CN111730112A - Machine tool guide rail high point automatic milling device - Google Patents

Abstract

The invention discloses an automatic high point milling device for a guide rail of a machine tool, comprising a frame, a feed milling system, an automatic leveling device, a visual recognition detection system and a control system; Modules, internal lateral movement modules, internal longitudinal movement modules, internal vertical movement modules, electric spindles and milling cutters mill each high point in turn by controlling the sliders of each module; the automatic leveling device uses a laser displacement sensor to The displacement of the servo electric cylinder is controlled so that the upper plane is parallel to the surface of the guide rail to be milled; the visual recognition detection system is used to identify and detect the coordinate position of each high point on the guide rail surface and the surface quality after milling; the control system adopts the host computer to cooperate with the microcomputer. controller and motion control card. The invention solves the current situation that the high point of the guide rail needs to be scraped and removed manually, realizes the mechanized automatic milling of the high point of the guide rail of the machine tool, reduces the labor intensity of workers and improves the production efficiency.

Description

Machine tool guide rail high point automatic milling device

technical field

The invention relates to a machine tool in the field of automatic processing, in particular to an automatic milling device for the high point of a guide rail of a machine tool.

Background technique

The machine tool is also known as the "industrial mother machine", that is, the machine that makes the machine. It is the core production basis of the equipment manufacturing industry. The machine tool guide rail is a key component of the machine tool, and its matching accuracy directly affects the machining accuracy of the machine tool. At present, in order to improve the matching of the machine tool guide rail Precision, the common practice at home and abroad is to scrape and grind the guide rail, especially for high-precision machine tools, this process is necessary. Scraping and grinding can not only improve the matching accuracy between the guide rails, but also form a fine texture on the surface of the guide rail that can store lubricating oil and accommodate abrasives, thereby improving the lubrication conditions of the guide rail and reducing wear. At present, the scraping and grinding process is mostly done by hand by fitters, which is labor-intensive and expensive, and the processing quality and processing efficiency are completely dependent on the proficiency of the operators.

SUMMARY OF THE INVENTION

Purpose of the invention: The present invention provides an automatic milling device for high points of machine tool guide rails to realize automatic removal of high points of machine tool guide rails, instead of traditional manual scraping and grinding operations, with high work efficiency and saving labor costs.

Technical scheme: an automatic high point milling device for machine tool guide rails, including a frame, a feed milling system, an automatic leveling device, a visual recognition detection system and a control system;

The feed milling system includes an integral longitudinal movement module, an integral lateral movement module, an inner lateral movement module, an inner longitudinal movement module, an inner vertical movement module, an electric spindle and a milling cutter; the integral longitudinal movement module is installed on the machine. On the rack, the overall lateral movement module is installed on the overall longitudinal movement module, the inner lateral movement module is located on the automatic leveling device, the inner lateral movement module and the inner longitudinal movement module are connected, and the inner vertical movement module is fixed by The plate is connected with the internal longitudinal moving module, and the electric spindle is installed on the guide rail slider of the internal vertical moving module; the overall longitudinal moving module and the overall lateral moving module control the movement of the automatic leveling device and the feed milling system, and the internal The lateral movement module, the inner longitudinal movement module and the inner vertical movement module control the motion trajectory of the electric spindle;

The automatic leveling device includes a leveling upper plane, a leveling base, a servo electric cylinder and a laser displacement sensor; the leveling base is installed on the overall lateral movement module, and the servo electric cylinder is connected with the leveling upper plane and the leveling base. The displacement of the servo electric cylinder controls the angle of the leveling upper plane; the laser displacement sensor is located on the internal vertical movement module, and the measurement distance of the laser displacement sensor is controlled by the internal vertical movement module, and then the internal lateral movement module is controlled by moving the internal lateral movement module. , The position of the slider of the internal longitudinal movement module, move the laser displacement sensor to different plane positions and measure the distance, calculate the inclination angle between the different plane and the leveling upper plane according to the measured data, and obtain each servo electric The value that the cylinder needs to move;

The visual recognition detection system includes a camera and a light source; the positions of the camera and the light source are controlled by the internal lateral movement module and the internal longitudinal movement module;

The control system includes an embedded industrial computer and a DSP motion control card; the embedded industrial computer establishes a connection with the DSP motion control card through RS-485 serial communication, and transmits the desired speed and direction information to the DSP motion control card through the serial bus. The DSP motion control card generates a PWM wave with a certain duty cycle according to the serial port information and the speed information fed back by the photoelectric encoder, and sends the direction and enable signals to the driver to drive the motor to work. Spindle movement trajectory.

