CN108515215A - A kind of nacelle inner wall robot milling automatic processing unit (plant) - Google Patents
A kind of nacelle inner wall robot milling automatic processing unit (plant) Download PDFInfo
- Publication number
- CN108515215A CN108515215A CN201711259966.7A CN201711259966A CN108515215A CN 108515215 A CN108515215 A CN 108515215A CN 201711259966 A CN201711259966 A CN 201711259966A CN 108515215 A CN108515215 A CN 108515215A
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- CN
- China
- Prior art keywords
- wrist body
- wrist
- forearm
- motor
- large arm
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of nacelle inner wall robot milling automatic processing unit (plant), includes mainly mechanical arm steerable system, wrist system system and axis system.Mechanical arm steerable system is by pedestal, turntable, rotary tray motor, large arm, large arm motor, babinet, forearm, forearm motor form, wrist system system is mainly made of wrist body, wrist body bearing, wrist body end lid, wrist body coupling flange, and axis system is mainly made of pneumatic main shaft, fixture, cutter.The device controls cutter operating by mechanical arm, realizes nacelle inner wall automation Milling Process, and simple in structure, easy for installation.
Description
Technical field
The present invention relates to one kind being used for tubbiness nacelle processing unit (plant), more particularly to a kind of automatic milling of nacelle inner wall robot
Cut processing unit (plant).
Background technology
Round tubbiness nacelle as certain product important composition.Its wall thickness is important key technical index, at present nacelle
Mostly using casting prevents from being molded, and casting surplus is big and uneven, and since nacelle inner-cavity structure is complicated, machine tooling flexibility is poor,
The inner wall of most of complexity nacelle can all interfere, and can not directly process in place nacelle, be needed after the completion of nacelle machine tooling
The position undressed to nacelle inner wall to arrive carries out manual grinding, needs to continue on calibrator progress wall thickness survey in bruting process
Amount, constantly polishing are corrected until meeting wall thickness requirement, and the height of nacelle inwall processing efficiency directly restricts entire industry processing
The period of manufacture.Since the nacelle inner wall area that need to polish is big, that there are efficiency is low for manual grinding, and measurement point is more, and quality risk is higher,
And working environment is poor, labor intensity is big, and especially magnesium alloy dust belongs to combustibles, the dust and noise generated in operation process
The seriously polluted health and safety for threatening operator.Therefore, the processing of robot milling automatic can expand traditional numeric-control processing
The range of work of lathe substitutes traditional-handwork grinding, improves complicated magnesium alloy nacelle inner wall the degree of automation, reaches raising production
Efficiency improves the target of worker laboring environment.
Invention content
Present invention aim to address magnesium alloy nacelle inner wall thickness Milling Process problem, in a kind of nacelle of present invention offer
Wall robot milling automatic processing unit (plant), the device are operated by mechanical arm to control cutter, and the automation of nacelle inner wall is realized
Milling Process, and it is simple in structure, it is easy for installation.
To achieve the goals above, the present invention adopts the following technical scheme that：A kind of nacelle inner wall robot milling automatic adds
Tooling is set, and includes mainly mechanical arm steerable system, wrist system system and axis system.Mechanical arm steerable system by pedestal, turntable, turn
Coil motor, large arm, large arm motor, babinet, forearm, forearm motor form, wrist system are united mainly by wrist body, wrist body bearing, wrist body
End cap, wrist body coupling flange composition, axis system are mainly made of pneumatic main shaft, fixture, cutter.Turntable and rotary tray motor setting
On pedestal, rotary tray motor drives turntable rotation.Large arm and large arm motor are arranged on turntable, and large arm is driven by large arm motor
Rotation.Babinet and forearm motor are arranged in large arm, and forearm is arranged on babinet, and forearm rotation is driven by forearm motor.Wrist
Body is arranged between forearm, and wrist body bearing is arranged on wrist body, and wrist body end lid is arranged on wrist body bearing, and wrist body coupling flange is set
It sets and is covered in wrist body end, pneumatic main shaft is arranged on wrist body coupling flange, and fixture is mounted on main shaft, and cutter is fixed on fixture
On.
The present apparatus is simple and compact for structure, can be adapted for various different magnesium alloy nacelle inner wall thickness Milling Process problems.
Its concrete structure size can be according to different magnesium alloy nacelle custom-mades, design cycle：According to workpieces processing size selection master
Rotating speed and cutter form；Robot pre-set programs flow is determined according to nacelle interior wall construction, is very suitable for Ultra-precision Turning.
A kind of nacelle inner wall robot milling automatic processing unit (plant) of the present invention has the following advantages：
(1) present apparatus is designed as multiple degrees of freedom, changes machine direction and depth when facilitating processing；
(2) main shaft of the present apparatus uses pneumatic main shaft, has simple in structure, starts rapid, turns to the advantages that flexible；
(3) present apparatus can be used for magnesium alloy nacelle inner wall thickness Milling Process, it is ensured that the precision of inner wall thickness and
Processing flexibility.
(4) present apparatus uses main shaft fixture, simple and compact for structure, is easily installed, to the adaptable of process tool.
