CN111112709A

CN111112709A - Automatic grinding and milling device and working method thereof

Info

Publication number: CN111112709A
Application number: CN202010063779.7A
Authority: CN
Inventors: 王灵通; 程远
Original assignee: Nanjing Yingnigema Industrial Automation Technology Co ltd
Current assignee: Nanjing Yingnigema Industrial Automation Technology Co ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-05-08
Also published as: WO2021147286A1

Abstract

The invention discloses an automatic grinding and milling device and a working method thereof. The device is equipped with work piece location fixture including the support that is used for placing the work piece on the support, and work piece location fixture is used for fixing the work piece on the support, support one side is equipped with robotic arm, robotic arm's outer end is connected with electronic milling cutter device and laser rangefinder, laser rangefinder is used for acquireing the actual thickness of waiting to polish each detection point position in the region of work piece, robotic arm drives electronic milling cutter device along waiting to polish regional surface of milling of work piece according to the actual thickness of each detection point position. The robot is matched with a milling cutter and high-precision laser, so that full-automatic operation is realized, and the efficiency is high; the beat is fast, the efficiency is high, and the cost performance is high; no personnel participates in the whole process, so that the risk of injury to the personnel is avoided; the grinding height can be automatically adjusted in real time aiming at products with inconsistent flatness, and the phenomenon that milling is too deep or too shallow is avoided.

Description

Automatic grinding and milling device and working method thereof

Technical Field

The invention relates to the field of battery tray manufacturing, in particular to an automatic grinding and milling device and a working method thereof.

Background

Along with the development of new energy automobiles in China, the demand of aluminum alloy battery trays is increasing. The technological process of the tray mainly comprises CNC machining, friction stir welding, arc welding and the like. Wherein can produce a lot of burrs and overlap after the welding is accomplished because the characteristic of technology itself to stir welding completion back, because the welding deformation of the unavoidable product after the stirring moreover, the plane degree of product is generally relatively poor.

The main existing treatment methods are manual use of an angle grinder and machining by a milling machine. The manual grinding mainly has the following problems: 1. the service life of the grinding wheel blade is low, and the grinding wheel blade needs to be frequently replaced to seriously affect the efficiency; 2. the labor cost is high; 3. the safety is poor, and the grinding wheel blades or the polished aluminum scraps have the risk of causing harm to people.

The milling machine machining also has the following problems: 1. manual real-time online operation is needed, the operation speed is low, the cost is high, and the efficiency is low; 2. the requirement on products is high, the flatness consistency of the products is required to be good, and the tolerance of the products is poor.

Disclosure of Invention

The invention aims to provide an automatic grinding and milling device and a working method thereof, aiming at the defects in the prior art.

In order to achieve the above object, in a first aspect, the present invention provides an automatic grinding and milling device, including a support for placing a workpiece, where the support is provided with a workpiece positioning and clamping mechanism for fixing the workpiece on the support, one side of the support is provided with a mechanical arm, an electric milling cutter device and a laser ranging device are arranged at an outer end of the mechanical arm, the laser ranging device is used to obtain an actual thickness of each detection point in a region to be ground of the workpiece, and the mechanical arm drives the electric milling cutter device to grind and mill along a surface of the region to be ground of the workpiece according to the actual thickness of each detection point.

Furthermore, the support comprises two support arms and a bracket fixed between the two support arms, and the workpiece positioning and clamping mechanism is arranged on the bracket.

Furthermore, a plurality of supporting blocks are arranged on the upper side of the bracket, and the workpiece positioning and clamping mechanism comprises a plurality of positioning pins arranged on the bracket and a plurality of pressing cylinders.

Furthermore, robotic arm and support arm are fixed in the upside of a base, the base includes the base plate and a plurality of supporting legss of setting in the base plate lateral part, the height-adjustable of supporting legss.

Furthermore, the laser distance measuring devices comprise two laser distance measuring devices which are respectively arranged on two sides of the electric milling cutter device and are consistent in height.

Further, the mechanical arm comprises a six-axis mechanical arm.

Further, the laser ranging device is connected with a mounting bracket through bolts, and the mounting bracket is connected with the electric milling cutter device through bolts.

In a second aspect, the present invention further provides a working method of the automatic grinding and milling device, including:

step 1: placing a workpiece on a support, and starting a compaction cylinder to compact the workpiece;

step 2: acquiring the actual thickness of each measurement point position in the to-be-polished area of the workpiece;

and step 3: the mechanical arm establishes an absolute polishing surface according to the reference thickness of the workpiece, and generates an actual polishing surface by taking the difference between the actual thickness of each measurement point of the workpiece and the preset reference thickness as a compensation value;

and 4, step 4: and starting the electric milling cutter device, and driving the electric milling cutter device to polish and mill the to-be-polished area of the workpiece along the actual polishing surface by the mechanical arm.

