CN111687488B - Automatic chamfer processingequipment based on vision positioning system - Google Patents

Automatic chamfer processingequipment based on vision positioning system Download PDF

Info

Publication number
CN111687488B
CN111687488B CN202010412271.3A CN202010412271A CN111687488B CN 111687488 B CN111687488 B CN 111687488B CN 202010412271 A CN202010412271 A CN 202010412271A CN 111687488 B CN111687488 B CN 111687488B
Authority
CN
China
Prior art keywords
moving mechanism
machining
moving
processing
base
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.)
Active
Application number
CN202010412271.3A
Other languages
Chinese (zh)
Other versions
CN111687488A (en
Inventor
盛仲曦
付俊
陈弈
王冬平
钟学矫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongfang Electric Corp
Original Assignee
Dongfang Electric Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dongfang Electric Corp filed Critical Dongfang Electric Corp
Priority to CN202010412271.3A priority Critical patent/CN111687488B/en
Publication of CN111687488A publication Critical patent/CN111687488A/en
Application granted granted Critical
Publication of CN111687488B publication Critical patent/CN111687488B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/2409—Arrangements for indirect observation of the working space using image recording means, e.g. a camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B23Q3/08—Work-clamping means other than mechanically-actuated
    • B23Q3/082—Work-clamping means other than mechanically-actuated hydraulically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Milling Processes (AREA)

Abstract

The invention discloses an automatic chamfering device based on a visual positioning system, which belongs to the technical field of chamfering machines, wherein a processing mechanism is arranged on a moving mechanism through a flexible self-adaptive structure, the moving mechanism drives the processing mechanism to move, and the flexible self-adaptive structure is used for enabling the processing mechanism and the moving mechanism to be in a flexible state or a rigid state; the vision system is arranged on the machining mechanism, is connected with the moving mechanism and the machining mechanism through a control system, and is used for positioning a workpiece and adjusting the displacement of the moving mechanism and the machining mechanism; the automatic chamfering machine can be used for realizing automatic chamfering of a similar-mode water-cooled wall tube panel workpiece, and has the advantages of small chamfering angle deviation, uniform arc and good chamfering length consistency.

