting cover body 3
16 insertions, first screw cap hole 19 and slide-in skid off second screw cap hole 20, meet robotic handling and require.
Wherein, three, described are set as preferred embodiment, the limit hole 10 and second threaded hole 14
One, which passes through threaded hole 11, is set as six, and is uniformly distributed in the circumferential direction of dust excluding hood connection annulus 9；Certainly, corresponding described
Spacer pin 8 and first threaded hole are also set as three, and described second, which passes through hole 12, is also set as six.
As shown best in figures 2 and 11, on the basis of the above embodiments, the hose mounting plate 1 by connection structure with it is described
Mechanical arm 2 is fixedly connected；Wherein, the connection structure includes the connecting plate 24 being fixedly connected with the mechanical arm 2, is used for
The intermediate die plate 25 of the hose mounting plate 1 is installed, and the connecting plate 24 and the intermediate die plate 25 are connected into
At least one linking arm 26 of one.
Multiple first through hole 27 are formed on the connecting plate 24, multiple connecting screws pass through multiple first through hole 27
The connecting plate 24 is fixedly connected with the flange of the mechanical arm 2.
Multiple third threaded holes 29, the upper surface molding of the hose mounting plate 1 are formed on the intermediate die plate 25
There is position corresponding and corresponding 4th nut bore 30 of quantity, connecting screw is in the third threaded hole 29 and the 4th nut bore
Cooperation under say that the intermediate die plate 25 is fixedly connected with the hose mounting plate 1.
The intermediate die plate 25 fastens shape in a ring comprising for installing the of the electric machine main shaft of cutting insert assembly
Two through-holes 28, first fasten 31 and the second buckling parts 32, the electric machine main shaft of the cutting insert assembly are mounted on described second
In through-hole 28, and the fastening for fastening 31 and second buckling parts 32 by described first is fastened to second through-hole 28
It is interior.
In the present embodiment, after the electric machine main shaft 34 installs, the upper surface of the hose mounting 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 hose connection.
On the basis of the above embodiments, the embodiment of the present invention precision measurement and detection unit includes being fixed on the connection
Detection mounting plate 35 in structure, the detector 36 being mounted on the detection mounting plate 35 and error evaluation system；Its
In, the detector 36 is connected with the numerical control structure, and the detector 36 detects work piece according to pre-set programs,
And will test result and feed back to the error evaluation system, the error evaluation system will test result and given error is default
Range is compared, if testing result exceeds preset range, the new machining path of the numerical control structural generation, the cutting tool
Component processes the work piece again.
As shown in Figures 2 and 4, as preferred embodiment, the detector 3 is set as Reinshaw detector, the error
Measurement feedback and error evaluation module are equipped in assessment system, which will test result and compared with the preset range
Compared with and determine, the on-line checking structure and the cutting insert assembly be all mounted on the mechanical arm 1, works 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 it is anti-to will test result
It feeds the error evaluation system, realizes the error compensation and amendment of work piece；Meanwhile when processing when detecting or again
All without clamping to work piece progress is secondary, the cutting again of the work piece will not influence, the manipulator machining
Detection system ensure that the processing efficiency of the work piece while providing the machining accuracy of work piece.
As shown in figure 5, in the present embodiment, the dust excluding hood supporting support 7 includes frame body, it is arranged on frame body for putting
The shield support structure 37 of the dedusting cover body 3 is set, and the tool magazine 38 being arranged on the frame body；Wherein, the cover
Support construction 37 includes support ring and multiple spacer pins in the support ring, and if being arranged on the tool magazine 38
Dry cutter head.
When needing replacing cutter, the mechanical arm 2 described first is by the automatic loading and unloading structure by the dust excluding hood sheet
Body 3 unloads, after then unloading by the cutter head 33 of original cutting insert assembly and new cutter head be installed, the mechanical arm
2 are again installed the dedusting cover body 3 by the automatic loading and unloading structure, and it is all right then to carry out new process.
As shown in Fig. 2, further, the cutter cooling unit includes the cooling being mounted on the dedusting cover body 3
Pipe 40 and it is mounted on hose mounting plate 1 and the pipe for being connected to the cooling tube 40 and cooling pump on the dust excluding hood connecting plate 17
Connector 39, wherein be detachably connected between the pipe fitting 39 and the cooling tube 40 for screw thread, the outlet of the cooling tube 40
At the suction inlet of the dedusting cover body 3；When the mechanical arm 2 installs the dedusting by the connection of automatic loading and unloading structure
After cover body 3, the cutter head 33 of the cutting insert assembly is stretched out by the suction inlet of the dedusting cover body 3 carries out work piece
Processing, the cutter cooling unit are gas-cooled to the cutter head 33 by the cooling tube 40, wherein the hose mounting plate
1 and the dust excluding hood connecting plate 17 be set to for install the pipe fitting 29 first installation threaded hole 46, the dust excluding hood sheet
The upper end flange of body 3 is equipped with the second installation threaded hole 47 for installing the cooling tube, and the dust excluding hood connects on annulus 9
Equipped with the fitting through aperture 48 that the cooling tube 40 passes through altogether.