Description of the drawings
Fig. 1 is a kind of nacelle inner wall of the invention robot milling automatic processing unit (plant) integral outer structure chart；
1-pedestal；2-turntables；3-rotary tray motors；4-large arm；5-large arm motors；6-babinets；7-forearm motors；
8-forearms；
Fig. 2 is a kind of nacelle inner wall robot milling automatic processing unit (plant) device wrist body of the invention and axis system structure
Figure；
9-wrist bodies；10-wrist body bearings；11-wrist body end lids；12-wrist body coupling flanges；13-pneumatic main shafts；14—
Fixture；15-cutters.
Specific implementation mode
It is next below in conjunction with the accompanying drawings that the present invention is further elaborated.
As shown in Figs. 1-2, a kind of nacelle inner wall robot milling automatic processing unit (plant) of the invention, mainly include pedestal 1,
Turntable 2, rotary tray motor 3, large arm 4, large arm motor 5, babinet 6, forearm motor 7, forearm 8, wrist body 9, wrist body bearing 10, wrist body end
Lid 11, wrist body coupling flange 12, pneumatic main shaft 13, fixture 14, cutter 15.Turntable 1 and rotary tray motor 3 are arranged on pedestal 1, turn
Coil motor 3 drives turntable 2 to rotate.Large arm 4 and large arm motor 5 are arranged on turntable 2, and 4 turns of large arm is driven by large arm motor 5
It is dynamic.Babinet 6 and forearm motor 7 are arranged in large arm 4, and forearm 8 is arranged on babinet 6, and 8 turns of forearm is driven by forearm motor 7
It is dynamic.Wrist body 9 is arranged between forearm 8, and wrist body bearing 10 is arranged on wrist body 9, and wrist body end lid 11 is arranged on wrist body bearing 10,
Wrist body coupling flange 12 is arranged on wrist body end lid 11, and pneumatic main shaft 13 is arranged on wrist body coupling flange 12, passes through fixture 14
The band rotation of cutter 15 is processed.
Claims (1)
1. a kind of nacelle inner wall robot milling automatic processing unit (plant), which is characterized in that including mechanical arm steerable system, wrist system
System and axis system；Mechanical arm steerable system is by pedestal, turntable, rotary tray motor, large arm, large arm motor, babinet, forearm, forearm
Motor form, wrist system system be mainly made of wrist body, wrist body bearing, wrist body end lid, wrist body coupling flange, axis system mainly by
Pneumatic main shaft, fixture, cutter composition；Turntable and rotary tray motor are set on the base, rotary tray motor drive turntable rotation, large arm and
Large arm motor is arranged on turntable, and large arm motor drives large arm rotation, babinet and forearm motor to be arranged in large arm, forearm setting
On babinet, forearm rotation, wrist body is driven to be arranged between forearm by forearm motor, wrist body bearing is arranged on wrist body, wrist
Body end lid is arranged on wrist body bearing, and the setting of wrist body coupling flange is covered in wrist body end, and pneumatic main shaft is arranged in wrist body connecting method
Lan Shang, fixture are mounted on main shaft, and cutter is fixed on fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711259966.7A CN108515215A (en) | 2017-12-04 | 2017-12-04 | A kind of nacelle inner wall robot milling automatic processing unit (plant) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711259966.7A CN108515215A (en) | 2017-12-04 | 2017-12-04 | A kind of nacelle inner wall robot milling automatic processing unit (plant) |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108515215A true CN108515215A (en) | 2018-09-11 |
Family
ID=63432716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711259966.7A Pending CN108515215A (en) | 2017-12-04 | 2017-12-04 | A kind of nacelle inner wall robot milling automatic processing unit (plant) |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108515215A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571835A (en) * | 2020-05-27 | 2020-08-25 | 陈志后 | Mechanical arm for cutting glass |
| CN113828805A (en) * | 2021-11-26 | 2021-12-24 | 北京新风航天装备有限公司 | Closed automatic cutting robot cutting device for capsule coating with rotary symmetric structure |
| CN117600536A (en) * | 2023-03-27 | 2024-02-27 | 北京凌空天行科技有限责任公司 | Carrier rocket cabin section inner wall processing device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001260068A (en) * | 2000-03-22 | 2001-09-25 | Nippon Light Metal Co Ltd | Wrist shaft device for articulated robot |
-
2017
- 2017-12-04 CN CN201711259966.7A patent/CN108515215A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001260068A (en) * | 2000-03-22 | 2001-09-25 | Nippon Light Metal Co Ltd | Wrist shaft device for articulated robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571835A (en) * | 2020-05-27 | 2020-08-25 | 陈志后 | Mechanical arm for cutting glass |
| CN113828805A (en) * | 2021-11-26 | 2021-12-24 | 北京新风航天装备有限公司 | Closed automatic cutting robot cutting device for capsule coating with rotary symmetric structure |
| CN117600536A (en) * | 2023-03-27 | 2024-02-27 | 北京凌空天行科技有限责任公司 | Carrier rocket cabin section inner wall processing device |
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