Description

Automatic chamfer processingequipment based on vision positioning system
Technical Field
The invention belongs to the field of automatic chamfering machines, and particularly relates to an automatic chamfering device based on a visual positioning system.
Background
In modern automatic production, chamfering processing of certain workpieces is always processed by using manual experience. For example, in a thermal power plant, membrane wall panels are critical components that require chamfering of their ends and can weigh up to 10 tons at maximum. The traditional mode water-cooled wall tube panel chamfering processing mode is that a chamfering machine is hoisted manually to perform chamfering, and during chamfering, dust is serious, so that the health of operators is seriously influenced; the processed chamfer angle has large deviation and uneven arc, and the chamfer length is difficult to ensure consistency; because the workpiece inevitably has the abnormal condition of upwarping or downwarping, the current processing mode cannot effectively process the workpiece.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic chamfering device based on a visual positioning system.
The technical scheme adopted by the invention is as follows:
an automatic chamfering processing device based on a visual positioning system comprises a moving mechanism, a processing mechanism, a flexible self-adaptive structure, a visual system and a control system.
The processing mechanism is arranged on the moving mechanism through a flexible self-adaptive structure, the moving mechanism drives the processing mechanism to move, and the flexible self-adaptive structure can enable the processing mechanism and the moving mechanism to be in a flexible state or a rigid state.
The vision system is arranged on the machining mechanism and used for observing the displacement of the machining mechanism and the moving mechanism, and the control system is used for positioning the workpiece and controlling and adjusting the displacement of the moving mechanism and the machining mechanism according to the observation of the vision system through the cooperation of the vision system and the control system.
Further, the moving mechanism comprises a transverse moving mechanism, a longitudinal moving mechanism and a vertical moving mechanism, the processing mechanism is arranged on the vertical moving mechanism, the vertical moving mechanism is arranged on the longitudinal moving mechanism, and the longitudinal moving mechanism is arranged on the transverse moving mechanism; the transverse moving mechanism is used for driving the machining mechanism to move left and right, the longitudinal moving mechanism is used for driving the machining mechanism to move front and back, and the vertical moving mechanism is used for driving the machining mechanism to move up and down.
Furthermore, the transverse moving mechanism, the longitudinal moving mechanism and the vertical moving mechanism all comprise a moving base, a moving structure and a driving mechanism, the moving structure is arranged on the moving base, and the driving mechanism is used for connecting the moving structure and the control system.
Furthermore, the moving structure of the vertical moving mechanism is fixedly connected with a horizontal base, the bottom of the processing mechanism is fixedly provided with a processing base, the processing base is installed at the upper end of the horizontal base, and the flexible self-adaptive structure is installed and connected between the processing base and the horizontal base.
Wherein: the flexible self-adaptive structure comprises a clamping fixed cylinder, a high-strength spring and a spring adjustable central shaft, wherein the high-strength spring is sleeved on the spring adjustable central shaft.
Furthermore, the clamping fixing cylinder is arranged below the processing base, and the horizontal base is arranged in the clamping end of the clamping fixing cylinder.
Furthermore, the horizontal base and the processing base are respectively provided with a through hole for installing an adjustable spring center shaft, the adjustable spring center shaft is arranged in the upper and lower through holes at corresponding positions in a penetrating manner, and the adjustable spring center shaft and the high-strength spring which are matched are arranged between the horizontal base and the processing base. Meanwhile, the number of the corresponding matched spring adjustable central shafts and the number of the high-strength springs can be set according to the length of the horizontal base and the length of the processing base.
Further, the processing mechanism comprises a main shaft rotating processing mechanism, a cutter feeding mechanism, a main shaft loosening and pulling mechanism and a cutter, and the main shaft rotating processing mechanism is connected with the cutter to enable the cutter to rotate for processing; the feed mechanism is connected with the main shaft rotating machining mechanism and the main shaft loosening and pulling mechanism and is used for adjusting the feed amount of a cutter; the main shaft loosening and drawing mechanism is connected with the cutter and used for enabling the cutter to be in a locking state or an unlocking state.
Furthermore, the feed mechanism is connected with the control system, and the control system controls the feed mechanism to drive the main shaft rotating machining mechanism, the main shaft loosening and pulling mechanism and the cutter to move together, so that the feed amount of the cutter is adjusted.