As shown in figure 4, composite material machinery hand machining integrated system described in the present embodiment further includes cutting force inspection
Unit is surveyed, the cutting force detection unit includes the survey for rotating dynamometer 41 and being detachably connected with the dust excluding hood connecting plate 17
The electric machine main shaft 34 of power instrument mounting plate 42, the rotor and the cutting insert assembly of the rotation dynamometer 41 is coaxially arranged, institute
The stator for stating rotation dynamometer 41 is fixedly connected with the dynamometer mounting 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 knife handle and cutter head 33, installs the dynamometer mounting plate 42 and turns 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, the 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 knife handle and
The cutter head 33 is unloaded and is stored to the tool magazine 38 of the dust excluding hood supporting support 7, finally by the dynamometer mounting plate 42
It is fixedly mounted on the lower section of the dust excluding hood connecting plate 17, and the rotation fixation of the rotation dynamometer 41 is set in the electricity
Outside owner's axis 34, it can then start the cutting force detection unit and be detected；After detection, the cutting force is detected
After unit unloads, machining program can be entered by reinstalling the knife handle, the cutter head 33 and the dedusting cover body 3 again.
As shown in fig. 6, on the basis of the above embodiments, the present embodiment further includes on workbench for fixing quilt
The clamping workpiece unit of workpiece, the clamping workpiece unit include several vacuum holes being molded on mold 43, with it is described true
The vacuum chuck 44 and Vacuuming structure that emptying aperture 45 is connected to, the Vacuuming structure pass through the vacuum chuck 44 and described
Vacuum hole 45, which adsorbs the work piece being placed on the mold 43, to be fixed.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.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 variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. composite material machinery hand machining integrated system comprising machining robot, cutting insert assembly, by the cutting
Toolbox is mounted on the connection structure on the mechanical arm (2) of the machining robot, and by servo structure to described
The numerical control structure that the machining path of cutting insert assembly is controlled；It is characterized by:
The connection structure includes the connecting plate (24) being fixedly connected with the mechanical arm (2), for installing the bite
Have an intermediate die plate (25) of component, and by the connecting plate (24) and the intermediate die plate (25) link into an integrated entity to
A few linking arm (26)；
The machining integrated system further includes the precision measurement and detection unit being fixedly connected with the connection structure, by soft
Dust-extraction unit that pipe mounting plate and the intermediate die plate (25) are fixedly connected and being connected with the dust-extraction unit is cut to described
The cutter head (33) of cutting knife tool component carries out cooling cutter cooling unit；
Wherein, the dedusting cover body (3) of the dust-extraction unit is detachably arranged in the hose by automatic loading and unloading structure and pacifies
It is described after the mechanical arm (2) install dedusting cover body (3) by the connection of automatic loading and unloading structure below loading board (1)
Cutting insert assembly is located at the intermediate die plate (25) section below and is wrapped in its cavity by the dedusting cover body (3),
And the cutter head (33) of the cutting insert assembly is stretched out by the suction inlet of the dedusting cover body (3).
2. composite material machinery hand machining integrated system according to claim 1, it is characterised in that: the bite
Tool component includes the electric machine main shaft (34) being mounted in the second through-hole (28) of the intermediate die plate (25), is connected to the electricity
Knife handle and cutter head (33) below owner's axis (34)；When the mechanical arm (2) pass through described in the connection installation of automatic loading and unloading structure
After dedusting cover body (3), the knife handle is located in the cavity of the dedusting cover body (3), and the cutter head (33) is removed by described
The suction inlet of boot body (3) stretches out.
3. composite material machinery hand machining integrated system according to claim 1, it is characterised in that: the automatic dress
Unloading structure includes
Dust excluding hood supporting support (7) is used to support the dedusting cover body (3) after not installing or removing, the dust excluding hood branch
Bracket (7) are supportted equipped with several spacer pins (8) for limiting the dedusting cover body (3)；
Dust excluding hood connects annulus (9), is movably set in the dedusting cover body (3) outside, in dust excluding hood connection annulus (9) at
Type has several limit holes (10), several first to pass through hole (11) and several second threaded holes (14), wherein the limit hole
(10) the dedusting cover body (3) is limited with the spacer pin (8) cooperation, the first screw rod (15) is bottom-up successively to be worn
It crosses described first and passes through hole (11), spring (13) and the first threaded hole being embedded in the upper end flange of the dedusting cover body (3)
In and the two be threadedly engaged fixation, what the second screw rod (16) passed through in the upper end flange of the dedusting cover body (3) second passes through
In hole (12) and second threaded hole (14) being embedded on dust excluding hood connection annulus (9) and the two is threadedly engaged fixation；
And
Dust excluding hood connecting plate (17) is fixedly connected below the hose mounting plate (1), on the dust excluding hood connecting plate (17) at
Type has the second intermediate throughholes (18), several interconnected the first screw cap holes (19) and the second screw cap hole (20), wherein described
One screw cap hole (19) is through-hole, forms U-shaped step surface (21) in second screw cap hole (20)；
The mechanical arm (2) is moved by designated program the dedusting cover body (3) being placed on the dust excluding hood support branch
On frame (7), rotate the dust excluding hood connecting plate (17) so that second screw rod (16) on the dedusting cover body (3) from
First screw cap hole (19) slides into second screw cap hole (20) and nut offsets with the U-shaped step surface (21), completes institute
State the automatic installation of dedusting cover body (3)；Or make the nut of second screw rod (16) on the dedusting cover body (3)
It is separated with the U-shaped step surface (21) and the first screw cap hole (19) is slid by second screw cap hole (20), complete the dedusting
The automatic dismantling of cover body (3).
