CN110976986B - Groove machining device for thin plate - Google Patents

Abstract

A beveling device for thin plate parts, the present invention relates to a beveling device, and the purpose of the present invention is to solve the problem that thin-walled and lightweight parts have large size, irregular shape and low rigidity in the machining process. It is easy to cause deformation and difficult to control the accuracy. It includes the mechanical arm, it also includes the processing mechanism, the clamping and fixing mechanism and the tool changer assembly. The processing mechanism includes the movable end of the quick-change block, the fixed end of the quick-change block, and the adapter seat. , Electric spindle, electric spindle fixing seat, pressing cover and milling cutter, the mechanical arm is connected with the fixed end of the quick change block, the quick change block is connected with the movable end of the quick change block, the adapter seat is connected with the movable end of the quick change block, the electric The spindle fixing seat is fixedly installed on the other end of the adapter seat, the milling cutter is installed on the electric spindle, the electric spindle is installed on the electric spindle fixing seat and the pressing cover, and the clamping and fixing mechanism is arranged under the processing mechanism near the mechanical arm. The tool changer assembly is located close to the robotic arm. The invention is used in the field of groove processing of thin plate parts.

Description

A bevel processing device for thin plate parts

technical field

The invention relates to a groove processing device, in particular to a groove processing device for thin plate parts.

Background technique

With the rapid development of aerospace and other military industries, the requirements for the dynamic characteristics, weight and reliability of products are getting higher and higher, and a large number of thin-walled and free-form surfaces are used for design. Due to the characteristics of large size, irregular shape and low stiffness, thin-walled and lightweight parts are not easy to be clamped, easily deformed, and difficult to control precision in the digital manufacturing process.

Manufacturing in the aerospace field has the characteristics of small batches and various types, and the traditional automated manufacturing methods cannot meet the corresponding needs, so most manufacturers currently use manual manufacturing methods. However, with the continuous improvement of the requirements for product quality and consistency, the continuous increase of domestic labor costs, and the difficulty in training skilled workers, the demand for automated manufacturing for this type of components is becoming more and more obvious. Digital manufacturing based on industrial robots has low cost and high flexibility. Compared with special machine tools, it has obvious advantages in this type of processing tasks. However, due to its serial structure, the rigidity and precision of the robot are far inferior to that of the machine tool. In order to meet the relatively high-precision manufacturing requirements, it is necessary to provide a device for processing grooves.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problem that thin-walled lightweight parts are easy to deform during processing due to their large size, irregular shape and low rigidity, and it is difficult to control the accuracy, and further provides a groove for thin plate parts. processing device.

The technical scheme that the present invention adopts to solve the above problems is:

It includes a mechanical arm, and it also includes a processing mechanism, a clamping and fixing mechanism and a tool changer assembly. The processing mechanism includes a quick-change block movable end, a quick-change block fixed end, an adapter seat, an electric spindle, an electric spindle fixing seat, a pressing Cover plate and milling cutter, the output end of the manipulator is fixedly connected with the fixed end of the quick change block, the fixed end of the quick change block is connected with the movable end of the quick change block by pneumatic locking, and one end of the adapter is fixedly connected with the movable end of the quick change block. The motor-spindle fixing seat is fixedly installed on the other end of the adapter seat, the pressing cover is installed on the motor-spindle fixing seat by bolts, the milling cutter is installed on the motor-spindle, the motor-spindle is installed on the motor-spindle fixing seat and the pressing On the cover plate, the clamping and fixing mechanism is arranged below the processing mechanism near the mechanical arm, and the tool changer assembly is arranged near the mechanical arm.

Beneficial effects of the present invention:

1. In this application, the machining part of the machining mechanism 2 is driven by the robotic arm 1 to move to the workpiece above the clamping and fixing mechanism 3 , and the thin-walled workpiece is clamped by the clamping and fixing mechanism 3 .

2. In the present application, the robotic arm 1 and the processing mechanism 2 can be quickly installed and connected together through a quick connection mechanism.

3. The work plate 4 in the milling cutters 2-7 in this application fixes a plurality of support limit frames 6 and a plurality of support frames 5, and supports the bottom end face of the workpiece through the support limit frames 6 and the support frames 5, and The thin-walled plate is fixed and clamped by the supporting and clamping assembly 7, and the thin-walled plate is supported and limited by the supporting and limiting frame 6, and the groove of the workpiece is fixed, thereby ensuring the machining accuracy.

4. In the present application, the electric spindle 2-4 drives the milling cutter 2-7 to rotate, and then the thin-walled workpiece is grooved.