Furthermore, a workpiece pressing tool mechanism covers the outside of the cutter, the workpiece pressing tool mechanism comprises a pressing structure and a pressing hydraulic oil cylinder, the pressing hydraulic oil cylinder is connected with the pressing structure, and the pressing structure presses the workpiece under the action of the pressing hydraulic oil cylinder.
Furthermore, the vision system comprises a vision camera and a motion mechanism, the motion mechanism is arranged on the processing mechanism, and the motion mechanism is connected with the vision camera and used for driving the vision camera to move.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the automatic processing method realizes the automatic processing of the chamfers of the workpieces, and has the advantages of small chamfer angle deviation, uniform arc and good chamfer length consistency. According to the invention, the flexible self-adaptive mechanism is utilized, when the machining mechanism and the moving mechanism are in a flexible state during machining, the machining mechanism can effectively adapt to abnormal conditions such as upwarp and downwarp of workpieces, the machining mechanism can align the abnormal workpieces in the coaxial direction, and the chamfer angle and the chamfer size of the machined workpieces can be aligned with the coaxial direction; when the mechanism is in an unprocessed state, the processing mechanism and the moving mechanism can be converted into a rigid state from a flexible state, shaking is avoided, and the whole mechanism can be rapidly positioned. Meanwhile, the vision system can acquire the position image of the workpiece in advance and send the position image to the control system, and the displacement of the moving mechanism and the feed mechanism is obtained after rapid judgment, so that the workpiece is rapidly positioned, and the positioning precision is high; the moving mechanism of the vision system can retract the vision camera to the rear of the processing mechanism under the condition that the device does not operate, and the damage and the pollution of the vision system can be effectively avoided.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a front view of the overall structure of the invention without the mobile base A;
FIG. 2 is a front view of the overall structure of the present invention including a mobile base A;
FIG. 3 is a top right view of the overall structure of the present invention including a mobile base A;
FIG. 4 is a cross-sectional view of the present invention;
reference numerals:
1-moving mechanism, 11-transverse moving mechanism, 111-moving base A, 112-linear guide rail A, 113-sliding block A, 114-gear mechanism, 115-servo motor A, 116-speed reducer A, 12-longitudinal moving mechanism, 121-moving base B, 122-linear guide rail B, 123-sliding block B, 124-ball screw B, 125-servo motor B, 13-vertical moving mechanism, 131-moving base C, 132-linear guide rail C, 133-sliding block C, 134-ball screw C, 135-servo motor C, 136-speed reducer C;
2-processing mechanism, 21-main shaft rotating processing mechanism, 211-main shaft servo motor, 212-meshing type synchronous belt, 213-main shaft, 214-main shaft gear, 22-feed mechanism, 221-ball screw D, 222-servo motor D, 23-main shaft loose broach mechanism, 231-drive, 232-loose structure, 233-transmission gear, 24-cutter, 25-workpiece pressing tool mechanism, 251-pressing structure and 252-pressing hydraulic oil cylinder;
3-flexible self-adaptive structure, 31-clamping fixed cylinder, 32-high-strength spring, 33-spring adjustable central shaft, 34-clamping end;
4-vision system, 41-vision camera, 42-motion mechanism;
5-horizontal base, 6-processing base and 7-shell.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
The present invention will be described in detail with reference to the accompanying drawings.
Example 1
The embodiment provides an automatic chamfer machining device based on a vision positioning system, which comprises a moving mechanism 1, a machining mechanism 2, a flexible self-adaptive structure 3, a vision system 4 and a control system;
the processing mechanism 2 is used for processing a workpiece, and in the invention, chamfering processing is generally rotary processing, that is, the tool 24 is arranged on a rotating mechanism, the rotating mechanism drives the tool 24 to rotate, the tool 24 has a special shape, and the tool 24 is driven by the feed mechanism 22 to rotate and generate a feed amount, so that a chamfer with a specific angle and size is formed on the workpiece.
The moving mechanism 1 drives the processing mechanism 2 to move, the moving mechanism 1 generally moves in 1-3 dimensions, the moving mechanism 1 of the embodiment has 3 moving dimensions, namely, the transverse direction, the longitudinal direction and the vertical direction, so that the processing mechanism 2 can freely move in three dimensions, and the moving range is large and flexible.
The processing mechanism 2 is arranged on the moving mechanism 1 through a flexible self-adaptive structure 3, and the flexible self-adaptive structure 3 is used for enabling the processing mechanism 2 and the moving mechanism 1 to be in a flexible state or a rigid state; because the workpieces have abnormal conditions such as upwarp or downwarp, if the processing mechanism 2 is directly fixed on the moving mechanism 1, the axes of the abnormal workpieces are inconsistent with the processing axis, and the processed chamfers have great difference in the angles and sizes of the workpieces; therefore, a flexible self-adaptive structure 3 is arranged between the processing mechanism 2 and the moving mechanism 1, when processing is carried out, the processing mechanism 2 and the moving mechanism 1 are in a flexible state, the processing mechanism 2 can effectively adapt to abnormal conditions of upwarp, downwarp and the like of workpieces, the processing mechanism 2 can align the abnormal workpieces in the coaxial direction, and the chamfer angle and the chamfer size of the processed workpieces can be aligned with the coaxial direction; when the machining mechanism 2 and the moving mechanism 1 are in an unprocessed state, the flexible state can be converted into a rigid state, shaking is avoided, and the whole mechanism can be positioned quickly.