Further, the obtaining of the actual thickness of each measurement point in the to-be-polished area of the workpiece includes:

step 2.1: the mechanical arm moves to a preset distance measurement height position;

step 2.2: the mechanical arm moves along a preset track, so that the laser ranging device measures the vertical distance H1 between the laser ranging device and the to-be-polished area of the workpiece at each set measuring point;

step 2.3: calculating the actual thickness H of each measurement point position in the to-be-polished area of the workpiece as follows:

H＝H2-H1

h2 is the vertical distance between the laser distance measuring device and the supporting surface of the support when the mechanical arm is at the distance measuring height position.

Has the advantages that: compared with the prior art, the invention has the following beneficial effects: 1. the robot is matched with a milling cutter and high-precision laser, so that full-automatic operation is realized, and the efficiency is high;

2. the beat is fast, the efficiency is high, and the cost performance is high;

3. no personnel participates in the whole process, so that the risk of injury to the personnel is avoided;

4. the grinding height can be automatically adjusted in real time aiming at products with inconsistent flatness, and the phenomenon that milling is too deep or too shallow is avoided.

Drawings

Fig. 1 is a schematic structural diagram of an automatic grinding and milling device according to an embodiment of the invention;

FIG. 2 is an enlarged partial schematic view of area A of FIG. 1;

FIG. 3 is an enlarged partial schematic view of region B of FIG. 1;

FIG. 4 is an enlarged partial schematic view of region C of FIG. 1;

fig. 5 is a schematic diagram of the distribution of measurement points on the workpiece.

Detailed Description

The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are carried out on the premise of the technical scheme of the present invention, and are understood to be only used for illustrating the present invention and not to limit the scope of the present invention.

As shown in fig. 1, 2 and 5, an automatic grinding and milling device according to an embodiment of the present invention includes a support 2 for placing a workpiece 1, where the workpiece 1 is a battery box support 2 provided with a workpiece positioning and clamping mechanism, and the workpiece positioning and clamping mechanism is configured to fix the workpiece 1 on the support 2 so as to grind and mill the workpiece 1. One side of the support 2 is provided with a mechanical arm 3, and the mechanical arm 3 preferably adopts a 6-axis mechanical arm. The outer end of robotic arm 3 is equipped with electronic milling cutter device 4 and laser rangefinder 5, and laser rangefinder 5 is together fixed with electronic milling cutter device 4 and robotic arm 3 through installing support 7, and is specific, laser rangefinder 5 and installing support 7 bolted connection, and installing support 7 and electronic milling cutter device 4 bolted connection. The laser ranging device 5 is used for acquiring the actual thickness of each detection point in the to-be-polished area of the workpiece 1. The mechanical arm 3 drives the electric milling cutter device 4 to polish and mill the to-be-polished area of the workpiece 1 according to the actual thickness of each detection point, so that polishing and milling operations are performed on the surface of the workpiece 1, and over-depth or over-shallow milling cannot occur.

As shown in fig. 1 and 2, the support 2 according to the embodiment of the present invention includes two arms 21 and a bracket 22, the bracket 22 is fixed between the two arms 21, the bracket 22 is used for placing the workpiece 1, and the workpiece positioning and holding mechanism is provided on the bracket 22. In order to support the workpiece 2, a plurality of support blocks 23 are provided on the upper side of the bracket 22, the support blocks 23 are respectively a first support block 231 bolted to the bracket 22 and a second support block 232 bolted to the upper side of the first support block 231, the first support block 231 is preferably made of q235 steel, and the second support block 232 is preferably made of stainless steel. The work positioning and holding mechanism includes a plurality of positioning pins 24 provided on the carriage 22 and a plurality of pressing cylinders 25. The positioning pin 24 is matched with the positioning hole on the workpiece 1 to laterally limit the workpiece 1. The pressing cylinder 25 comprises an air cylinder 251 and a pressing claw 252 turned over by the air cylinder 251, when the pressing claw 252 is at the position a, the pressing cylinder 25 is in an open state, and when the pressing claw 252 is at the position b, the pressing cylinder 25 is in a pressing state.

As shown in fig. 4, in order to facilitate the adjustment of the levelness of the support 2 and the robot arm 3, the robot arm 3 and the arm 21 are preferably fixed on the upper side of a base 6, the base 6 includes a base plate 61 and a plurality of support legs 62 disposed on the side of the base plate 61, and the height of the support legs 62 is adjustable. The supporting leg 62 of the embodiment of the present invention preferably includes a connecting plate 621 and a bottom plate 622, the connecting plate 621 is welded on the side of the base plate 61, the connecting plate 621 is provided with a plurality of through holes 623, the upper side of the bottom plate 622 is fixed with a plurality of bolts 624, the bolts 624 on the upper and lower sides of the connecting plate 621 are respectively provided with a nut, and the position and height of the connecting plate 621 can be adjusted by adjusting the position of the nut, so as to adjust the levelness of the support 2 and the robot arm 3.

