CN110814642A - Method for processing curved surface composite metal wallboard hole - Google Patents
Method for processing curved surface composite metal wallboard hole Download PDFInfo
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- CN110814642A CN110814642A CN201910956649.3A CN201910956649A CN110814642A CN 110814642 A CN110814642 A CN 110814642A CN 201910956649 A CN201910956649 A CN 201910956649A CN 110814642 A CN110814642 A CN 110814642A
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- hole
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- drilling
- wall plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B51/00—Tools for drilling machines
- B23B51/08—Drills combined with tool parts or tools for performing additional working
Abstract
A method for machining the holes on curved surface of composite metal wall plate includes such steps as installing automatic drilling unit for titanium alloy wall plate, installing camera, installing special machining program in robot control system, setting NC parameters and macro program CLAMP/UNCLAMP, logically editing PLC program, and machining curved surface of composite wall plate. The method can align the normal direction of the wall plate according to a simulation program, and ensure that a processed hole is vertical to a surface; the pressure of the pressing mechanism can be adjusted according to the condition of processing the wall plate, so that the quality of hole processing cannot be influenced by too large or too small pressure of a workpiece; the drilling-reaming composite cutter can finish the processing of high-quality holes at one time, and the pecking drilling processing method can avoid the generation of long scraps in the processing process. The method adopts the composite cutter to finish the processing of the hole at one time, and solves the problems of unstable processing quality, inaccurate positioning, low efficiency, scrap accumulation and the like of the hole of the composite wallboard.
Description
Technical Field
The invention relates to the field of airplane industry processing, in particular to a method for processing a curved surface composite metal wallboard hole.
Background
The composite wall board is more in the manufacturing process of the airplane, the processing requirement on the assembly hole in the production process of the airplane is very strict, the plate is larger and has a curved surface structure, the thickness is between 4 and 6mm, the manual processing is mainly used for manufacturing the hole of the composite wall board of the airplane in China at present, the processing quality and the stability of the hole in the processing process can not be guaranteed, and the problem of unqualified hole processing often occurs; meanwhile, the requirement on the machining precision of the holes is high, and manual machining needs two working procedures of drilling and reaming, so that the manufacturing time of the wallboard is long, and the manufacturing cost of enterprises is increased. A special device for processing the composite wall panel is developed, and an automatic drilling device for the titanium alloy wall panel disclosed in patent ZL200810229214.0 is obtained.
Disclosure of Invention
The invention aims to provide a method for machining holes of a curved-surface composite wallboard, which can ensure the stability of a machined airplane part in the machining process, and simultaneously complete drilling-reaming machining of the holes at one time, thereby improving the quality of hole machining and improving the manufacturing efficiency of enterprises.
The invention relates to a processing method of curved surface composite metal wallboard holes, which comprises automatic drilling equipment of a titanium alloy wallboard provided with a camera, wherein the automatic drilling equipment is fixed at the front end of a robot arm, and is characterized in that a special processing program for the automatic drilling equipment is additionally arranged in a robot control system, NC parameters and a macro program CLAMP/UNCLAMP are set, and a PLC program is logically edited; the method for processing the curved surface composite wallboard hole comprises the following steps:
1) the automatic drilling equipment runs to the position near the datum hole;
2) the camera works, finds the position of the reference hole and establishes a space coordinate system;
3) moving to the position of a hole to be processed, wherein the distance between the hole and the surface of the metal plate is 2 mm;
4) the pressing mechanism automatically extends out of the pressing wall plate;
5) the motor is started to drive the main shaft to rotate, and the special cutter is used for drilling;
6) drilling and reaming are sequentially carried out by setting the wall thickness of the metal plate according to a program in a pecking drilling mode;
7) after the hole machining is finished, the main shaft stops rotating and retracts;
8) the pressing mechanism moves reversely to loosen the wall plate;
9) moving to the next hole to be processed;
10) and circularly and sequentially finishing a plurality of holes.
The invention has the beneficial effects that:
the method is adopted to process the holes of the composite wallboard of the airplane, the normal direction of the wallboard can be aligned according to a simulation program, and the processed holes are ensured to be vertical to the surface; the pressure of the pressing mechanism can be adjusted according to the condition of processing the wall plate, so that the quality of hole processing cannot be influenced by the pressure of the workpiece; in the process of drilling the hole by the drilling-reaming composite cutter, high-quality hole processing is finished at one time, and the 'pecking-drilling' process of drilling a certain depth, withdrawing the cutter, removing chips and then continuously drilling is adopted, so that the chip accumulation phenomenon is avoided. The method can ensure that the processed workpiece is stable in the processing process of the composite wallboard hole, the processing is completed by adopting the composite cutter once, and the special processing technology is adopted, so that the problems of unstable processing quality, inaccurate positioning, low efficiency, scrap accumulation and the like of the composite wallboard hole are solved. The invention can be developed into a curved surface metal hole machining method, and a machining coordinate system, a workpiece outline and a cutter program in a special machining program are reestablished according to the characteristics of the used cutter.