The vision system 4 is arranged on the processing mechanism 2, and the vision system 4 is connected with the feed mechanisms 22 in the moving mechanism 1 and the processing mechanism 2 through a control system, so that the workpiece can be automatically positioned, and the displacement of the moving mechanism 1 and the processing mechanism 2 can be adjusted. Because this vision system 4 sets up on processing agency 2, and should set up in that side that processing agency 2 is located the horizontal direction of cut, when moving mechanism 1 removes, vision system 4 passes through the work piece in advance than processing agency 2, take a picture to the work piece, and input the image to control system and carry out the analysis, reachs moving mechanism 1 for the deviation data in work piece center, and then reachs moving mechanism 1 and feed mechanism 22's displacement volume, control system issues this displacement volume, realize the control to moving mechanism 1 and feed mechanism 22 displacement volume, realize automatic, accurate and quick location.
Example 2
The present embodiment is based on embodiment 1, and further provides a moving mechanism 1 for the apparatus, where the moving mechanism 1 includes a transverse moving mechanism 11, a longitudinal moving mechanism 12, and a vertical moving mechanism 13, the longitudinal moving mechanism 12 is disposed on the transverse moving mechanism 11, the vertical moving mechanism 13 is disposed on the longitudinal moving mechanism 12, and the processing mechanism 2 is disposed on the vertical moving mechanism 13.
The transverse moving mechanism 11, the longitudinal moving mechanism 12 and the vertical moving mechanism 13 all comprise a moving base, a moving structure and a driving mechanism, the moving structure is arranged on the moving base, and the driving mechanism is connected with the moving structure and the control system.
The transverse moving mechanism 11 comprises a moving base A111, a moving structure A and a driving mechanism A, the moving mechanism A comprises a linear guide rail A112, a sliding block A113 and a gear mechanism 114, the driving mechanism A comprises a servo motor A115 and a speed reducer A116, the servo motor A115 is connected with the speed reducer A116, the speed reducer A116 is connected with the gear mechanism 114, the gear mechanism comprises a gear and a rack, the gear is arranged below the moving base B121, the rack is mounted on the gear and meshed with the gear, the sliding block A113 is further arranged below the moving base B121, the servo motor A115 drives the gear mechanism 114 to move through the speed reducer A116, and therefore the sliding block A113 below the moving base B121 is driven to move on the linear guide rail A112 to achieve transverse movement.
The longitudinal moving mechanism 12 comprises a moving base B121, a moving structure B and a driving mechanism B, the moving base B121 is fixed on the sliding block a113, the moving mechanism B comprises a linear guide rail B122, a sliding block B123 and a ball screw B124, the driving mechanism B is a servo motor B125, the linear guide rail B122 is fixedly arranged on the moving base B121, the ball screw B124 is also arranged on the moving base B121, the servo motor B125 is connected with the ball screw B124, the ball screw B124 is provided with the sliding block B123, the sliding block B123 moves on the linear guide rail B122, and under the action of the driving mechanism B, the ball screw B124 rotates to drive the sliding block B123 to slide on the linear guide rail B122, so as to realize longitudinal movement; and at the same time, the transverse movement is realized under the action of the transverse moving mechanism 111.
The vertical moving mechanism 13 includes a moving base C131, a moving structure C and a driving mechanism C, the moving base C131 is vertically arranged on the slider B123, the moving mechanism C includes a linear guide rail C132, a slider C133 and a ball screw C134, the linear guide rail C132 is fixedly arranged on the moving base C131, the ball screw C134 is also arranged on the moving base C131, the driving mechanism C includes a servo motor C135 and a speed reducer C136, the servo motor C135 is connected with the speed reducer C136, the speed reducer C136 is connected with the ball screw C134, the ball screw C134 is provided with the slider C133, the slider C133 moves on the linear guide rail C132, and under the action of the driving mechanism C, the ball screw C134 rotates to drive the slider C133 to slide on the linear guide rail C132, so as to realize the movement in the vertical direction; meanwhile, under the action of the transverse moving mechanism 11, transverse movement is realized, and under the action of the longitudinal moving mechanism 12, longitudinal movement is realized. The machining means 2 is provided on the slider C133 of the vertical movement mechanism 13.
Example 3