4. composite material machinery hand machining integrated system according to claim 1, it is characterised in that: the processing essence
Degree detection unit includes the detection mounting plate (35) being fixed in the connection structure, is mounted on the detection mounting plate (35)
Detector (36) and error evaluation system；Wherein, the detector (36) is connected with the numerical control structure, the detection
Head (36) detects work piece according to pre-set programs, and will test result and feed back to the error evaluation system, described
Error evaluation system will test result and be compared 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 processes the work piece again.
5. composite material machinery hand machining integrated system according to claim 1, it is characterised in that: the dust excluding hood
Supporting support (7) includes frame body, and the shield support structure (37) for being used to place the dedusting cover body on frame body is arranged in, and
Tool magazine (38) on the frame body is set.
6. composite material machinery hand machining integrated system according to claim 1, it is characterised in that: the cutter is cold
But unit includes the cooling tube (40) being mounted on the dedusting cover body (3) and the company being mounted on hose mounting plate (1)
Lead to the pipe fitting (39) of the cooling tube (40) and cooling pump, wherein between the pipe fitting (39) and the cooling tube (40)
It is detachably connected for screw thread, the outlet of the cooling tube (40) is set at the suction inlet of the dedusting cover body (3)；When the machine
After tool arm (2) installs the dedusting cover body (3) by the connection of automatic loading and unloading structure, the cutter head of the cutting insert assembly
(33) work piece is processed by the suction inlet stretching of the dedusting cover body (3), the cutter cooling unit passes through institute
Cooling tube (40) is stated to be gas-cooled to the cutter head (33).
7. composite material machinery hand machining integrated system according to claim 1, it is characterised in that: further include cutting
Power detection unit, the cutting force detection unit are detachable including rotation dynamometer (41) and with the dust excluding hood connecting plate (17)
The dynamometer mounting plate (42) of connection, the rotor of rotation dynamometer (41) and the electric machine main shaft of the cutting insert assembly
(34) it is coaxially arranged, the stator of rotation dynamometer (41) is fixedly connected with the dynamometer mounting plate (42)；Described in detection
When the cutting force of cutting insert assembly, the mechanical arm (2) is by the automatic loading and unloading structure by the dedusting cover body (3)
It unloads, the electric machine main shaft (34) of the cutting insert assembly unloads knife handle and cutter head (33), installs the dynamometer installation
The rotor fixation of rotation dynamometer (41) is simultaneously set in the electric machine main shaft (34) outside by plate (42), the cutting force detection
Unit is detected.
8. composite material machinery hand machining integrated system according to claim 1, it is characterised in that: further include being set to
The clamping workpiece unit for being used to fix work piece on workbench, the clamping workpiece unit include being molded on mold (43)
Several vacuum holes (45), the vacuum chuck (44) and Vacuuming structure that are connected to the vacuum hole (45), it is described to vacuumize
Structure will be placed on the suction of the workpiece to be machined on the mold (43) by the vacuum chuck (44) and the vacuum hole (45)
Attached fixation.
9. composite material machinery hand machining integrated system according to claim 1, it is characterised in that: the connecting plate
(24) it is formed on multiple first through hole (27), multiple connecting screws pass through multiple first through hole (27) for the connecting plate
(24) it is fixedly connected with the flange of the mechanical arm (2)；
Form multiple third threaded holes (29) on the intermediate die plate (25), the upper surface of the hose mounting plate (1) at
Type has position corresponding and corresponding 4th nut bore (30) of quantity, and connecting screw is in the third threaded hole (29) and the described 4th
The intermediate die plate (25) is fixedly connected with the hose mounting plate (1) under the cooperation of nut bore.
10. composite material machinery hand machining integrated system according to claim 9, it is characterised in that: the centre
Mounting plate (25) fastens shape in a ring comprising for installing the second through-hole of the electric machine main shaft (34) of cutting insert assembly
(28), the first buckling parts (31) and the second buckling parts (32), the electric machine main shaft of the cutting insert assembly are mounted on described second
In through-hole (28), and described second is fastened to by the fastening in first fastening (31) portion and second buckling parts (32)
In through-hole (28).
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| 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 |
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| CN111745676B (en) * | 2020-08-07 | 2021-09-14 | 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 |
| CN113084855B (en) * | 2021-04-09 | 2022-10-04 | 北京石油化工学院 | Automatic tool changing system used on nuclear irradiation resistant emergency robot |
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