The key points in the process of realizing the hole processing of the composite wallboard are as follows:
1. the adopted drilling-reaming composite cutter meets the requirements of hole processing quality;
2. the self-adaptive pressing equipment arranged on the equipment can automatically adjust the pressure according to the processing working condition of the composite wallboard;
3. the problem of scrap accumulation in the processing process is solved by adopting the pecking drilling process;
4. and a special program is designed, all hole machining can be automatically completed, and the machining efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a mounting robot and a drilling apparatus used in the method of the present invention;
FIG. 2 is a schematic diagram of a drilling apparatus and a position of a workpiece for performing the method; (ii) a
FIG. 3 is a cross-sectional view of a tool of the drilling apparatus
FIG. 4 is a block flow diagram of the present processing method;
fig. 5 is a PLC program diagram in the machining program.
In fig. 3, 1, composite wall panel; 2. drilling and reaming the composite cutter; 3. a hole to be machined; 4. automatic hold-down mechanism.
Detailed Description
A method for processing holes on a curved-surface metal composite wallboard comprises the steps that titanium alloy wallboard drilling equipment provided with a camera and automatic drilling equipment are fixed at the front end of a robot arm, and the method is shown in figures 1-3.
Proprietary processing program
Setting NC parameters:
10715$MN_M_NO_FCT_CYCLE[7]＝86
10715$MN_M_NO_FCT_CYCLE[8]＝87
10716$MN_M_NO_FCT_CYCLE_NAME[7]＝CLAMP
10716$MN_M_NO_FCT_CYCLE_NAME[8]＝UNCLAMP。
the macro procedure CLAMP is as follows:
PROC TOOL SAVE DISPLOF
STOPRE
M86
G4F1
M17
M30。
the macro program UNCLAMP is as follows:
PROC TOOL SAVE DISPLOF
STOPRE
M87
G4F1
M17
M30。
PLC program editing, see fig. 5.
Referring to fig. 4, the processing steps for implementing the curved surface composite wall plate hole are as follows:
1) the automatic drilling equipment runs to the position near the datum hole;
2) the camera works, finds the position of the reference hole and establishes a space coordinate system;
3) moving to the position of a hole to be processed, wherein the distance between the hole and the surface of the metal plate is 2 mm;
4) the pressing mechanism automatically extends out of the pressing wall plate;
5) the motor is started to drive the main shaft to rotate, and the special cutter is used for drilling;
6) drilling and reaming are sequentially carried out by setting the wall thickness of the metal plate according to a program in a pecking drilling mode;
7) after the hole machining is finished, the main shaft stops rotating and retracts;
8) the pressing mechanism moves reversely to loosen the wall plate;
9) moving to the next hole to be processed;
10) and circularly and sequentially finishing a plurality of holes.
The automatic drilling equipment is equipment arranged at the front end of a robot arm, and a video camera or a camera is arranged on the drilling equipment. During operation, firstly, the front arm end of the robot moves to a preset position, a camera shoots, the position of a processed reference hole is identified, the posture of the drill-hinge composite tool 2 is adjusted, the axis of the main shaft of the drill-hinge composite tool 2 is overlapped with the axis of the reference hole, and a temporary processing coordinate system is established; the automatic drilling equipment moves to a position 2mm away from the surface of a metal plate, the automatic pressing mechanism 4 presses the composite wallboard 1, the main shaft of the automatic drilling equipment rotates, the drilling-reaming composite cutter 2 drills 3, a pecking drilling mode is adopted in the drilling process, a robot sequentially processes holes with the same specification on the wallboard according to a simulation result, after the plurality of processed holes 3 are processed, the main shaft stops rotating and retracts, the automatic pressing mechanism 4 is automatically lifted, and the hole processing process of all the holes with the same specification is completed.
And selecting a special cutter according to the processing working condition during processing. In the embodiment, a drilling-reaming composite cutter is selected for the curved titanium alloy composite wall plate of the airplane. The tool program in the special processing program is to design a respective processing program for each tool specification separately aiming at the drilling-reaming composite tool. For example: when holes with the diameter of 6mm and the depth of 5mm are to be machined, a tool program of a special machining program in the robot system is defined as T1, namely a drilling and reaming tool with the diameter of 6mm, and the machining program is called circularly when a plurality of holes with the same specification are machined. When there is a change in the specification of the machining hole, it is necessary to stop the tool change while selecting the tool program of the corresponding specification which has been stored in the "define tool T1" program.
The technical development of the invention can be a hole processing method of a curved metal plate, for example, a hole processing method of an automobile hub is used for reestablishing a processing coordinate system, establishing a workpiece outline and defining a cutter program in a special processing program according to a cutter and a processed material.