This embodiment is based on embodiment 2 and is used for providing a flexible adaptive structure 3, because the flexible adaptive structure 3 is disposed between the moving mechanism 1 and the processing mechanism 2, a horizontal base 5 is disposed on the sliding block C133 of the vertical moving mechanism 13, and the flexible adaptive structure 3 is connected between the horizontal base 5 and the processing base 6 of the processing mechanism 2.
The flexible self-adaptive structure 3 comprises a clamping fixed cylinder 31, a high-strength spring 32 and a spring adjustable central shaft 33; horizontal base 5 with all be provided with the through-hole on the position that corresponds on the processing base 6, the number of through-hole is four, and this embodiment sets up in the four corners, spring adjustable center axle 33 sets up in the through-hole, links together horizontal base 5 and processing base 6, the cover is equipped with on the spring adjustable center axle 33 high strength spring 32 sets up a high strength spring 32 between horizontal base 5 and the processing base 6, and the page or leaf is provided with high strength spring 32 between the adjusting nut of horizontal base 5 and the adjustable center axle 33 lower extreme of spring, can adjust high strength spring 32's the degree of compressing tightly through adjusting nut.
The fixed cylinder 31 of centre gripping set up in processing base 6 below, a fixed cylinder 31 of centre gripping sets up near a spring adjustable center axle 33 promptly, the fixed cylinder 31 of centre gripping and horizontal base 5 below fixed connection, horizontal base 5 sets up in the exposed core 34 of the fixed cylinder 31 of centre gripping, under the effect of the fixed cylinder 31 of centre gripping, through adjusting exposed core 34, can make exposed core 34 press from both sides tightly processing base 6 makes processing base 6 and horizontal base 5 rigid connection, also can make the exposed core loosen horizontal base 5 makes processing base 6 and horizontal base 5 keep flexonics under the effect of spring adjustable center axle 33 and high strength spring 32.
Example 4
The present embodiment is based on embodiment 1, and further provides a processing mechanism 2, where the processing mechanism 2 includes a spindle rotation processing mechanism 21, a feed mechanism 22, a spindle loose broach mechanism 23, a tool 24, and a housing 7.
The spindle rotation processing mechanism 21 is connected to the tool 24, and rotates the tool 24; the main shaft rotating machining mechanism 21 comprises a main shaft servo motor 211 and a machining main shaft, wherein the main shaft servo motor 211 is connected with the machining main shaft, the machining main shaft comprises a meshing type synchronous belt 212, a main shaft 213 and a main shaft gear 214, the main shaft servo motor 211 drives the meshing type synchronous belt 212 to transmit, the meshing type synchronous belt 212 drives the main shaft 213 to rotate, and the main shaft 213 drives the main shaft gear 214 to rotate.
The main shaft loosening and drawing mechanism 23 is connected with the cutter 24 and used for enabling the cutter 24 to be in a locking state or an unlocking state, namely, used for replacing the cutter 24, is the same as the loosening and drawing mechanism in the current machining center and mainly comprises a driving 231, a loosening and drawing structure 232 and a transmission gear 233, wherein the driving 231 is used for controlling the loosening and drawing mechanism, the loosening and drawing structure 232 is connected with the cutter 24 and enables the cutter 24 to be in the locking state or the unlocking state, the transmission gear 233 is arranged on the loosening and drawing structure 232, the transmission gear 233 is meshed with the main shaft gear 214, and under the driving of the main shaft gear 214, the loosening and drawing structure 232 rotates to further drive the cutter 24 to rotate.
The feed mechanism 22 is connected with the main shaft rotating machining mechanism 21 and the main shaft loosening and pulling mechanism 23 and is used for adjusting the feed amount of a cutter 24; the feed mechanism 22 includes processing base 6, ball screw D221 and servo motor D222, ball screw D221 sets up on the processing base 6, ball screw D221 still connects loose broach mechanism 23 of main shaft, servo motor D222 connects ball screw D221 drives ball screw D221 moves, and then makes ball screw D221 drives loose broach mechanism 23 of main shaft moves, set up on the processing base 6 casing 7, set up in the casing 7 loose broach mechanism 23 of main shaft with the rotatory processing agency 21 of main shaft. The feed mechanism 22 is connected to the control system.
A workpiece pressing tool mechanism 25 is arranged outside the cutter 24, the workpiece pressing tool mechanism 25 comprises a pressing structure 251 and a pressing hydraulic oil cylinder 252, the pressing hydraulic oil cylinder 252 is connected with the pressing structure 251, and the pressing structure 251 presses the workpiece under the action of the pressing hydraulic oil cylinder 252.
Example 5
The embodiment is based on a further vision system 4 of embodiment 4, the vision system 4 includes a vision camera 41 and a moving mechanism 42, the moving mechanism 42 is disposed on the processing mechanism 2, the moving mechanism 42 of this embodiment is disposed on one side of the housing 7 in the lateral moving direction, and the moving mechanism 42 includes the moving mechanism 42 connected to the vision camera 41 for driving the vision camera 41 to move.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims (6)