Description of drawings

FIG. 1 is a schematic diagram of a thin-walled plate member disposed on the overall structure of the present application.

FIG. 2 is a schematic view of the thin-walled plate member being arranged on the clamping and fixing mechanism 3 .

FIG. 3 is a schematic diagram of the processing mechanism 2 before assembly.

FIG. 4 is a schematic view of the structure of the support limit frame 6 .

Figure 5 is a schematic view of the clamping jaw 7-1 and a first 'L' shaped block 7-2 mounted on the support frame 5.

FIG. 6 is a schematic structural diagram of the tool changer frame assembly 8 before assembly.

FIG. 7 is a schematic structural diagram of the tool placement rack 8-5.

Detailed ways

Embodiment 1: This embodiment is described with reference to FIGS. 1 to 7 . The bevel processing device for thin plate parts described in this embodiment includes a robotic arm 1 , a processing mechanism 2 , and a clamping and fixing mechanism. 3 and the tool changer assembly 8, the processing mechanism 2 includes the movable end of the quick change block 2-1, the fixed end of the quick change block 2-2, the adapter seat 2-3, the electric spindle 2-4, and the electric spindle fixed seat 2-5 , Press the cover plate 2-6 and the milling cutter 2-7, the output end of the robot arm 1 is fixedly connected with the fixed end 2-2 of the quick change block, the fixed end 2-2 of the quick change block and the movable end 2-1 of the quick change block Pneumatic locking connection, one end of the adapter seat 2-3 is fixedly connected with the movable end 2-1 of the quick-change block, the motor spindle fixing seat 2-5 is fixedly installed on the other end of the adapter seat 2-3, and the cover plate is pressed tightly. 2-6 is installed on the electric spindle fixing seat 2-5 by bolts, the milling cutter 2-7 is installed on the electric spindle 2-4, and the electric spindle 2-4 is installed on the electric spindle fixing seat 2-5 and the pressing cover On the plates 2-6, the clamping and fixing mechanism 3 is arranged under the processing mechanism 2 close to the robotic arm 1, and the tool changer assembly 8 is arranged close to the robotic arm 1.

In this embodiment, the mechanical arm 1 is controlled to move the milling cutter 2-7 in the machining mechanism 2 to the position where the groove surface of the workpiece is to be processed, and the electric spindle 2-4 is controlled to work, and the milling cutter 2-4 is driven by the electric spindle 2-4. 7. Process the bevel surface of the workpiece to be processed, and control the robotic arm 1 to process the milling cutters 2-7 to the bevel surface of the thin-walled plate. In this application, the movable end 2-1 of the quick-change block and the fixed end 2-2 of the quick-change block can realize quick installation and connection.

The manufacturer of the robotic arm 1 in this application is ABB, model number, IRB6700_150-320.

Jaeger, the manufacturer of the electro-spindle 2-4 in this application, model, Z80-H445.06 S5W22.

The movable end 2-1 of the quick change block and the fixed end 2-2 of the quick change block in the present application are quick changers with serial number ZEUS-MOOOOOO manufactured by QUIOCK-CHANGE-ZEUS manufactured by Bieru Automation Equipment Co., Ltd.

Embodiment 2: This embodiment will be described with reference to FIG. 1 and FIG. 2 . A beveling device for thin plate parts described in this embodiment. The clamping and fixing mechanism 3 includes a work plate 4 and a plurality of support and limit frames 6 . and a plurality of support frames 5 and a plurality of groups of support and clamping assemblies 7; the work plate 4 is an annular disc body, a plurality of support frames 5 are fixedly installed on the upper end face of the work plate 4, and a plurality of support limit frames 6 are installed on the work plate 4 On the upper end surface, each group of support and clamping assemblies 7 is fixedly installed on a support frame 5, the center line of each support frame 5 along the length direction is arranged through the center of the work plate 4, and each support limit frame 6 is arranged along the length direction. The center line of the center line passes through the center of the work plate 4. In this embodiment, the number of groups of supporting and clamping assemblies 7 is less than or equal to the number of supporting frames 5. When the number of groups of supporting and clamping assemblies 7 is less than the number of supporting frames 5 , the support frame 5 without the support clamp assembly 7 is supported by the upper end of the support frame 5 to face the thin-walled workpiece. When the number of groups of support clamp assemblies 7 is equal to the number of support frames 5, the support frame 5 and the The support and clamping assembly 7 clamps and supports the thin-walled workpiece. The upper end face of the work plate 4 is provided with a plurality of threaded holes. The position of the support limit frame 6 and the support frame 5 on the work plate 4 is adjusted according to the requirements of the workpiece to be processed. Other The method is the same as the specific embodiment one.