As shown in fig. 3, two laser distance measuring devices 5 are preferably used in the embodiment of the present invention, the two laser distance measuring devices 5 are respectively provided on both sides of the electric milling cutter device 4, the heights of the two laser distance measuring devices 5 are identical, and the two laser distance measuring devices 5 are respectively put into use when measuring the height of the side at the time of measurement, so that the size of the robot arm 3 to be used can be prevented from being excessively large.

With reference to fig. 1 to 5, the working method of the automatic grinding and milling device of the above embodiment includes the following steps:

step 1: the workpiece 1 is placed on the support 2, and the pressing cylinder 25 is actuated to press the workpiece 1.

Step 2: and acquiring the actual thickness of each measuring point in the to-be-polished area of the workpiece 1.

Obtaining the actual thickness of each measurement point in the region to be polished of the workpiece comprises:

step 2.1: the mechanical arm 3 moves to a preset distance measurement height position;

step 2.2: the robot arm 3 moves along a preset track, so that the laser distance measuring device 5 measures the vertical distance H1 between the robot arm and the to-be-polished area of the workpiece at each set measuring point. As shown in fig. 5, the measuring points are distributed on the whole area to be polished, and the robot arm 3 starts measuring from the position of serial number 1, and then moves to the position of high serial number in turn to finish measuring to the position of serial number 50. The transverse movement track of the grinding and milling operation is the same as the measured transverse movement track, and the transverse movement track of the mechanical arm 3 is preset according to the shape of the area to be ground of the workpiece 1.

Step 2.3: calculating the actual thickness H of each measurement point in the to-be-polished area of the workpiece 1 as follows:

H＝H2-H1

h2 is the vertical distance between the laser distance measuring device 5 and the support surface of the support 2 when the robot arm 3 is at the distance measurement height position. The vertical distance is measured and set during debugging, and the vertical distance does not change after the debugging is finished.

And step 3: the mechanical arm 3 establishes an absolute polishing surface according to the reference thickness of the workpiece 1, and generates an actual polishing surface by taking the difference between the actual thickness of each measurement point of the workpiece and the preset reference thickness as a compensation value. The reference thickness of the workpiece 1 can be measured by digital-to-analog measurement of the design and then input into a data value memory stored to the robot.

And 4, step 4: starting the electric milling cutter device 4, the mechanical arm 3 drives the electric milling cutter device 4 to polish the to-be-polished area of the workpiece 1 along the actual polishing surface.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that other parts not specifically described are within the prior art or common general knowledge to those of ordinary skill in the art. Without departing from the principle of the invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the scope of the invention.

Claims

1. The utility model provides an automatic milling device polishes, its characterized in that, is including the support that is used for placing the work piece, be equipped with work piece location fixture on the support, work piece location fixture is used for fixing the work piece on the support, support one side is equipped with robotic arm, robotic arm's outer end is equipped with electronic milling cutter device and laser range unit, laser range unit is used for acquireing the actual thickness of waiting to polish each detection point position in the region of work piece, robotic arm drives electronic milling cutter device along the surface of waiting to polish the region of work piece according to the actual thickness of each detection point position and polishes and mill.

2. The automatic sharpening milling device of claim 1, wherein said support comprises two arms and a carriage fixed between said two arms, said workpiece positioning fixture being disposed on said carriage.

3. The automatic grinding and milling device as claimed in claim 2, wherein the bracket is provided at an upper side thereof with a plurality of support blocks, and the workpiece positioning and clamping mechanism includes a plurality of positioning pins provided on the bracket and a plurality of pressing cylinders.

4. The automatic milling and grinding device of claim 2, wherein the robotic arm and arm are mounted on a top side of a base, the base comprising a base plate and a plurality of support legs disposed on sides of the base plate, the support legs being adjustable in height.

5. The automatic grinding and milling device as claimed in claim 2, wherein the laser distance measuring devices comprise two laser distance measuring devices, and the two laser distance measuring devices are respectively arranged on two sides of the electric milling cutter device and have the same height.

6. The automatic sharpening milling device of claim 1, wherein the robotic arm comprises a six-axis robotic arm.

7. The automatic milling device of claim 1, wherein the laser ranging device is bolted with a mounting bracket that is bolted with an electric milling cutter device.

8. A method of operating an automatic sharpening milling device according to claim 1, comprising:

9. The method of claim 8, wherein the obtaining the actual thickness of each measurement point in the region of the workpiece to be ground comprises:

H＝H2-H1