1. The automatic chamfer machining device based on the visual positioning system is characterized by comprising a moving mechanism (1), a machining mechanism (2), a flexible self-adaptive structure (3), a visual system (4) and a control system, wherein the machining mechanism (2) is arranged on the moving mechanism (1) through the flexible self-adaptive structure (3), the moving mechanism (1) drives the machining mechanism (2) to move, and the flexible self-adaptive structure (3) is used for enabling the machining mechanism (2) and the moving mechanism (1) to be in a flexible state or a rigid state; the vision system (4) is arranged on the machining mechanism (2) and used for observing the displacement of the machining mechanism and the moving mechanism, and the control system is used for positioning a workpiece and controlling and adjusting the displacement of the moving mechanism (1) and the machining mechanism (2) according to the observation of the vision system through the cooperation of the vision system (4) and the control system;
wherein: the moving mechanism (1) comprises a transverse moving mechanism (11), a longitudinal moving mechanism (12) and a vertical moving mechanism (13), the processing mechanism (2) is arranged on the vertical moving mechanism (13), the vertical moving mechanism (13) is arranged on the longitudinal moving mechanism (12), and the longitudinal moving mechanism (12) is arranged on the transverse moving mechanism (11); the transverse moving mechanism (11) is used for driving the machining mechanism (2) to move left and right, the longitudinal moving mechanism (12) is used for driving the machining mechanism (2) to move front and back, and the vertical moving mechanism (13) is used for driving the machining mechanism (2) to move up and down; the transverse moving mechanism (11), the longitudinal moving mechanism (12) and the vertical moving mechanism (13) comprise moving bases, moving structures and driving mechanisms, the moving structures are arranged on the moving bases, and the driving mechanisms are used for connecting the moving structures and the control system;
a horizontal base (5) is fixedly connected to a moving structure of the vertical moving mechanism (13), a processing base (6) is fixed to the bottom of the processing mechanism (2), the processing base (6) is installed at the upper end of the horizontal base (5), and the flexible self-adaptive structure (3) is installed and connected between the processing base (6) and the horizontal base (5);
the flexible self-adaptive structure (3) comprises a clamping fixed cylinder (31), a high-strength spring (32) and a spring adjustable central shaft (33), wherein the high-strength spring (32) is sleeved on the spring adjustable central shaft (33); the clamping and fixing cylinder (31) is arranged below the processing base (6), and the horizontal base (5) is arranged in a clamping end (34) of the clamping and fixing cylinder (31); through holes for mounting spring adjustable central shafts (33) are formed in the horizontal base (5) and the processing base (6), the spring adjustable central shafts (33) are mounted in the upper through holes and the lower through holes in corresponding positions in a penetrating manner, and the matched spring adjustable central shafts (33) and high-strength springs (32) are mounted between the horizontal base (5) and the processing base (6); under the action of the clamping and fixing cylinder (31), the clamping end (34) is adjusted to enable the clamping end (34) to clamp the processing base (6), so that the processing base (6) is rigidly connected with the horizontal base (5); or under the action of the clamping and fixing cylinder (31), the clamping end (34) loosens the horizontal base (5), and under the action of the spring adjustable central shaft (33) and the high-strength spring (32), the processing base (6) and the horizontal base (5) are kept in flexible connection.
2. The automatic chamfering device based on the visual positioning system according to claim 1, wherein: the number of the corresponding matched spring adjustable central shafts and the high-strength springs is set according to the length of the horizontal base and the length of the processing base, and at least two sets of spring adjustable central shafts and high-strength springs are set according to the length.
3. The automated chamfering device based on the visual positioning system according to claim 1, wherein: the machining mechanism (2) comprises a main shaft rotating machining mechanism (21), a feed mechanism (22), a main shaft loosening and pulling mechanism (23) and a cutter (24), and the main shaft rotating machining mechanism (21) is connected with the cutter (24) to enable the cutter (24) to rotate for machining; the feed mechanism (22) is connected with the main shaft rotating machining mechanism (21) and the main shaft loosening and pulling mechanism and is used for adjusting the feed amount of a cutter (24); the main shaft loosening and drawing mechanism (23) is connected with the cutter (24) and used for enabling the cutter (24) to be in a locking state or an unlocking state.
4. The automatic chamfering device based on the visual positioning system according to claim 3, wherein: the feed mechanism (22) is connected with the control system, and the control system controls the feed mechanism (22) to drive the main shaft rotating machining mechanism (21), the main shaft loosening and broaching mechanism (23) and the cutter (24) to move together to adjust the feed amount of the cutter (24).
5. The automated chamfering device according to claim 3, wherein: the workpiece pressing tool mechanism (25) used for pressing a workpiece is arranged outside the cutter (24) in a covering mode, the workpiece pressing tool mechanism (25) comprises a pressing structure (251) and a pressing hydraulic oil cylinder (252), the pressing hydraulic oil cylinder (252) is connected with the pressing structure (251), and the pressing hydraulic oil cylinder (252) hydraulically pushes the pressing structure (251) to press the workpiece.
6. The automatic chamfering device based on the visual positioning system according to claim 1, wherein: the vision system (4) comprises a vision camera (41) and a moving mechanism (42), wherein the moving mechanism (42) is arranged on the side face, located on the transverse machining direction, of the machining mechanism (2), and the moving mechanism (42) is connected with the vision camera (41) and used for driving the vision camera (41) to move.
CN202010412271.3A 2020-05-15 2020-05-15 Automatic chamfer processingequipment based on vision positioning system Active CN111687488B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010412271.3A CN111687488B (en) 2020-05-15 2020-05-15 Automatic chamfer processingequipment based on vision positioning system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010412271.3A CN111687488B (en) 2020-05-15 2020-05-15 Automatic chamfer processingequipment based on vision positioning system