Claims (6)
1. The processing method of the curved surface composite metal wallboard hole comprises the steps that automatic titanium alloy wallboard drilling equipment provided with a camera and automatic drilling equipment are fixed at the front end of a robot arm, and is characterized in that a special processing program for the automatic drilling equipment is additionally arranged in a robot control system, NC parameters and a macro program CLAMP/UNCLAMP are set, a PLC program is logically edited, and the processing steps of the curved surface composite wallboard hole are executed:
1) the hole machining equipment automatically runs to the position near the reference hole;
2) the camera works, finds the position of the reference hole and establishes a space coordinate system;
3) moving to the position of a hole to be processed, wherein the distance between the hole and the surface of the metal plate is 2 mm;
4) the pressing mechanism automatically extends out of the pressing wall plate;
5) the motor is started to drive the main shaft to rotate, and the special cutter is used for drilling;
6) drilling and reaming are sequentially carried out by setting the wall thickness of the metal plate according to a program in a pecking drilling mode;
7) after the hole machining is finished, the main shaft stops rotating and retracts;
8) the pressing mechanism moves reversely to loosen the wall plate;
9) moving to the next hole to be processed;
10) and circularly and sequentially finishing a plurality of holes.
2. The method of claim 1, wherein the proprietary machining program:
3. the method for processing holes on a curved-surface composite metal wallboard according to claim 1, wherein the NC parameters are set as follows:
10715$MN_M_NO_FCT_CYCLE[7]＝86
10715$MN_M_NO_FCT_CYCLE[8]＝87
10716$MN_M_NO_FCT_CYCLE_NAME[7]＝CLAMP
10716$MN_M_NO_FCT_CYCLE_NAME[8]＝UNCLAM。
4. the method for processing holes on a curved-surface composite metal wallboard as claimed in claim 1, wherein the macro program CLAMP is as follows:
PROC TOOL SAVE DISPLOF
STOPRE
M86
G4F1
M17
M3。
5. the method for processing holes on a curved composite metal wall plate according to claim 1, wherein the macro program UNCLAMP is as follows:
PROC TOOL SAVE DISPLOF
STOPRE
M87
G4F1
M17
M30。
6. the method of claim 2 wherein the tool programs of the proprietary machining program are designed individually for each tool specification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910956649.3A CN110814642A (en) | 2019-10-10 | 2019-10-10 | Method for processing curved surface composite metal wallboard hole |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910956649.3A CN110814642A (en) | 2019-10-10 | 2019-10-10 | Method for processing curved surface composite metal wallboard hole |
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| CN110814642A true CN110814642A (en) | 2020-02-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116330304A (en) * | 2023-05-29 | 2023-06-27 | 广东隆崎机器人有限公司 | Six-axis robot motion adjustment method, system, six-axis robot and medium |
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| JP2006102812A (en) * | 2004-09-07 | 2006-04-20 | Yamazaki Mazak Corp | Laser machining device |
| CN101745661A (en) * | 2008-12-02 | 2010-06-23 | 沈阳机床（集团）设计研究院有限公司 | Automatic drilling equipment for titanium alloy wall panel |
| CN103231250A (en) * | 2013-05-03 | 2013-08-07 | 西北工业大学 | Multi-functional drilling-riveting actuator |
| CN104698968A (en) * | 2015-02-11 | 2015-06-10 | 南京航空航天大学 | Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method |
| CN106041955A (en) * | 2016-07-07 | 2016-10-26 | 大连理工大学 | Automatic hole making device of robot and machining method |
| CN108445831A (en) * | 2018-02-09 | 2018-08-24 | 广东翠峰机器人科技股份有限公司 | A kind of robotic drill method |
-
2019
- 2019-10-10 CN CN201910956649.3A patent/CN110814642A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006102812A (en) * | 2004-09-07 | 2006-04-20 | Yamazaki Mazak Corp | Laser machining device |
| CN101745661A (en) * | 2008-12-02 | 2010-06-23 | 沈阳机床（集团）设计研究院有限公司 | Automatic drilling equipment for titanium alloy wall panel |
| CN103231250A (en) * | 2013-05-03 | 2013-08-07 | 西北工业大学 | Multi-functional drilling-riveting actuator |
| CN104698968A (en) * | 2015-02-11 | 2015-06-10 | 南京航空航天大学 | Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method |
| CN106041955A (en) * | 2016-07-07 | 2016-10-26 | 大连理工大学 | Automatic hole making device of robot and machining method |
| CN108445831A (en) * | 2018-02-09 | 2018-08-24 | 广东翠峰机器人科技股份有限公司 | A kind of robotic drill method |
Non-Patent Citations (1)
| Title |
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| 顾金伟: "飞机壁板机器人自动化制孔控制系统开发", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116330304A (en) * | 2023-05-29 | 2023-06-27 | 广东隆崎机器人有限公司 | Six-axis robot motion adjustment method, system, six-axis robot and medium |
| CN116330304B (en) * | 2023-05-29 | 2023-08-01 | 广东隆崎机器人有限公司 | Six-axis robot motion adjustment method, system, six-axis robot and medium |
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Application publication date: 20200221 |