The servo electric cylinder adopts the integrated form of drive and control, establishes communication with the PC through RS-485 serial communication, and adopts the cooperative control method of displacement and speed to control each servo electric cylinder;

The overall longitudinal movement module, the overall lateral movement module, the inner lateral movement module, the inner longitudinal movement module and the inner vertical movement module include servo motors, ball screws, linear guide rails, guide rail sliders and support bases; servo motors Installed on the side of the above-mentioned moving module, the linear guide is installed on the support base, the ball screw is located above the linear guide, the servo motor is connected to the ball screw, the other end of the ball screw is installed on the other end of the module through the bearing seat, and the guide slider is installed on the ball screw and supported and guided by linear guides.

The electro-spindle and the laser displacement sensor are perpendicular to the leveling upper plane.

The ball screw converts the rotary motion of the servo motor into linear motion, so that the guide rail slides move along the linear guide rail, and at the same time converts the best advantages of the servo motor - precise speed control, precise rotation number control, and precise torque control into - precise speed control, Precise position control, precise thrust control, to achieve high-precision linear motion.

The overall longitudinal movement module, the overall lateral movement module, the inner lateral movement module, and the inner longitudinal movement module adjust the length of the overall longitudinal movement module and the overall lateral movement module according to the size of the guide rail to be milled.

The integral lateral movement module is installed on the guide rail slider of the integral longitudinal movement module through the support base.

The end of the electric spindle holds a milling cutter, and the milling operation is completed by controlling the internal lateral movement module, the internal longitudinal movement module, and the internal vertical movement module to move according to the set trajectory in the travel space.

The internal lateral movement module is located on the leveling upper plane in the automatic leveling device.

The automatic leveling device also includes an electric cylinder base bracket and an electric cylinder top bracket. The electric cylinder base bracket is installed equidistantly on the leveling base, and the electric cylinder top bracket is installed equidistantly on the leveling upper plane. By adjusting the displacement of the servo electric cylinder to control the angle at which the upper plane is leveled.

Beneficial effect: The present invention adopts milling method to replace traditional manual scraping and grinding, integrates visual detection technology, servo leveling technology, sensor technology, and high-speed precision milling technology, and processes different sizes of machine tool guide rail surfaces and different lengths. The guide rail of the machine tool, the servo leveling mechanism and the high-precision laser displacement sensor ensure that the tool and the guide rail surface are relatively vertical, ensure the milling accuracy, and realize the mechanized automatic milling of the high point of the machine tool guide rail; Large, time-consuming, labor-intensive predicament, has a very broad market prospects.

Description of drawings

Fig. 1 is an axonometric view of the present invention;

Fig. 2 is the partial structure diagram of the feed milling system of the present invention;

Fig. 3 is the structure diagram of each module in the present invention;

Fig. 4 is the self-leveling structure diagram of the present invention;

Fig. 5 is the visual inspection partial structure diagram of the present invention;

Fig. 6 is the control system block diagram of the present invention;

Figure 7 is a flow chart of the work of the present invention.

Detailed ways

As shown in Figures 1-5, the automatic high point milling device of the machine tool guide rail of the present invention includes a frame 1, a feed milling system, an automatic leveling device, a visual recognition detection system and a control system.

The feed milling system includes an integral longitudinal movement module 2, an integral lateral movement module 3, an inner lateral movement module 5, an inner longitudinal movement module 16, an inner vertical movement module 17, a first connecting plate 6, and a reinforcing plate 4 , the second connecting plate 7, the second L-shaped connecting plate 15, the first L-shaped connecting plate 14, the third connecting plate 13, the third L-shaped connecting plate 24, the electric spindle 19, the milling cutter 20, the spindle fixing plate 18, Fixed plate 23; wherein the integral longitudinal movement module 2 is installed on the rack 1, the integral lateral movement module 3 is installed on the integral longitudinal movement module 2, and the bottom surface of the internal transverse movement module 5 is fixedly installed through the second connecting plate 7 On the leveling upper plane 8, the reinforcing plate 4 is welded on the first connecting plate 6, and the first connecting plate 6 is used to connect the inner lateral movement module 5 and the inner longitudinal movement module 16. Specifically, the first connection plate 6 The number is two, the upper end of which is fixedly connected with the guide rail slider 36 of the internal lateral movement module 5 by bolts, and the lower end is connected to two internal longitudinal movement modules 16 through four second L-shaped connecting plates 15 .

The third connecting plate 13 is respectively connected to the two first connecting plates 6 through the first L-shaped connecting plate 14 , the inner longitudinal moving module 16 is installed with the bottom facing upward, and the two ends of the module are installed on the second connecting plate 15 through the second L-shaped connecting plate 15 . On the connecting plate 6, the fixing plate 23 is installed on the slider of the inner longitudinal moving module 16, the inner vertical moving module 17 is installed on the fixing plate 23 through the third L-shaped connecting plate 24, and the electric spindle 19 is fixed by the main shaft The plate 18 is mounted on the guide rail slider 36 of the inner vertical movement module 17 . The integral lateral movement module 3 is vertically fixed and installed on the guide rail slider 36 of the integral longitudinal movement module 2 through the support base 39 .

The automatic leveling device includes a leveling upper plane 8, a leveling base 12, a servo electric cylinder 10, a servo electric cylinder base bracket 11, an electric cylinder top bracket 9, a laser displacement sensor 22 and a sensor fixing frame 21, of which the servo electric cylinder base bracket 11 and the electric cylinder top bracket 9 are respectively fixed on the leveling base 12 and the leveling upper plane 8 by bolts. The servo electric cylinder base bracket 11 is installed equidistantly on the diagonal line of the leveling base 12, and the electric cylinder top bracket 9 It is installed equidistantly on the diagonal line of the leveling upper plane 8, and the angle of the leveling upper plane is controlled by adjusting the displacement of each servo electric cylinder. The bottom of the servo electric cylinder 10 is installed in cooperation with the servo electric cylinder base bracket 11 through the single-ear bracket, and the top is matched with the electric cylinder top bracket 9 by means of fisheye hinge. The main shaft fixing plate 18 is fixedly installed on the guide rail slider 36 of the internal vertical moving module 17; during operation, the measuring distance of the laser displacement sensor 22 is controlled by controlling the position of the guide rail slider 36 of the internal vertical moving module 17 to ensure that Its measurement does not exceed the range, and then by controlling the position of the slider of the internal lateral movement module 5 and the internal longitudinal movement module 16, the laser displacement sensor 22 is moved to different plane positions and the distance is measured, and the measured data is calculated. The inclination angle between the plane and the leveling upper plane 8, and obtain the value that each servo electric cylinder needs to move.

In the automatic leveling device, there are 4 sets each of servo electric cylinder 10, servo electric cylinder base bracket 11, and electric cylinder top bracket 9, of which the servo electric cylinder base bracket 11 is installed equidistantly on the diagonal line of the leveling base 12, and the top of the electric cylinder is installed equidistantly. The brackets 9 are installed equidistantly on the diagonal of the leveling upper plane 8 , and the angle of the leveling upper plane 8 is controlled by adjusting the displacement of each servo electric cylinder 10 . The servo electric cylinder 10 adopts the integrated form of drive and control, establishes communication with the PC through RS-485 serial communication, and adopts the coordinated control of displacement and speed to realize the coordinated control of each servo electric cylinder 10. Both the electrospindle 19 and the laser displacement sensor 22 are perpendicular to the leveling upper plane 8 .

There are two overall longitudinal movement modules 2, overall lateral movement modules 3, internal lateral movement modules 5, and internal longitudinal movement modules 16. The overall longitudinal movement module 2 and the overall lateral movement module are adjusted according to the size of the guide rail to be milled. Set of 3 lengths to fit any size rail. Since the leveling mechanism and the milling system are installed on the guide rail slider 36 of the overall lateral movement module 3 through the leveling base 12, the overall longitudinal movement module 2 and the overall lateral movement module 3 control the automatic leveling device and feed milling For the overall movement of the system, the internal lateral movement module 5 , the internal longitudinal movement module 16 and the internal vertical movement module 17 are responsible for controlling the motion trajectory of the electric spindle 19 .

The end of the electric spindle 19 holds the milling cutter 20, and by controlling the internal lateral movement module 5, the internal longitudinal movement module 16, and the internal vertical movement module 17 to move according to the set trajectory in the travel space, milling each high point in turn, thereby Complete the milling job process.

The visual recognition detection system includes a camera 30, a lens 28, a first camera mount 29, a second camera mount 31, a light source 27, a light source mount 26, and a fourth L-shaped connecting plate 25, wherein the lens 28 is mounted on the camera 30, The camera 30 is fixed on the second camera fixing frame 31 by bolts, one end of the first camera fixing frame 29 is connected to the second camera fixing frame 31 , and the other end is connected to the fourth L-shaped connecting plate 25 , and the light source 27 is installed on the first camera fixing frame 26 through the light source fixing frame 26 . On the four L-shaped connecting plates 25, the fourth L-shaped connecting plate 25 is installed on the fixing plate 23, and the fixing plate 23 is installed on the guide rail slider 36 of the inner longitudinal movement module 16, and the position of the camera 30 is passed through the inner lateral movement module. 5 and internal longitudinal movement module 16 control. The fourth L-shaped connecting plate 25 is provided with a slot, so that the camera 30 and the light source 27 can move up and down along the fourth L-shaped connecting plate 25 .

The control system includes an embedded industrial computer and a DSP motion control card; the embedded industrial computer establishes a connection with the DSP motion control card through RS-485 serial communication, and transmits the desired speed and direction information to the DSP motion control card through the serial bus. The control card generates a duty cycle PWM wave according to the serial port information and the speed information fed back by the photoelectric encoder, and sends the direction and enable signals to the driver to drive the motor to work to realize the movement of the sliders of each module, so as to realize the motion trajectory of the electric spindle precise control.

The working principle of each mobile module is the same. The mobile module includes a servo motor 38, a ball screw, a linear guide, a guide slider 36, a bearing seat, a side plate 35, a cover 37 and a support base 39; among them, the servo motor 38 Installed on the side plate 35 at one end of the module, the linear guide is installed on the support base 39, the ball screw is located above the linear guide, the rotating shaft of the servo motor is connected to the ball screw through the coupling, and the other end of the ball screw passes through the bearing seat Installed on the side plate of the other end of the module, the guide rail slider 36 is installed on the ball screw, and is supported and guided by the linear guide rail; during operation, the ball screw converts the rotary motion of the servo motor 38 into linear motion, so that the guide rail The slider 36 moves along the linear guide rail, and at the same time, the best advantages of the servo motor 38 - precise speed control, precise rotation number control, and precise torque control are transformed into - precise speed control, precise position control, and precise thrust control to achieve high-precision linear motion.

The working process of the present invention is as follows: first, apply a display agent to the guide rail surface 33 to be milled, and the commonly used display agent is red dan powder. On the stage 32, the guide rail to be processed is divided into several areas of equal area, and then the overall longitudinal movement module 2 and the overall lateral movement module 3 are moved by the control system 34, and the positions of the camera 30 and the light source 27 are adjusted to the area to be processed. , and manually adjust the camera 30 and the light source 27 to the required height through the slot on the fourth L-shaped connecting plate 25, and then move the inner lateral movement module 5 and the inner longitudinal movement module 16, so that the camera 30 can carry out the selected area. Taking pictures, stitching all the pictures after taking pictures, identifying all the high point positions that need to be processed, and sending it to the control system 34 to judge whether the number of high points to be processed in the area is less than the set value, if it is greater than the set value, pass Move the overall vertical movement module 2 and the overall lateral movement module 3 to move the camera 30 and the light source 27 to the next area; if it is less than the set value, the automatic leveling system is activated, and the internal vertical movement module 17 first displaces the laser The sensor 22 is moved to the working height, and then by moving the internal lateral movement module 5 and the internal longitudinal movement module 16, the laser displacement sensor 22 is controlled to move to different positions in the area, and the plane is fitted according to the feedback value, and each servo voltage is calculated. The displacement of the cylinder is then controlled by each servo electric cylinder 10 to make the leveling upper plane 8 parallel to the plane, even if the milling cutter 20 is perpendicular to the plane, and then the control system 34 controls the internal lateral movement module 5 and the internal longitudinal movement module. The group 16. The internal vertical movement module 17 controls the electric spindle 19 to perform milling processing on all the high points in the area in turn with reference to the tool path during manual scraping and grinding. After the processing is completed, the camera 30 is used to take pictures of the area. Detect whether the number of high points is less than the set value, if it is still small, repeat the above action, if it is greater than the set value, end the action in this area, skip to the next area, until the processing of all rail surfaces is completed.

Claims (10)

1. The utility model provides a lathe guide rail high point automatic milling device which characterized in that: the automatic leveling machine comprises a frame (1), a feeding milling system, an automatic leveling device, a visual identification detection system and a control system;

the feeding and milling system comprises an integral longitudinal moving module (2), an integral transverse moving module (3), an internal transverse moving module (5), an internal longitudinal moving module (16), an internal vertical moving module (17), an electric spindle (19) and a milling cutter (20); the integral longitudinal moving module is mounted on the rack, the integral transverse moving module is mounted on the integral longitudinal moving module, the internal transverse moving module is positioned on the automatic leveling device, the internal transverse moving module (5) is connected with the internal longitudinal moving module (16), the internal vertical moving module (17) is connected with the internal longitudinal moving module through a fixing plate, and the electric spindle (19) is mounted on a guide rail sliding block (36) of the internal vertical moving module (17); the integral longitudinal moving module and the integral transverse moving module control the movement of the automatic leveling device and the feeding milling system, and the internal transverse moving module, the internal longitudinal moving module and the internal vertical moving module control the motion track of the electric spindle;

the automatic leveling device comprises a leveling upper plane (8), a leveling base (12), a servo electric cylinder (10) and a laser displacement sensor (22); the leveling base (12) is installed on the integral transverse moving module (3), the servo electric cylinder is connected with the leveling upper plane and the leveling base, and the angle of the leveling upper plane is controlled by adjusting the displacement of the servo electric cylinder; the laser displacement sensor is positioned on the inner vertical moving module (17), the measuring distance of the laser displacement sensor is controlled through the inner vertical moving module (17), then the laser displacement sensor is moved to different plane positions and the distance is measured through controlling and moving the positions of the sliding blocks of the inner transverse moving module (5) and the inner longitudinal moving module (16), the inclination angle between different planes and the leveling upper plane is calculated according to the measured data, and the numerical value of each servo electric cylinder which needs to be moved is obtained;

the visual identification detection system comprises a camera (30) and a light source (27); the position of the camera and the light source are controlled by an internal transverse moving module (5) and an internal longitudinal moving module (16);

the control system comprises an embedded industrial personal computer and a DSP motion control card; the embedded industrial personal computer is connected with the DSP motion control card through RS-485 serial port communication, expected speed and direction information is transmitted to the DSP motion control card through a serial bus, the DSP motion control card generates PWM waves with a certain duty ratio according to the serial port information and speed information fed back by the photoelectric encoder, the direction and enabling signals are sent to the driver to drive the motor to work, and the motion track of the electric spindle is controlled by controlling the motion of each module sliding block.

2. The machine tool guide rail high-point automatic milling device according to claim 1, characterized in that: the servo electric cylinders adopt a driving and controlling integrated form, are communicated with a PC through RS-485 serial port communication, and are cooperatively controlled in a displacement and speed cooperative control mode.

3. The machine tool guide rail high-point automatic milling device according to claim 1, characterized in that: the integral longitudinal moving module, the integral transverse moving module, the internal longitudinal moving module and the internal vertical moving module comprise servo motors (38), ball screws, linear guide rails, guide rail sliding blocks (36) and supporting bases (39); the servo motor is installed on the side face of the movable module, the linear guide rail is installed on the supporting base (39), the ball screw is located above the linear guide rail, the servo motor is connected with the ball screw, the other end of the ball screw is installed at the other end of the module through a bearing seat, and the guide rail sliding block is installed on the ball screw and supported and guided by the linear guide rail.

4. The machine tool guide rail high-point automatic milling device according to claim 1, characterized in that: the electric spindle and the laser displacement sensor are perpendicular to the leveling upper plane.

5. The machine tool guide rail high-point automatic milling device according to claim 2, characterized in that: the ball screw converts the rotary motion of the servo motor into linear motion, so that the guide rail slide block moves along the linear guide rail, and simultaneously converts the best advantages of the servo motor, namely accurate rotating speed control, accurate revolution control and accurate torque control into accurate speed control, accurate position control and accurate thrust control, and realizes high-precision linear motion.

6. The machine tool guide rail high-point automatic milling device according to claim 1, characterized in that: the length of the integral longitudinal moving module (2), the integral transverse moving module (3), the internal transverse moving module (5) and the internal longitudinal moving module (16) is adjusted according to the size of the guide rail to be milled.

7. The machine tool guide rail high-point automatic milling device according to claim 1, characterized in that: the integral transverse moving module (3) is arranged on a guide rail sliding block (36) of the integral longitudinal moving module (2) through a supporting base (39).

8. The machine tool guide rail high-point automatic milling device according to claim 1, characterized in that: the end of the electric spindle (19) is clamped with the milling cutter (20), and the milling operation is completed by controlling the internal transverse moving module (5), the internal longitudinal moving module (16) and the internal vertical moving module (17) to move according to a set track in a stroke space.

9. The machine tool guide rail high-point automatic milling device according to claim 1, characterized in that: the inner transverse moving module is positioned on a leveling upper plane in the automatic leveling device.

10. The machine tool guide rail high-point automatic milling device according to any one of claims 1 to 9, characterized in that: the automatic leveling device further comprises an electric cylinder base support (11) and an electric cylinder top support (9), the electric cylinder base support is installed on the leveling base at equal intervals, the electric cylinder top support is installed on the leveling upper plane at equal intervals, and the angle of the leveling upper plane is controlled through adjusting the displacement of the servo electric cylinder.

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