Publications (2)

Publication Number Publication Date
CN111687488A CN111687488A (en) 2020-09-22
CN111687488B true CN111687488B (en) 2023-01-24

Family

ID=72477819

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010412271.3A Active CN111687488B (en) 2020-05-15 2020-05-15 Automatic chamfer processingequipment based on vision positioning system

Country Status (1)

Country Link
CN (1) CN111687488B (en)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1474542A (en) * 1974-06-17 1977-05-25 Baker J Cutting machine for cutting sheet materials
CN1301612A (en) * 1999-12-28 2001-07-04 住友特殊金属株式会社 Part chamfering device and part chamfering method
CN101704139A (en) * 2009-11-20 2010-05-12 江苏南方机电股份有限公司 Swing regulation mechanism of gear end surface profiling chamfering machine
CN202517198U (en) * 2012-03-20 2012-11-07 宁波华索光伏设备有限公司 Welding device
CN204430277U (en) * 2015-02-05 2015-07-01 柳燕明 Cut off chamfering control device and pipe cutting machine
CN204524420U (en) * 2015-03-24 2015-08-05 奉化市博龙机械制造有限公司 Single head automatic chamfering machine
CN107160216A (en) * 2017-05-23 2017-09-15 成都飞机工业（集团）有限责任公司 The flexible combination clamping device and clamping method of weak rigid composite material part
CN207087047U (en) * 2017-04-27 2018-03-13 柳州市巨东激光科技有限公司 A kind of sealed cutting machine with dust-absorbing function
CN108393692A (en) * 2018-03-06 2018-08-14 吉林省金沙数控机床股份有限公司 A kind of automatic assembly line for processing disc-shaped workpiece
CN109465498A (en) * 2019-01-11 2019-03-15 常州市鑫愉宝传动部件有限公司 Shaft-like workpiece automatic chamfering machine
CN110238456A (en) * 2019-07-24 2019-09-17 周小玲 A kind of beveler
CN110270845A (en) * 2019-07-25 2019-09-24 安徽行者智能科技股份有限公司 A kind of adaptive tooling and Intelligent Machining Center
CN210360380U (en) * 2019-07-24 2020-04-21 成都航空职业技术学院 Self-adaptive clamp for weak-rigidity part