Embodiment 3: The present embodiment will be described with reference to FIG. 1 and FIG. 2 . The present embodiment describes a beveling device for thin plate parts. The plurality of support frames 5 are rectangular frames, and the upper parts of the plurality of support frames 5 The surface is flat. The thin-walled plate workpiece is supported by the upper surface of the support frame 5 to ensure that the bottom end surface of the thin-walled plate is flush, and the machining accuracy of the workpiece is ensured. Other methods are the same as those in the second embodiment.

Embodiment 4: This embodiment will be described with reference to FIG. 1 and FIG. 5 . A beveling device for thin plate parts described in this embodiment, each set of supporting and clamping assemblies 7 includes a clamping pliers 7-1 and a plurality of A first 'L' shaped block 7-2, a plurality of first 'L' shaped blocks 7-2 are mounted on the support frame 5 along the length direction of the support frame 5, Two opposite strip-shaped through holes are machined on the bottom plate, each strip-shaped through-hole is provided with a bolt, and the threaded end of the bolt passes through the strip-shaped through-hole and is threadedly connected to the upper end face of the support frame 5, and the clamping pliers 7- 1 is set on any one of the first 'L' shaped blocks 7-2. Adjust the position of the first 'L'-shaped block 7-2 on the support frame 5 through the bolts of the strip-shaped through holes on the first 'L'-shaped block 7-2, and clamp the thin-walled plate with the clamping pliers 7-1 Tightly ensure that the thin-walled plate workpiece is clamped and fixed on the first 'L'-shaped block 7-2, and the workpiece is clamped and fixed on the support and clamping assembly 7, and other methods are the same as the second embodiment.

In this embodiment, the manufacturer of the clamping forceps 7-1 is Tianjin Good Hand, and the production model is CH-51030-01.

Embodiment 5: The present embodiment will be described with reference to FIG. 1 and FIG. 4 . According to the present embodiment, a groove processing device for thin plate parts is described. The plurality of support and limit frames 6 include a fixed plate 6-2 and a sliding block 6. -3, slide rails 6-4, lead screws 6-5, turntables 6-6, two limit blocks with bearings 6-7 and multiple second 'L' shaped blocks 6-1; two The limit blocks 6-7 with bearings are arranged oppositely, the slide rails 6-4 are installed on the two limit blocks 6-7 with bearings, and the slide blocks 6-3 are slidably arranged on the slide rails 6-4. One end of the rod 6-5 is inserted into the bearing of a limit block 6-7 with a bearing, and the other end of the lead screw 6-5 passes through the bearing of another limit block 6-7 with a bearing and is connected with the bearing. The handle plate 6-6 is fixedly connected, the sliding block 6-3 is provided with a nut that is threaded with the lead screw 6-5, the nut on the sliding block 6-3 is sleeved on the thread of the lead screw 6-5, and slides The nut on the block 6-3 is threaded with the lead screw 6-5, the fixed plate 6-2 is mounted on the sliding block 6-3, and a plurality of second 'L' shaped blocks 6-1 are along the length of the fixed plate 6-2 The directions are sequentially installed on the upper end surface of the fixing plate 6-2, and a distance is set between two adjacent second 'L' shaped blocks 6-1. The lead screw 6-5 is driven to rotate through the handle plate 6-6, and the lead screw 6-5 is matched with the nut on the driving sliding block 6-3, so that the sliding block 6-3 is on the sliding rail 6-4 on the sliding rail 6- 4, and the thin-walled plate is limited by the second 'L'-shaped block 6-1, and other methods are the same as in the second embodiment.

Embodiment 6: This embodiment will be described with reference to FIGS. 1 to 3 . A groove processing device for thin plate parts described in this embodiment is described. The processing mechanism 2 further includes a 'T'-shaped key 2-8, and the electric spindle is fixed. The end face of the seat 2-5 and the end face of the adapter seat 2-3 are respectively machined with a 'T'-shaped groove, and the 'T'-shaped key 2-8 is arranged on the electric spindle fixing seat 2-5 and the adapter seat 2-3 In the 'T'-shaped groove, the 'T'-shaped key 2-8 ensures the synchronous rotation between the electric spindle fixing seat 2-5 and the adapter seat 2-3, and other methods are the same as the specific embodiment 1.

Embodiment 7: The present embodiment will be described with reference to FIG. 1 , FIG. 6 and FIG. 7 . A beveling device for thin plate parts described in this embodiment. The tool changer assembly 8 includes a tool changer body 8 - 1 , Calibration column 8-2, calibration column placement seat 8-3, calibration column top wire 8-4 and two tool placement racks 8-5, the tool placement rack 8-5 includes an 'L' shaped support plate 8-6 and a placement rack The body 8-7 and the supporting rib plate 8-8, the placing frame body 8-7 includes an inclined plate and a fixed horizontal plate, the bottom end of the inclined plate is fixedly connected with one end of the fixed horizontal plate, and the top of the inclined plate is processed with 'U' The middle part of the inclined plate is machined with a strip-shaped through hole in the vertical direction, the supporting rib plate 8-8 is fixedly connected with the inclined plate and the fixed horizontal plate, and the vertical plate of the 'L'-shaped supporting plate 8-6 is fixed by adjusting bolts Installed on the inclined plate, the adjustment bolts are arranged in the strip through holes, the horizontal plate of the 'L' shaped support plate 8-6 is set above the vertical plate, and the 'L' shape is adjusted by the adjustment bolts in the position of the strip through holes The height position of the horizontal plate of the support plate 8-6, the two tool placement frames 8-5 are installed on the top of the tool changer body 8-1 through bolts, and the calibration column placement seat 8-3 is fixedly installed on the tool changer through screws and pins. On the side wall of the body 8-1 near the top, a calibration column placement hole is machined on the calibration column placement seat 8-3, the calibration column 8-2 is vertically arranged on the calibration column placement seat 8-3, and the side of the calibration column placement hole is A calibration column top wire 8-4 is installed on the wall, and the calibration column top wire 8-4 is pushed against the outer circular surface of the calibration column 8-2, and other methods are the same as those of the first embodiment.

In the present embodiment, the bevel processing device first performs rough processing and then finishes processing, which is completed in two processes, using different milling cutters. In order to improve the efficiency of tool change and realize automatic tool change, the robot first calibrates the calibration column 8-2 to determine the position of the 'U'-shaped groove on the inclined plate of the frame body 8-7. When changing the tool, according to the program trajectory, the robot drives the milling cutter and the tool holder to the position of the U-shaped groove, puts the tool holder into the empty U-shaped groove along the downward direction of the straight side of the U-shaped groove, and then exits, the tool holder And the milling cutter remains in the U-shaped groove. The robot moves to another placement frame, inserts the tool holder according to the program and locks it, and then takes out the tool holder and milling cutter along the upward direction of the straight edge of the U-shaped groove to complete the tool change process.

working principle

In this application, the workpiece to be processed is placed on the clamping and fixing mechanism 3, and the bottom end face of the thin-walled plate is supported by a plurality of support frames 5, and supported and clamped by the corresponding support and clamping components 7 on the support frame 5. The support limiter 6 assists the thin-walled plate workpiece to support the limit, drives the processing mechanism 2 to move to the top of the clamping and fixing mechanism 3 through the mechanical arm 1, and drives the milling cutters 2-7 to rotate through the electric spindle 2-4 to be processed. The thin-walled plate to be processed is processed, and the processing mechanism 2 is driven by the mechanical arm 1 to move, and the thin-walled plate to be processed is sequentially grooved.

Claims (5)

1. A bevel processing device for thin plate parts, comprising a mechanical arm (1), characterized in that: it also comprises a processing mechanism (2), a clamping and fixing mechanism (3) and a tool changer assembly (8) , the processing mechanism (2) includes the movable end of the quick-change block (2-1), the fixed end of the quick-change block (2-2), the adapter seat (2-3), the electric spindle (2-4), and the electric spindle fixed seat (2-5), pressing the cover plate (2-6) and the milling cutter (2-7), and the clamping and fixing mechanism (3) includes a work plate (4), a plurality of support limit frames (6) and a plurality of The support frame (5) and the multiple sets of support and clamping assemblies (7); the output end of the mechanical arm (1) is fixedly connected with the fixed end (2-2) of the quick change block, and the fixed end (2-2) of the quick change block is connected with the quick change block fixed end (2-2); The movable end (2-1) of the change block is connected by pneumatic locking, one end of the adapter seat (2-3) is fixedly connected with the movable end (2-1) of the quick change block, and the electric spindle fixing seat (2-5) is fixedly installed on the On the other end of the adapter seat (2-3), the pressing cover plate (2-6) is fastened to the electric spindle fixing seat (2-5) by bolts, and the milling cutter (2-7) is installed on the electric spindle (2-4), the motorized spindle (2-4) is installed on the motorized spindle fixing seat (2-5) and the pressing cover (2-6), and the clamping and fixing mechanism (3) is close to the mechanical arm (1) It is arranged below the processing mechanism (2), the tool changer assembly (8) is arranged close to the mechanical arm (1), the working disk (4) is an annular disk body, and a plurality of support frames (5) are fixedly mounted on the working disk (4). On the end face, a plurality of support limit frames (6) are installed on the upper end face of the work plate (4), each group of support and clamping assemblies (7) is fixedly installed on a support frame (5), and each support frame (5) The center line along the length direction is arranged through the center of the working plate (4), and the center line along the length direction of each support limiter (6) is arranged through the center of the working plate (4). 2 . The beveling device for thin plate parts according to claim 1 , wherein the plurality of support frames ( 5 ) are rectangular frames, and the upper surfaces of the plurality of support frames ( 5 ) are flat surfaces. 3 . 3. A beveling device for thin plate parts according to claim 1, characterized in that: each group of supporting and clamping assemblies (7) comprises clamping jaws (7-1) and a plurality of first 'L' block (7-2), a plurality of first 'L'-shaped blocks (7-2) are mounted on the support frame (5) along the length direction of the support frame (5), each first 'L'-shaped block ( 7-2) The bottom plate is machined with two opposite strip-shaped through holes, each strip-shaped through-hole is provided with a bolt, and the threaded end of the bolt passes through the strip-shaped through-hole and the upper end surface thread of the support frame (5). For connection, the clamping pliers (7-1) are arranged on any one of the first 'L' shaped blocks (7-2). 4. A beveling device for thin plate parts according to claim 1, characterized in that: the plurality of support and limit frames (6) comprise a fixed plate (6-2), a sliding block (6-3), Slide rails (6-4), lead screws (6-5), turntable discs (6-6), two limit blocks with bearings (6-7) and multiple second 'L' blocks ( 6-1); two limit blocks (6-7) with bearings are arranged oppositely, the slide rail (6-4) is installed on the two limit blocks (6-7) with bearings, 6-3) Sliding on the slide rail (6-4), one end of the lead screw (6-5) is inserted into a bearing with a bearing limit block (6-7), the lead screw (6- 5) The other end passes through the bearing of another limit block (6-7) with a bearing and is fixedly connected with the handle plate (6-6). The sliding block (6-3) is provided with a screw ( 6-5) Nuts fitted with threads, the nut on the sliding block (6-3) is sleeved on the thread of the lead screw (6-5), and the nut on the sliding block (6-3) is connected to the lead screw (6-5). 5) Screw connection, the fixing plate (6-2) is installed on the sliding block (6-3), and a plurality of second 'L' shaped blocks (6-1) are installed in sequence along the length direction of the fixing plate (6-2) On the upper end face of the fixing plate (6-2), a spacing is provided between two adjacent second 'L' shaped blocks (6-1). 5. A beveling device for thin plate parts according to claim 1, characterized in that: the tool changer assembly (8) comprises a tool changer body (8-1), a calibration column (8-2), Calibration column placement seat (8-3), calibration column top wire (8-4) and two tool placement brackets (8-5), the tool placement bracket (8-5) includes an 'L' shaped support plate (8-6 ) and the placing frame body (8-7) and the supporting rib plate (8-8), the placing frame body (8-7) includes an inclined plate and a fixed horizontal plate, and the bottom end of the inclined plate is fixedly connected with one end of the fixed horizontal plate, And the top of the inclined plate is machined with a 'U'-shaped groove, the middle of the inclined plate is machined with a strip-shaped through hole in the vertical direction, and the supporting rib plate (8-8) is fixedly connected with the inclined plate and the fixed horizontal plate, and the 'L'-shaped The vertical plate of the supporting plate (8-6) is fixedly installed on the inclined plate by adjusting bolts, the adjusting bolts are arranged in the strip through holes, and the horizontal plate of the 'L'-shaped supporting plate (8-6) is arranged above the vertical plate , two tool placement racks (8-5) are installed on the top of the tool changer body (8-1) through bolts, and the calibration column placement seat (8-3) is fixedly installed on the tool changer body (8-1) through screws and pins 1) On the side wall near the top, a calibration column placement hole is machined on the calibration column placement seat (8-3), and the calibration column (8-2) is vertically arranged on the calibration column placement seat (8-3). A calibration column top wire (8-4) is installed on the side wall of the placement hole, and the calibration column top wire (8-4) is abutted on the outer circular surface of the calibration column (8-2).

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