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI337559B (en) * 2007-12-20 2011-02-21 Ind Tech Res Inst Spindle and flexure hinge used in ultrasonic machine
US10449619B2 (en) * 2015-11-09 2019-10-22 Peddinghaus Corporation System for processing a workpiece

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1474542A (en) * 1974-06-17 1977-05-25 Baker J Cutting machine for cutting sheet materials
CN1301612A (en) * 1999-12-28 2001-07-04 住友特殊金属株式会社 Part chamfering device and part chamfering method
CN101704139A (en) * 2009-11-20 2010-05-12 江苏南方机电股份有限公司 Swing regulation mechanism of gear end surface profiling chamfering machine
CN202517198U (en) * 2012-03-20 2012-11-07 宁波华索光伏设备有限公司 Welding device
CN204430277U (en) * 2015-02-05 2015-07-01 柳燕明 Cut off chamfering control device and pipe cutting machine
CN204524420U (en) * 2015-03-24 2015-08-05 奉化市博龙机械制造有限公司 Single head automatic chamfering machine
CN207087047U (en) * 2017-04-27 2018-03-13 柳州市巨东激光科技有限公司 A kind of sealed cutting machine with dust-absorbing function
CN107160216A (en) * 2017-05-23 2017-09-15 成都飞机工业（集团）有限责任公司 The flexible combination clamping device and clamping method of weak rigid composite material part
CN108393692A (en) * 2018-03-06 2018-08-14 吉林省金沙数控机床股份有限公司 A kind of automatic assembly line for processing disc-shaped workpiece
CN109465498A (en) * 2019-01-11 2019-03-15 常州市鑫愉宝传动部件有限公司 Shaft-like workpiece automatic chamfering machine
CN110238456A (en) * 2019-07-24 2019-09-17 周小玲 A kind of beveler
CN210360380U (en) * 2019-07-24 2020-04-21 成都航空职业技术学院 Self-adaptive clamp for weak-rigidity part
CN110270845A (en) * 2019-07-25 2019-09-24 安徽行者智能科技股份有限公司 A kind of adaptive tooling and Intelligent Machining Center

Also Published As

Publication number Publication date
CN111687488A (en) 2020-09-22

Similar Documents

Publication Publication Date Title
CN105710592B (en) Flukeless clamp chuck
CN103056658A (en) Assembling machine tool
CN201659414U (en) Numerical control drilling and tapping center
CN202180264U (en) Large numerical control gear chamfering machine
CN104384559A (en) Numerical-control header pipe drilling machine
CN106625029A (en) Cutter presetting and measuring device with automatic imaging system
CN111687488B (en) Automatic chamfer processingequipment based on vision positioning system
CN213856799U (en) Spring production processingequipment
CN213438235U (en) Special milling machine for fixed beam vertical mill lining plate
CN212762109U (en) Automatic device for cutting and chamfering boiler membrane type wall tube panel
CN111590329B (en) Multifunctional composite machine tool
CN108481037A (en) A kind of tooth set process equipment and processing method
CN209532687U (en) It is a kind of to rush drilling all-in-one machine
CN215318695U (en) Industrial automation is punched and is used manipulator
CN214444778U (en) Improved self-centering platform rotatable tool
CN212384634U (en) Horizontal milling and boring machine
CN200939517Y (en) Gripper type fast miller
CN207309058U (en) Mould preparation casting running channel automatic gas cutting machine
CN202239736U (en) Bidirectional boring machine
CN206305889U (en) A kind of cutter pre-regulating measurement apparatus with automatic imaging system
CN111805008A (en) Numerical control spiral bevel gear milling machine
CN110842304A (en) Tapping device for precision screw production
CN218253916U (en) Automatic machining device for overall length notch of bushing
CN218476310U (en) Servo drilling beveler
CN216398700U (en) Servo four-axis compound machine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant