CN111761404A - Micro-lubricating intelligent follow-up machine tool with workpiece doing main motion and working method - Google Patents

Micro-lubricating intelligent follow-up machine tool with workpiece doing main motion and working method Download PDF

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Publication number
CN111761404A
CN111761404A CN202010514571.2A CN202010514571A CN111761404A CN 111761404 A CN111761404 A CN 111761404A CN 202010514571 A CN202010514571 A CN 202010514571A CN 111761404 A CN111761404 A CN 111761404A
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CN
China
Prior art keywords
machine tool
workpiece
spray head
cutter
telescopic arm
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.)
Withdrawn
Application number
CN202010514571.2A
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Chinese (zh)
Inventor
李长河
吴喜峰
罗亮
吉卫喜
赵伟
万斌辉
尹硕
李昊罡
曹华军
卢秉恒
唐立志
张彦彬
徐杰
罗慧明
徐海州
杨敏
洪华平
高腾
侯亚丽
马五星
陈帅
丁文锋
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.)
Yantai Haiying Machinery Co Ltd
Qingdao University of Technology
Ningbo Sanhan Alloy Material Co Ltd
Original Assignee
Yantai Haiying Machinery Co Ltd
Qingdao University of Technology
Ningbo Sanhan Alloy Material Co Ltd
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 Yantai Haiying Machinery Co Ltd, Qingdao University of Technology, Ningbo Sanhan Alloy Material Co Ltd filed Critical Yantai Haiying Machinery Co Ltd
Priority to CN202010514571.2A priority Critical patent/CN111761404A/en
Publication of CN111761404A publication Critical patent/CN111761404A/en
Withdrawn legal-status Critical Current

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    • 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
    • B23Q11/10—Arrangements for cooling or lubricating tools or work
    • B23Q11/1038—Arrangements for cooling or lubricating tools or work using cutting liquids with special characteristics, e.g. flow rate, quality
    • B23Q11/1046—Arrangements for cooling or lubricating tools or work using cutting liquids with special characteristics, e.g. flow rate, quality using a minimal quantity of lubricant

Abstract

The invention relates to a micro-lubricating intelligent follow-up machine tool with a workpiece as main motion and a working method, the micro-lubricating intelligent follow-up machine tool comprises a machine tool body, wherein the machine tool body is provided with a two-axis linkage mechanism, the two-axis linkage mechanism is connected with a cutter through a cutter changing disc, the machine tool body is also provided with a power system, the power system is connected with a workpiece chuck and can drive the workpiece chuck to rotate, one side of the cutter is provided with a three-axis linkage mechanism arranged on the machine tool body, the three-axis linkage mechanism is connected with a spray head angle adjusting mechanism, the spray head angle adjusting mechanism is connected with a spray head and is used for adjusting the spray angle of the spray head, the spray head is connected with a liquid supply mechanism, and the spray head angle adjusting.

Description

Micro-lubricating intelligent follow-up machine tool with workpiece doing main motion and working method
Technical Field
The invention relates to the technical field of metal cutting machining, in particular to a micro-lubricating intelligent follow-up machine tool with a workpiece as a main motion and a working method.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The research on cooling and lubricating in machining of a machine tool using a main motion as a workpiece has been an important research in this field. Compared with the traditional cooling and lubricating technology and dry processing technology which adopt cutting fluid, the micro-lubricating technology in the field of mechanical processing is more suitable for the concepts of green manufacturing and sustainable development. The method is a technology for mixing and atomizing a trace amount of lubricating liquid, water and gas with certain pressure and then spraying the mixture to a cutting area to play a role in cooling and lubricating. The water and the high-pressure gas play a cooling role, and the oil plays a role in lubricating a cutting area and prolonging the service life of the cutter. At present, research on the micro-lubricating technology has been advanced, and the research and development of a corresponding micro-lubricating supply system have also been greatly advanced. However, the minimal quantity lubrication supply system still has a plurality of problems in practical application.
The invention discloses a micro-lubrication system, such as Yuansong plum of Beijing aerospace university, which comprises a liquid supply subsystem, an air supply subsystem and a nozzle, wherein the liquid supply subsystem comprises a liquid storage cavity and a spherical micropump which are communicated through a liquid inlet pipe, the spherical micropump is used for controlling the output of a lubricant in the liquid storage cavity, the nozzle is provided with a first input end, a second input end and a nozzle, the spherical micropump is communicated with the first input end of the nozzle through a liquid outlet pipe, and the air supply subsystem is communicated with the second input end of the nozzle. This trace lubrication system is through adopting spherical micropump, and the emollient flow in can accurate control trace lubrication system transmission line makes emollient reach nozzle spout department from the stock solution chamber accurately and quantitatively, and then realizes atomizing under compressed air's effect to overcome current trace lubrication system not enough in the accurate control emollient quantity.
The invention discloses a micro-lubricating device for Shanghai engineering technology university Linjinpeng and the like. The device comprises a box body, a multi-point mixing mechanism arranged in the box body, and an oil supply mechanism and an air supply mechanism which are respectively arranged on the box body, wherein the multi-point mixing mechanism is respectively communicated with the oil supply mechanism and the air supply mechanism. This patent can become the stranded with lubricating oil dispersion to from all directions and air mixing, solved the abundant homogeneous mixing of lubricating oil with the air and got the problem, improve oil-gas mixture's lubricating property, and then improve processability, reduction in production cost, and equipment flexibility is good, easy installation maintenance.
The inventor finds that although the micro-lubricating device makes outstanding contribution in the aspects of resource saving, lubricating performance and the like, the intelligent real-time adjustment of the supply amount of the cutting fluid along with the change of the working condition cannot be realized, so that a large amount of cutting fluid is wasted, the utilization rate is low, the cooling and lubricating effects are poor, and certain environmental pollution is caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a machine tool with a workpiece as a main motion, which can realize the tracking injection of a spray head of cutting fluid to a machining area under different machining working conditions, and has high utilization efficiency of the cutting fluid and good cooling and lubricating effects.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the embodiment of the invention provides a micro-lubrication intelligent follow-up machine tool with a workpiece as a main motion, which comprises a machine tool body, wherein the machine tool body is provided with a two-axis linkage mechanism, the two-axis linkage mechanism is connected with a cutter through a cutter changing disc, the machine tool body is also provided with a power system, the power system is connected with a workpiece chuck and can drive the workpiece chuck to rotate, one side of the cutter is provided with a three-axis linkage mechanism arranged on the machine tool body, the three-axis linkage mechanism is connected with a spray head angle adjusting mechanism, the spray head angle adjusting mechanism is connected with a spray head and is used for adjusting the spray angle of the spray head, the spray head is connected with a liquid supply mechanism.
In a second aspect, an embodiment of the present invention provides a working method of a minimal quantity lubrication intelligent follow-up machine tool with a workpiece as a primary motion:
after the two-axis linkage mechanism drives the cutter to adjust the cutter, the camera mechanism collects images of the cutter and the sprayer, and the three-axis linkage mechanism and the sprayer angle adjusting mechanism adjust the sprayer to a first set position and a set spraying angle;
the power system drives a workpiece arranged on a workpiece chuck to rotate, the two-shaft linkage mechanism drives a cutter to move along a set processing track according to a pre-stored program to process the workpiece, and the three-shaft linkage mechanism drives a nozzle to move according to the set moving track according to pre-stored nozzle moving data corresponding to the workpiece to be processed, so that cutting fluid is sprayed while a processing area is tracked;
after the workpiece is machined, the two-shaft linkage mechanism drives the cutter to retract, and the three-shaft linkage mechanism drives the spray head to move to a second set position according to pre-stored spray head movement data corresponding to the workpiece to be machined.
The invention has the beneficial effects that:
1. the machine tool provided by the invention is provided with the three-axis linkage mechanism and the spray head angle adjusting mechanism, can realize the adjustment of the spatial position of the spray head and the adjustment of the spray angle, and can realize the real-time tracking of the cutting position by combining the prestored spray head movement data, thereby improving the utilization efficiency of the cutting fluid and reducing the pollution to the environment.
2. The machine tool of the invention prestores workpiece profile data and spray head movement data corresponding to workpieces to be processed, so that the spray head can adapt to cutting lubrication requirements required by processing different workpieces, and the application range is wider.
3. The machine tool provided by the invention is provided with the camera mechanism, can acquire images of the cutter and the sprayer, and can adjust the position and the spraying angle of the sprayer after cutter setting according to the images, so that the automation degree is high, and the intellectualization of the posture adjustment of the sprayer is realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is an axial view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is an axial view of the overall structure of a sprinkler system according to embodiment 1 of the present invention;
FIG. 3 is a front view of the overall structure of a sprinkler system according to embodiment 1 of the present invention;
FIG. 4 is a side view of the overall structure of a sprinkler system according to embodiment 1 of the present invention;
FIG. 5 is a plan view showing the entire structure of a head in accordance with embodiment 1 of the present invention;
FIG. 6 is a schematic axial view of a three-axis linkage mechanism according to embodiment 1 of the present invention;
FIG. 7 is a front view of a three-axis linkage mechanism according to embodiment 1 of the present invention;
FIG. 8 is a side view of a three-axis linkage mechanism in embodiment 1 of the present invention;
FIG. 9 is a top view of a three-axis linkage mechanism in embodiment 1 of the present invention;
FIG. 10 is an exploded view of the X-direction telescopic arm in accordance with embodiment 1 of the present invention;
FIG. 11 is a schematic view of the structure of an X-direction telescopic arm in embodiment 1 of the present invention;
FIG. 12 is a schematic axial view of a nozzle angle adjusting mechanism according to embodiment 1 of the present invention;
fig. 13 is a schematic view of an explosion structure of the slewing mechanism in embodiment 1 of the present invention;
FIG. 14 is a schematic structural view of a casing in embodiment 1 of the present invention;
FIG. 15 is a schematic view of the structure of the upper cover in embodiment 1 of the present invention;
FIG. 16 is a schematic cross-sectional view taken along line A of FIG. 15 in accordance with the present invention;
FIG. 17 is a bottom cover structure of embodiment 1 of the present invention;
FIG. 18 is a schematic view in section B of FIG. 17 of the present invention;
FIG. 19 is a plan view showing the entire structure of a rotary member in accordance with embodiment 1 of the present invention;
FIG. 20 is a schematic cross-sectional view taken along line C of FIG. 19 in accordance with the present invention;
FIG. 21 is a schematic view showing the assembly of a rotary member and a rotary drive mechanism in accordance with embodiment 1 of the present invention;
fig. 22 is an exploded view of the rotating mechanism according to embodiment 1 of the present invention;
FIG. 23 is a sectional view of a rotating mechanism in embodiment 1 of the present invention;
FIG. 24 is a front view of a nozzle angle adjusting mechanism according to embodiment 1 of the present invention;
FIG. 25 is a side view of a shower head angle adjusting mechanism according to embodiment 1 of the present invention;
FIG. 26 is a plan view of a nozzle angle adjusting mechanism in embodiment 1 of the present invention;
FIG. 27 is a schematic structural view of an image pickup mechanism according to embodiment 1 of the present invention;
FIG. 28 is a schematic view showing a configuration of movement data of the head according to embodiment 2 of the present invention;
FIG. 29 is a schematic control diagram according to embodiment 2 of the present invention;
FIG. 30 is a schematic view of a first regulation and feedback process in accordance with embodiment 2 of the present invention;
FIG. 31 is a schematic diagram illustrating a position adjustment principle of a nozzle in a three-dimensional space according to embodiment 2 of the present invention;
FIG. 32 is a schematic view illustrating an angle adjustment principle of a nozzle in embodiment 2 of the present invention;
FIG. 33 is a schematic view showing a second regulation and feedback and a third regulation and feedback process in embodiment 2 of the present invention;
the device comprises a camera shooting mechanism, a three-axis linkage mechanism, a spray head angle adjusting mechanism, a cutter changing disc, a workpiece chuck and a cutter changing disc, wherein the camera shooting mechanism is I, the three-axis linkage mechanism is II, the spray head angle adjusting mechanism is III, the cutter changing disc is IV, and the workpiece chuck is V; VI, a power system;
i-1, an illuminating lamp, I-2, a camera, I-3, a first controller, I-4, a self-stabilizing holder, I-5, a second mounting plate, I-6, a second controller, I-7, a first wireless transmission module, I-8, a third controller, I-9 and a second wireless transmission module;
II-1. X-direction telescopic arm, II-2. first lead screw motor, II-3. Y-direction telescopic arm connector, II-4. second lead screw motor, II-5. Y-direction telescopic arm, II-6. Z-direction telescopic arm connector, II-7. third lead screw motor and II-8. Z-direction telescopic arm;
II-1-1 motor fixing bolt, II-1-2 fixing nut, II-1-3 washer, II-1-4 first supporting plate, II-1-5 telescopic arm coupler, II-1-6 telescopic arm coupler bolt, II-1-7 first lead screw, II-1-8 lead screw bearing, II-1-9 first lead screw sliding block, II-1-10 second supporting plate;
III-1, a connecting plate, III-2, a slewing mechanism, III-3, a slewing mechanism, III-4, a slewing motor, III-5, a spray head and III-6, a slewing motor;
III-2-1, a bottom cover, III-2-2, a second bearing, III-2-3, a shell, III-2-4, a rotating table connecting bolt, III-2-5, a gear ring, III-2-6, a gear ring fixing bolt, III-2-7, a first bearing, III-2-8, an upper cover, III-2-9, an upper cover screw, III-2-10, a rotary motor fixing bolt, III-2-11, a rotary motor coupler bolt, III-2-12, a rotary motor coupler, III-2-13, a sealing cover, III-2-14, a sealing cover bolt, III-2-15, a gear shaft bearing and III-2-16, gears;
III-2-3-1, a rotating table connecting bolt mounting hole, III-2-3-2, a camera shooting mechanism mounting hole, and III-2-3-3, a sealing cover bolt fixing hole;
III-3-1, a rotating motor fixing bolt, III-3-2, a rotating motor coupler, III-3-3, a rotating motor coupler bolt, III-3-4, a first connecting seat part, III-3-5, a second rotating shaft bearing, III-3-6, a U-shaped frame, III-3-7, a spray head fixing bolt, III-3-8, a second connecting seat part, III-3-9, a connecting seat bolt, III-3-10, a connecting seat washer, III-3-11, a first rotating shaft bearing, III-3-12, a connecting shaft fixing bolt, III-3-13, a connecting shaft washer, III-3-14, a connecting shaft, III-3-15, a connecting shaft fixing nut and III-3-16, and a first connecting plate fixing bolt.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
For convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
As introduced by the background technology, the existing machine tool with the main motion of the cutter has low utilization rate of cutting fluid during machining, poor cooling and lubricating effects and certain environmental pollution, and the application provides the micro-lubricating intelligent follow-up machine tool with the main motion of a workpiece aiming at the problems.
In example 1, which is a typical embodiment of the present application, as shown in fig. 1 to 26, a micro-lubrication intelligent servo machine tool with a workpiece as a main motion comprises a tool body, a two-axis linkage mechanism is installed at the bottom of the tool body, the two-axis linkage mechanism is implemented by using an existing two-axis linkage mechanism, the specific structure of the two-axis linkage mechanism is not described in detail herein, the two-axis linkage mechanism is connected with a cutter changing disc iv, the cutter changing disc can be driven to move to any position in a horizontal plane, a cutter is fixedly connected with the cutter changing disc, a workpiece chuck v is arranged at one side of the cutter changing disc, the workpiece chuck can be a three-jaw chuck or another type of chuck as long as the workpiece can be clamped and fixed, the workpiece chuck is connected with a power system installed on the tool body, the power system can drive the workpiece chuck to rotate, and further drive the workpiece to, the cutter can move under the drive of the two-axis linkage mechanism to perform feeding movement.
The two-axis linkage mechanism and the power system are connected with the machine tool controller and can work by receiving instructions of the machine tool controller.
Cutter one side sets up the shower nozzle system, the shower nozzle system includes triaxial link gear II, and triaxial link gear is connected with shower nozzle angle adjustment mechanism III, and shower nozzle angle adjustment mechanism is connected with the shower nozzle for adjust the spray angle of shower nozzle, the shower nozzle is connected with the confession liquid mechanism, and shower nozzle angle adjustment mechanism still is provided with camera shooting mechanism I, and camera shooting mechanism can gather shower nozzle, cutter and the image of processing region.
The liquid supply mechanism comprises a box body used for containing cutting liquid, the box body is connected with a cutting liquid pump through a pipeline, the cutting liquid pump is connected with one end of the pipeline, the other end of the pipeline is connected with a spray head, and the cutting liquid pump can drive the cutting liquid in the box body to enter the spray head and spray the cutting liquid.
The triaxial linkage mechanism includes that X is to flexible arm II-1, Y to flexible arm II-5 and Z to flexible arm II-8, X is to the axis and the primary shaft line parallel arrangement of flexible arm, and X is connected to flexible arm and Z to flexible arm, can drive Z to the direction motion of flexible arm along the primary shaft line, Z sets up perpendicularly to the plane that flexible arm axis and primary shaft line and secondary shaft line formed, Z is connected to flexible arm and Y to flexible arm, can drive Y to flexible arm along the motion with primary shaft line and secondary shaft line formation plane vertically third axis direction, Y is connected with rotation mechanism to flexible arm, can drive rotation mechanism along the motion of secondary shaft line direction.
And the X-direction telescopic arm, the Y-direction telescopic arm and the Z-direction telescopic arm all adopt lead screw transmission mechanisms.
The X-direction telescopic arm is fixedly arranged and comprises a first supporting plate II-1-4 and a second supporting plate II-1-10, a first lead screw II-1-7 is arranged between the first supporting plate and the second supporting plate, the axis of the first lead screw is parallel to the first axis, the two ends of the first lead screw are rotatably connected with the first supporting plate and the second supporting plate through lead screw bearings II-1-8, one end of the first lead screw is connected with the output shaft of a first lead screw motor II-2 through a telescopic arm coupling II-1-5, the telescopic arm coupling is connected with the first lead screw and the output shaft of the first lead screw motor through a telescopic arm coupling bolt II-1-6, the first lead screw motor is fixed on the first supporting plate through a motor fixing bolt II-1-1, and the first screw motor is connected with the machine tool controller and can work by receiving the instruction of the machine tool controller, and the second supporting plate is fixed on the machine tool.
Four first guide columns are further arranged between the first supporting plate and the second supporting plate, the first guide columns are arranged at the four corners of the first supporting plate and the second supporting plate, one end of each first guide column is fixedly connected with the second supporting plate, the other end of each first guide column penetrates through the first supporting plate and is provided with a threaded section, a gasket II-1-3 is sleeved on the threaded section, a fixing nut II-1-2 is screwed on the threaded section, and the first guide columns can be fixedly connected with the first supporting plate through the fixing nuts.
The first lead screw is connected with a first lead screw sliding block II-1-9, grooves are formed in four corners of the first lead screw sliding block, and four first guide posts penetrate through the first lead screw sliding block through the grooves.
The first lead screw motor can drive the first lead screw to rotate, the first lead screw can drive the first lead screw sliding block to move along the axis direction of the first lead screw, and the first lead screw sliding block is connected with the Y-direction telescopic arm through the Y-direction telescopic arm connector II-3 so as to drive the Y-direction telescopic arm to move along the axis direction of the first lead screw. The Y-direction telescopic arm connector is a connecting block and is inserted into the first lead screw sliding block through an inserting shaft.
The structure of the Y-direction telescopic boom is the same as that of the X-direction telescopic boom, and comprises a third support plate and a fourth support plate, wherein a second lead screw is arranged between the third support plate and the fourth support plate, the axis of the second lead screw is perpendicular to a plane formed by the first axis and the second axis, two ends of the second lead screw are rotatably connected with the third support plate and the fourth support plate through bearings, four second guide posts are further arranged between the third support plate and the fourth support plate, the second guide posts are fixed at four corners of the third support plate and the fourth support plate, one end of each second guide post is fixedly connected with the fourth support plate, the other end of each second guide post penetrates through the third support plate and is provided with a threaded section, a gasket is sleeved on the threaded section and is in threaded connection with a fixing nut, the second guide posts are fixedly connected with the third support plate through fixing nuts, one end of the second lead screw is connected with an output shaft of a second lead screw motor II-4 through a telescopic boom coupler, the second lead screw motor is fixed on the third supporting plate through a motor fixing bolt and connected with the machine tool controller.
The second lead screw is connected with a second lead screw sliding block, the second lead screw sliding block is connected with the first lead screw sliding block through a Y-direction telescopic arm connector II-3, grooves are formed in four corners of the second lead screw sliding block, and the second guide column penetrates through the second lead screw sliding block through the grooves.
The fourth supporting plate is connected with the Z-direction telescopic arm II-8, the second lead screw motor works and can drive the second lead screw to rotate, the second lead screw can move along the axis direction of the second lead screw under the action of the second lead screw sliding block, and then the Y-direction telescopic arm is driven to move along the axis direction of the second lead screw through the fourth supporting plate.
The fourth supporting plate is connected with the Z-direction telescopic arm through a Z-direction telescopic arm connector II-6, the Z-direction telescopic arm connector is of an L-shaped structure, one end of the Z-direction telescopic arm connector is fixedly connected with the fourth supporting plate, and the other end of the Z-direction telescopic arm connector is connected with the Y-direction telescopic arm. And the two ends of the L-shaped structure are provided with plug shafts which are respectively in plug connection with the fourth supporting plate and the Z-direction telescopic arm.
The structure of the Z-direction telescopic arm is the same as that of the X-direction telescopic arm and the Y-direction telescopic arm, and comprises a fifth support plate and a sixth support plate, the fifth supporting plate is fixedly connected with the end part of the Z-direction telescopic arm connector, a third screw rod is arranged between the fifth supporting plate and the sixth supporting plate, the axis of the third screw rod is parallel to the direction of the second axis, two ends of the third screw rod are rotatably connected with a fifth support plate and a sixth support plate through bearings, four third guide posts are arranged between the fifth support plate and the sixth support plate, the third guide posts are arranged at four corners of the fifth support plate and the sixth support plate, one end of each third guide post is fixedly connected with the fifth support plate, the other end of each third guide post passes through the sixth support plate and is provided with a threaded section, the threaded section is sleeved with a gasket and is screwed with a fixing nut, and the third guide column is fixedly connected with the sixth supporting plate through the fixing nut.
One end of the third lead screw is connected with an output shaft of a third lead screw motor II-7 through a coupler, the third lead screw motor can drive the third lead screw to rotate through the coupler, the third lead screw motor is fixed on a sixth supporting plate through a motor fixing bolt, and the third lead screw motor is connected with a machine tool controller.
The third lead screw is connected with a third lead screw sliding block, four corners of the third lead screw sliding block are provided with grooves, and four third guide posts penetrate through the third lead screw sliding block through the grooves. And the third lead screw sliding block is connected with the slewing mechanism.
The third screw rod motor works to drive the third screw rod to rotate, and under the action of the third screw rod, the third screw rod sliding block can move along the axis direction of the third screw rod so as to drive the swing mechanism to move along the axis direction of the third screw rod.
In this embodiment, adopt magnetic force to connect after Y is pegged graft to flexible arm connector and first lead screw slider and second lead screw slider, adopt magnetic force to connect after fourth backup pad and the grafting of Z to flexible arm connector, adopt magnetic force to connect after fifth backup pad and the grafting of Z to flexible arm connector, need not to set up fastening bolt, reduced the use of bolt to convenient the dismantlement.
The rotary mechanism III-2 is connected with a third screw slide block through a connecting plate III-1, the rotary mechanism comprises a shell III-2-3, the connecting plate is fixedly provided with a shell through a rotary table connecting bolt III-2-4, the shell comprises a fixing plate, a round opening is formed in the center of the fixing plate, the fixing plate and the connecting plate are fixedly connected through rotary table connecting bolts III-2-4 and rotary table connecting bolt mounting holes III-2-3-1 which are arranged at four corner positions of the connecting plate, a cylindrical shell is arranged at the opening of the central position of the fixing plate,
the shell is internally provided with a rotating part, the rotating part is connected with a rotating driving mechanism fixedly mounted on the shell, and the rotating driving mechanism can drive the rotating part to rotate around a first axis.
The rotating part comprises a bottom cover III-2-1 and an upper cover III-2-8, and the upper cover is fixedly connected with the upper end face of the bottom cover through an upper cover screw III-2-9. Specifically, the bottom includes the bottom plate, and the integral type is provided with the rotary drum on the bottom plate, and the upper cover passes through upper cover screw and rotary drum top fixed connection.
The inner side surface of the shell is provided with an annular boss, the upper surface and the lower surface of the annular boss are respectively and fixedly connected with the inner rings of the first bearing III-2-7 and the second bearing III-2-2, the outer rings of the first bearing and the second bearing are respectively and fixedly connected with an upper cover and a bottom cover, and the upper cover and the bottom cover are rotationally connected with the shell through the first bearing and the second bearing.
The outer peripheral surface of the rotating drum is sleeved with a toothed ring III-2-5, and the toothed ring is fixedly connected with the bottom cover through a toothed ring fixing bolt III-2-6.
The rotary driving mechanism comprises a gear III-2-16, the gear is meshed with a gear ring, the gear is fixed on a gear shaft, an opening used for meshing the gear and the gear ring is formed in the shell, one end of the gear shaft is rotatably connected with the fixing plate through a gear shaft bearing III-2-15, the other end of the gear shaft is rotatably connected with a sealing cover III-2-13 through a gear shaft bearing, and the sealing cover is fixed on an arc-shaped side plate arranged between the sealing cover and the fixing plate through a sealing cover bolt III-2-14 and a sealing cover bolt fixing hole III-2-3-3.
The rotary motor III-6 is fixed on the sealing cover through a bolt, the rotary motor is fixed on the sealing cover through a rotary motor fixing bolt III-2-10 and is connected with a machine tool controller and can receive instructions of the machine tool controller to work, an output shaft of the rotary motor is connected with a gear shaft through a rotary motor coupler III-2-12, the rotary motor coupler is connected with an output shaft of the rotary motor and the gear shaft through a rotary motor coupler bolt III-2-11, the rotary motor can drive the gear to rotate through the gear shaft and further drive the gear ring to rotate, and the gear ring can drive the bottom cover and the upper cover to rotate.
The bottom cover is connected with a rotating mechanism through a connecting shaft III-3-14, the bottom cover can drive the rotating mechanism to rotate around a first axis through the connecting shaft, a first connecting plate in a circular shape is arranged at the end part of the connecting shaft, and the first connecting plate is fixedly connected with the bottom cover through a first connecting plate fixing bolt III-3-16.
The rotating mechanism III-3 comprises a connecting seat, the connecting seat is fixedly connected with the connecting shaft through a bolt, the connecting seat comprises a first connecting seat part III-3-4 and a second connecting seat part III-3-8, the first connecting seat part is of an L-shaped structure, the second connecting seat part is fixed on the first connecting seat part through a connecting seat bolt III-3-9, a connecting seat gasket III-3-10 is arranged between the connecting seat bolt and the surface of the second connecting part, the first connecting seat part and the second connecting seat part jointly form a U-shaped structure, the U-shaped structure is provided with two side walls, the two side walls are respectively connected with a rotating shaft through a first rotating shaft bearing III-3-11 and a second rotating shaft bearing III-3-5, the axis of the rotating shaft is arranged along the direction of a second axis, and the opposite end parts of the two rotating shafts are fixedly connected, the rotating frame adopts a U-shaped frame III-3-6, the rotating shafts can drive the U-shaped frame to rotate, one rotating shaft is connected with an output shaft of a rotating motor III-4 through a rotating motor coupler III-3-2, the rotating motor coupler is connected with the output shaft of the rotating motor and the rotating shaft through a rotating motor coupler bolt III-3-3, the rotating motor can drive the rotating shafts to rotate, the rotating frame is further driven to rotate around the direction of a second axis, the rotating motor is fixed on the first connecting seat part through a rotating motor fixing bolt III-3-1, and the rotating motor is connected with the machine tool controller and can receive instructions of the machine tool controller to work.
A connecting shaft fixing bolt III-3-12 penetrates through the first connecting seat, penetrates through a second connecting plate arranged at the end part of the connecting shaft, and is sleeved with a connecting shaft washer III-3-13 and a connecting shaft fixing nut III-3-15 in a screwed mode.
And the rotating frame is provided with a spray head III-5 through a spray head fixing bolt III-3-7, and the spray head can be connected with a cutting fluid supply system to spray the cutting fluid.
In this embodiment, the rotating mechanism can drive the rotating mechanism to rotate around the first axis, and the rotating mechanism can drive the spray head to rotate around the second axis perpendicular to the first axis, so that the spray head can spray the cutting fluid in any direction in a hemispherical surface.
In this embodiment, the fixing plate is provided with a first mounting plate for connecting the shooting mechanism, the first mounting plate is provided with a camera mechanism mounting hole III-2-3-2, the mounting plate is integrally connected with the fixing plate, and the fixing plate is fixedly connected with the shooting mechanism through the first mounting plate.
The camera shooting mechanism comprises a second mounting plate I-5, the second mounting plate is fixedly connected with the first mounting plate through bolts, a self-stabilizing holder I-4 is fixed on the second mounting plate, the self-stabilizing holder has mature technology, and professional equipment provided for shooting and shooting under the condition of moving or shaking is mainly used. The self-stabilization holder with the model of ASF-18F is selected for use in the embodiment, a camera I-2 is installed on the self-stabilization holder, the camera is used for shooting images of nozzles and tools in a processing area, a lighting part is fixed on the top surface of the camera, and the lighting part adopts a lighting lamp I-1 and is used for providing lighting conditions for shooting of the camera, so that shot pictures are clearer.
The self-stabilizing cradle head can automatically adjust the camera, so that the camera always keeps a horizontal posture.
The self-stabilizing cradle head is further provided with a first controller I-3, the camera is connected with the first controller, the first controller receives an instruction transmitted by the machine tool control center on one hand and controls the work of the camera on the other hand, and the first controller can receive an image shot by the camera and transmit the image shot by the camera to the machine tool controller on the other hand.
The self-stabilizing cradle head is provided with a second controller I-6, the second controller is connected with the first lead screw motor, the second lead screw motor and the third lead screw motor through a first wireless transmission module I-7, the second controller can receive instructions of the machine tool controller, control the work of the first lead screw motor, the second lead screw motor and the third lead screw motor, and feed back the work of the first lead screw motor, the second lead screw motor and the third lead screw motor to the machine tool controller.
The self-stabilizing cradle head is further provided with a third controller I-8, the third controller is connected with the rotary motor and the rotating motor through a second wireless transmission module I-9, and the third controller can receive instructions of the machine tool controller, control the work of the rotary motor and the rotating motor and feed back the work of the rotary motor and the rotating motor to the machine tool controller.
The first wireless transmission module and the second wireless transmission module can adopt wireless transmission technologies such as GPRS, 2G, 3G and 4G, are all the prior art, have complete working modules and can be directly used.
Example 2:
the embodiment discloses a working method of a micro-lubricating intelligent follow-up machine tool with a workpiece as main motion, which comprises the following steps:
and storing the nozzle movement data in a machine tool controller in advance to form a nozzle movement database. Setting the movement directions of the three-axis linkage mechanism driving as an X direction, a Y direction and a Z direction, wherein the X direction is along the direction of a first axis, the Z direction is along the direction of a second axis, and the Y direction is along the direction of a third axis which is vertical to the first axis and the second axis.
As shown in fig. 28, according to different processing conditions, the nozzle movement data configuration can be divided into two major configurations, namely a vertical machine tool GL with a main motion as a workpiece and a horizontal machine tool GW with a main motion as a workpiece, and can be further divided into two-stage configurations according to the processing shape which can be processed by the machine tool with the main motion as a tool and the tool feeding process thereof, wherein the first-stage configuration is C, D, E, F in code, each letter represents a processing workpiece shape, C represents a cylinder, D represents a cone, E represents a spherical surface, and F represents a thread. The vertical machine tool GL with the main motion as a workpiece can machine a cylinder C, a cone D, a spherical surface E and a thread F; the horizontal machine tool GW with the main motion as the workpiece can process a cylinder C, a cone D, a spherical surface E and a thread F, and is divided into three secondary configurations under each primary configuration, wherein the numbers are I, II and III, the I represents the nozzle moving data configuration after the cutter is subjected to tool setting, the II represents the nozzle synchronous moving data configuration when the cutter is fed, and the III represents the nozzle moving data configuration after the cutter is received, and the three processes of tool setting, tool feeding and tool receiving of the cutter are respectively corresponding to the tool setting, tool feeding and tool receiving processes when the cutter processes the workpiece.
The nozzle movement data included in the I, II, III are different for each different workpiece shape to be processed. Wherein, the data configuration II of the synchronous movement of the spray head is designed according to the movement track of the cutter for processing workpieces with different shapes, wherein the movement in the direction of X, Y, Z is considered for processing the shape of a specific workpiece. The machining plane needs to move in the direction of X, Y, the machining curved surface needs to move in the direction of X, Y, Z, the machining of a cylinder, a groove, a thread and the like needs to move in the direction of Y, the machining of a cone needs to move in the direction of X, Y, and the machining of a spherical workpiece needs to move in the direction of X, Y. For the data configurations I and III, the movement in the direction of X, Y, Z is required, and the movement is also required to be in an angle of X axis and Y axis. For configuration III, X, Y, Z directional movement is required. The required X, Y, Z directional motion is shown in tables 1 and 2:
table 1: nozzle moving data configuration of vertical machine tool with workpiece as main motion
Figure BDA0002529702640000111
The nozzle movement data configuration corresponding to GL-C-I is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, angle rotation adjustment is carried out on a slewing mechanism by taking an X shaft as an axis, and angle swing adjustment is carried out on a slewing mechanism by a rotating bracket;
the moving data configuration of the nozzle corresponding to GL-C-II is divided into a stroke part and a stroke end part, and the stroke part and the stroke end part respectively correspond to the movement of the cutter after one stroke and one stroke of the cutter when the cutter is used for machining a workpiece. The nozzle movement data corresponding to one stroke is configured into Y-direction telescopic arms to be subjected to Y-direction pose adjustment, and the other nozzles are not subjected to pose adjustment; and the nozzle movement data corresponding to the end of one stroke is configured in such a way that the X-direction telescopic arm needs to carry out X-direction pose adjustment, and other movement modules do not carry out pose adjustment.
And the nozzle movement data corresponding to GL-C-III has a configuration that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, and the other three-direction pose adjustment is not carried out.
The nozzle movement data configuration corresponding to GL-D-I is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm of a telescopic arm module, angle rotation adjustment is carried out on a slewing mechanism by taking an X shaft as an axis, and angle swing adjustment is carried out on a slewing frame on the slewing mechanism;
and (3) carrying out posture adjustment in the X direction and the Y direction on the spray head moving data configuration corresponding to the GL-D-II and carrying out posture adjustment in the X direction and the Y direction on the spray head moving data configuration corresponding to the GL-D-II, and not carrying out posture adjustment on the spray head moving data configuration.
The nozzle movement data corresponding to GL-D-III is formed in a manner that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm of a telescopic arm module, and the pose adjustment is not carried out on other movement modules.
The nozzle movement data configuration corresponding to GL-E-I is that X, Y, Z three-direction position and posture adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm of a telescopic arm module, angular rotation adjustment is carried out on a slewing mechanism by taking an X shaft as an axis, and angular swing adjustment is carried out on a slewing frame on the slewing mechanism;
and the nozzle movement data corresponding to GL-E-II is configured in such a way that the Y-direction telescopic arm needs to carry out Y-direction pose adjustment, and the other spray nozzles do not carry out pose adjustment.
The moving data configuration of the nozzle corresponding to GL-E-III is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, and the other three-direction pose adjustment is not carried out.
The nozzle movement data configuration corresponding to GL-F-I is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, angle rotation adjustment is carried out on a slewing mechanism by taking an X shaft as an axis, and angle swing adjustment is carried out on a slewing frame on the slewing mechanism;
and the nozzle movement data corresponding to GL-F-II is configured in such a way that the Y-direction telescopic arm needs to carry out Y-direction pose adjustment, and the other spray nozzles do not carry out pose adjustment.
And the nozzle movement data corresponding to GL-F-III has a configuration that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, and the other three-direction pose adjustment is not carried out.
Table 2: nozzle moving data configuration of horizontal machine tool with workpiece as main motion
Figure BDA0002529702640000131
The nozzle movement data configuration corresponding to GW-C-I is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, an angle rotation adjustment with an X axis as an axis is carried out on a slewing mechanism, and an angle swing adjustment is carried out on the slewing mechanism by a slewing frame;
the nozzle movement data configuration corresponding to GW-C-II is divided into a stroke part and a stroke end part, and the stroke part and the stroke end part respectively correspond to the stroke of the cutter when the cutter processes a workpiece and the movement of the cutter after the stroke is finished. The nozzle movement data corresponding to one stroke is configured into Y-direction telescopic arms to be subjected to Y-direction pose adjustment, and the other nozzles are not subjected to pose adjustment; and the nozzle movement data corresponding to the end of one stroke is configured in such a way that the X-direction telescopic arm needs to carry out X-direction pose adjustment, and the other nozzles do not carry out pose adjustment.
The nozzle movement data corresponding to GW-C-III is configured in such a way that X, Y, Z directional pose adjustments are needed to be performed on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, and no pose adjustments are performed on the other telescopic arms.
The nozzle movement data configuration corresponding to GW-D-I is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, an angle rotation adjustment with an X axis as an axis is carried out on a slewing mechanism, and an angle swing adjustment is carried out on the slewing mechanism by a slewing frame;
the nozzle movement data corresponding to GW-D-II has a configuration that X-direction and Y-direction attitude adjustment is carried out on an X-direction telescopic arm and a Y-direction telescopic arm, and other attitude adjustment is not carried out.
The configuration of the nozzle movement data corresponding to GW-D-III is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, and the pose adjustment is not carried out on the other arms.
The nozzle movement data configuration corresponding to GW-E-I is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, an angle rotation adjustment with an X axis as an axis is carried out on a slewing mechanism, and an angle swing adjustment is carried out on the slewing mechanism by a slewing frame;
and the nozzle movement data corresponding to the GW-E-II is configured in such a way that the Y-direction telescopic arm needs to carry out Y-direction pose adjustment, and the other nozzles do not carry out pose adjustment.
The configuration of the nozzle movement data corresponding to GW-E-III is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, and the pose adjustment is not carried out on the other nozzles.
The nozzle movement data corresponding to GW-F-I are configured in such a way that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, an annular rotating platform of a nozzle angle module is subjected to angle rotation adjustment by taking an X axis as an axis, and a nozzle support of the nozzle angle module is subjected to angle swing adjustment on the annular rotating platform;
the nozzle movement data corresponding to GW-F-II is configured in such a way that Y-direction telescopic arms need to perform Y-direction pose adjustment, and other positions do not need to be adjusted.
The configuration of the nozzle movement data corresponding to GW-F-III is that X, Y, Z three-direction pose adjustment is carried out on an X-direction telescopic arm, a Y-direction telescopic arm and a Z-direction telescopic arm, and the pose adjustment is not carried out on the other arms.
Before the machine tool works, a workpiece is fixed on a workpiece chuck in advance, and then a machine tool controller controls a two-axis linkage mechanism, a power system, a three-axis linkage mechanism, a swing mechanism and a rotating mechanism to work.
The working process is as follows:
after the two-axis linkage mechanism drives the cutter to adjust the cutter, the camera mechanism collects images of the cutter and the sprayer, and the three-axis linkage mechanism and the sprayer angle adjusting mechanism adjust the sprayer to a first set position and a set spraying angle;
the power system drives a workpiece to rotate through a workpiece chuck, the two-shaft linkage mechanism drives a cutter to move along a set machining track according to a pre-stored program to machine the workpiece, and the three-shaft linkage mechanism drives a nozzle to move according to the set moving track according to pre-stored nozzle moving data corresponding to the workpiece to be machined, so that cutting fluid is sprayed while a machining area is tracked;
after the workpiece is machined, the two-shaft linkage mechanism drives the cutter to retract, and the three-shaft linkage mechanism drives the spray head to move to a second set position according to pre-stored spray head movement data corresponding to the workpiece to be machined.
The whole process spray head can track the processing area, thereby avoiding the waste of cutting fluid, ensuring the cooling and lubricating effect and avoiding the environmental pollution.
As shown in fig. 29, the specific process is as follows:
the machine tool is controlled to start working through a human-computer interaction interface, the shape of a workpiece to be machined under a certain specific working condition is input through the human-computer interaction interface, a machine tool controller can carry out program setting of tool feed according to the shape of the workpiece to be machined, and then the machine tool controller can carry out three times of corresponding data mining and data extraction from spray head moving data according to the input shape of the workpiece to be machined. And a cutter feeding program carried out by combining the shape of the workpiece to be processed by the machine tool controller can form a specific instruction in the machine tool control center to enable the machine tool controller to carry out three times of adjustment and feedback on the position and posture of the spray nozzle.
The first adjustment and feedback is that after the machine tool controller controls the cutter to set the cutter through the two-axis linkage mechanism, an instruction is formed by calling the moving data of the spray head, the three-axis linkage structure and the rotating mechanism are adjusted, the spray head is adjusted to the position with the best pose of the position after the cutter is set, when the spray head reaches the designated position, a feedback is given to the machine tool controller, the machine tool controller starts the cutter to cut the workpiece, and simultaneously starts the second adjustment and feedback, the machine tool controller forms an instruction by calling the moving data of the spray head, the pose moving information of the cutter to cut the workpiece is synchronously transmitted to the three-axis linkage mechanism, the telescopic arm is controlled to carry out corresponding adjustment, after the machine tool controller controls the cutter to cut the workpiece, the machine tool controller also stops data transmission to the three-axis linkage mechanism, the three-axis linkage structure stops working, and a feedback is given to the machine tool controller, let it start the receipts sword process of cutter, at this moment, also started the third and adjusted and feed back, the lathe controller forms the instruction through transferring shower nozzle removal data, lets the removal of flexible arm regulation shower nozzle, lets it remove to the suitable position that does not hinder the work piece and take out. When the spray head reaches the designated position, feedback is given to a machine tool control center, and the machine tool control center is allowed to open the bin gate and the like.
The first adjustment and feedback is that the machine tool controller corresponds to the nozzle movement data configuration according to the shape to be processed under a certain specific working condition input by the human-computer interaction interface. The machine tool control center forms an instruction, the camera shooting mechanism I collects information and transmits the collected information to the machine tool control center, the machine tool control center analyzes and processes the data and transmits the data to the three-axis linkage mechanism and the spray head angle adjusting mechanism, the aim is to adjust the spray head to the optimal pose of the position of the spray head after the cutter is adjusted, and a specific flow chart is shown in figure 30.
The camera shooting mechanism is used for collecting the spatial position images of the cutting position of the cutter and the spray head, and transmitting the collected position images to the controller of the machine tool through wireless transmission. The controller of the machine tool calls spray head moving data corresponding to the shape to be processed to form an instruction, the camera shooting mechanism shoots spatial position information of the cutter and the spray head, the shot position information is transmitted to the control center of the machine tool through the first controller, the control center of the machine tool can carry out data analysis and processing according to position images transmitted by the positions, the optimal spatial distance from the spray head to the cutting position of the cutter is given, the data are fed back to the three-axis linkage mechanism and the spray head angle adjusting mechanism through wireless transmission, the three-axis linkage mechanism and the spray head angle adjusting mechanism can work according to the received data, and the optimal pose state of the spray head and the cutter can be achieved. This process requires two phases:
in the first stage, a camera structure I collects a spatial position image of a cutting position of a cutter, the collected position image is transmitted to a controller of a machine tool through wireless transmission, the controller of the machine tool can analyze and process data according to the position image transmitted by a position camera mechanism, X-direction telescopic arm position moving information, Y-direction telescopic arm position moving information and Z-direction telescopic arm position moving information are given out, the X-direction telescopic arm position moving information, the Y-direction telescopic arm position moving information and the Z-direction telescopic arm position moving information are transmitted to a second controller through wireless transmission, and the second controller analyzes and processes the X-direction position information, the Y-direction position information and the Z-direction position information on one side and converts the X-direction position information, the Y-direction position information and the Z-direction position information into the number of running turns of a first lead screw motor, a second lead screw motor and a third lead screw motor; on the other hand, the first lead screw motor, the second lead screw motor and the third lead screw motor are controlled to rotate for corresponding turns, and the motors control the X-direction telescopic arm, the Y-direction telescopic arm and the Z-direction telescopic arm to move through mechanical transmission, so that the position of the spray head in a three-dimensional space is adjusted. When the X-direction telescopic arm, the Y-direction telescopic arm and the Z-direction telescopic arm reach a preset position, the X-direction telescopic arm, the Y-direction telescopic arm and the Z-direction telescopic arm directly react to stop running of a first lead screw motor, a second lead screw motor and a third lead screw motor, the second controller can feed back to a machine tool controller at the moment, the machine tool control center can control a camera mechanism to carry out position acquisition in a second stage, the camera mechanism carries out wireless transmission on acquired images of a cutting position of a spray head and a cutting position of a cutter, the acquired position images are transmitted to the machine tool controller through wireless transmission, the machine tool controller carries out data analysis and processing according to the transmitted position images, and angle information needing to rotate on a circumferential plane and angle information needing to rotate in a plane perpendicular to the circumferential plane are. The third controller analyzes and processes the angle information needing to be rotated on one hand, converts the angle information needing to be rotated on a circumferential plane into the number of rotation turns of the rotary motor and converts the angle information needing to be rotated in a plane vertical to the circumferential plane into the number of rotation turns of the rotary motor on the other hand; on the other hand, the rotating motor and the rotating motor can be controlled to rotate corresponding turns, the rotating motor enables the bottom cover to rotate corresponding angles by controlling the rotation of the gear ring, the rotating motor enables the spray head to reach a preset position by controlling the rotation of the rotating support in the plane and adjusting the two angles. When the spray head reaches a preset position, the spray head directly responds that the rotary motor and the rotary motor stop running, and at the moment, the third controller feeds back to the machine tool controller to enable the machine tool controller to control the cutter to carry out a command of cutting the workpiece by the cutter.
The conversion of the displacement information into the number of turns of the motor is to decompose the displacement first, and the conversion principle is shown in fig. 31. Y represents a distance that the head is to move to an arbitrary position in space. Yx represents the distance that the X-direction telescopic arm II-1 needs to move, Yy represents the distance that the Y-direction telescopic arm II-5 needs to move, Yz represents the distance that the Z-direction telescopic arm II-8 needs to move, alpha represents the included angle between the distance Y that needs to move and the X-Y plane, beta represents the included angle between the distance Yx-Y that the distance Y needs to move projects on the X-Y plane along the Z direction and the X axis, and gamma represents the included angle between the distance Yx-Y that the distance Y needs to move projects on the X-Y plane along the Z direction and the Y axis. The lower adjustment process is explained in conjunction with fig. 22.
The machine tool controller can decompose the distance Y required to move into the distance Yx required to move in the X direction telescopic arm II-1, the distance Yy required to move in the Y direction telescopic arm II-5 and the distance Yz required to move in the Z direction telescopic arm II-8, and the specific conversion formula is as follows:
YZ＝sinα×Y
Yx-y＝cosα×Y
Yy＝cosβ×Yx-y
Yx＝cosγ×Yx-y
the second controller I-6 can convert the X-direction telescopic boom displacement information, the Y-direction telescopic boom displacement information and the Z-direction telescopic boom displacement information into the number of turns of rotation required by the first lead screw motor, the second lead screw motor and the third lead screw motor to control the X-direction telescopic boom II-1, the Y-direction telescopic boom II-5 and the Z-direction telescopic boom II-8 to reach preset positions, and the conversion formula is as follows:
Nx＝Xx÷n
Ny＝Xy÷n
Nz＝Xz÷n
wherein Nx is the number of turns of the first lead screw motor II-1 of the X-direction telescopic arm, Ny is the number of turns of the motor II-4 of the Y-direction telescopic arm, Nz is the number of turns of the motor II-7 of the Z-direction telescopic arm, and n is the screw pitch of the lead screw II-1-7.
The principle of converting angle information into the number of turns of the motor is shown in fig. 32, wherein a circumferential plane a is located on a Y-Z plane, and a semicircular plane a' is located on an X-Z plane. The rotating support is parallel to the rotating mechanism and is kept to be fixed, and the track which can be operated by the rotating mechanism driving the rotating support parallel to the rotating mechanism is recorded as A on the circumference plane. The rotary mechanism is not moved, and the track of the rotary bracket which can run is a semicircular plane and is recorded as A'. The track that the shower nozzle can be operated is hemisphere A "that A and A' make up, the shower nozzle can be in the regulation of the arbitrary position in part sphere A".
The 1 position represents the position where the spray head is located at present, the 2 position represents the transition position of the spray head adjustment, and the 3 position represents the position where the spray head needs to be adjusted:
the machine tool controller can control the rotary motor III-6 to adjust the spray head from the initial position 1 to the position 2, and then the rotary motor III-4 is manufactured to adjust the spray head from the position 2 to the position 3. In the adjusting process, two steps of pose transformation are carried out, namely transformation from arc length to angle and transformation from angle to circle number.
(1) First the arc length to angle conversion needs to be done,
dividing the arc length L1 to be adjusted into L2 and L3, wherein the position 1 is transformed by the arc length L2 to the position 2, and the formula for converting the arc length into an angle is as follows:
θ＝L2×180°÷πL
where θ is the angle of rotation required for the swing mechanism to rotate through the transformation of arc length L2.
And then the 2 position is converted into the final position 3 position through the arc length L3, and the formula for converting the arc length into the angle is as follows:
μ＝L3×180°÷πL
wherein mu is the angle of rotation of the rotating support required to pass through the transformation of the arc length L3
(2) Finally, the conversion from angle to number of turns is required
Firstly, the angle of the rotary mechanism is adjusted by the spray head at the position 1 through the number of turns of the rotary motor, the angle of the rotary mechanism is rotated by theta degrees, the spray head is adjusted to the position 2, and the adjustment formula for converting the angle adjustment into the number of turns of the motor is as follows:
L4＝θπR1÷180°
n1＝L4÷r1
wherein, L4 is the arc length that the ring gear needs to go when the ring gear in the rotation mechanism rotates theta, is also the arc length that the gear that meshes with the ring gear rotated simultaneously, and R1 is the ring gear reference circle radius. r1 is the gear pitch circle radius, and n1 is the number of revolutions of the gear, i.e., the number of revolutions required by the rotary motor.
Secondly, the angle of the rotating bracket is adjusted by adjusting the number of turns of the rotating motor of the spray head at the position 2, so that the spray head reaches the final position, namely the position 3 along with the rotating angle mu of the rotating mechanism III-3, and the adjustment formula for converting the angle adjustment into the number of turns of the motor is as follows:
n2＝μπ÷180°
n2 is the number of turns required to turn the motor.
The second adjustment and feedback is that the machine tool control center synchronously transmits the pose movement information of the tool cutting workpiece to the movement module according to the nozzle movement data corresponding to the shape to be processed input by the human-computer interaction interface, and controls the telescopic arm to perform corresponding adjustment, so that the nozzle is adjusted in the whole process of tool feeding, and the relative static state of the pose of the nozzle and the tool is realized. The specific flowchart is shown in fig. 24.
After the second adjustment and feedback is implemented, the machine tool controller receives feedback from the third controller to command the tool to cut the workpiece. Meanwhile, the machine tool controller calls the spray head movement data corresponding to the shape to be processed to form an instruction, the existing cutter feed path displacement information is transmitted to a second controller I-6 through real-time wireless transmission, the second controller analyzes and processes data according to the displacement information transmitted by the machine tool controller to give the position movement information of the telescopic arm in the X direction, the position movement information of the telescopic arm in the Y direction and the position movement information of the telescopic arm in the Z direction, the position movement information of the X-direction telescopic arm, the position movement information of the Y-direction telescopic arm and the position movement information of the Z-direction telescopic arm are sent to a second controller through wireless transmission, and the second controller analyzes and processes the position information of the X-direction, the position information of the Y-direction and the position information of the Z-direction and converts the position information into the number of running turns of a first lead screw motor, a second lead screw motor and a third lead screw motor; on the other hand, the corresponding number of turns of the first lead screw motor, the second lead screw motor and the third lead screw motor can be controlled, the motors control the X-direction telescopic arm II-1, the Y-direction telescopic arm II-5 and the Z-direction telescopic arm II-8 to move through mechanical transmission, and the synchronization of the spray head and the cutter in the machining process is realized. In the process, the nozzle angle adjusting mechanism keeps the pose still. When the workpiece is machined, the cutter is not in feed, the machine tool controller does not transmit displacement information to the second controller any more, and at the moment, the telescopic arm of the spray head stops working. The direct reaction is that the first screw motor, the second screw motor and the third screw motor stop running, and at the moment, the second controller feeds back to the machine tool control center to enable the machine tool controller to control the tool to carry out tool retracting commands.
The third regulation and feedback is that the machine tool control center forms an instruction according to the movement data of the nozzle corresponding to the shape to be processed input by the human-computer interaction interface, and the machine tool controller controls the telescopic arm to regulate the movement of the nozzle according to the movement data of the nozzle, so that the nozzle can move to a proper position which does not hinder the taking-out of the workpiece. The specific flowchart is shown in fig. 24.
After the second adjustment and feedback are realized, the machine tool controller receives feedback from the second controller to the machine tool control center to control the cutter to carry out a cutter retracting instruction, at the moment, the machine tool controller calls spray head moving data corresponding to the shape to be processed to form an instruction, the set spray head safety position information is transmitted to the second controller through wireless transmission, the second controller carries out data analysis and processing according to the displacement information transmitted by the machine tool control center to give X-direction telescopic arm position moving information, Y-direction telescopic arm position moving information and Z-direction telescopic arm position moving information, and the X-direction telescopic arm position moving information, Y-direction telescopic arm position moving information and Z-direction telescopic arm position moving information are transmitted to the second controller through wireless transmission, and the second controller transmits the X-direction position information, the Y-direction telescopic arm position moving information and the Z-direction telescopic arm position moving information, Analyzing and processing the position information in the Y direction and the position information in the Z direction, and converting the position information into the running turns of the first lead screw motor, the second lead screw motor and the third lead screw motor; and on the other hand, the first lead screw motor, the second lead screw motor and the third lead screw motor are controlled to run for corresponding turns, the motors control the X-direction telescopic arm II-1, the Y-direction telescopic arm II-5 and the Z-direction telescopic arm II-8 to displace through mechanical transmission, and when the specified position is reached, the telescopic arm of the spray head stops working. The direct reaction is that the first screw motor, the second screw motor and the third screw motor stop running, the second controller feeds back to the machine tool control center at the moment, the machine tool controller opens the bin gate, and the machined workpiece is taken out after the bin gate is opened.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

1. The micro-lubricating intelligent follow-up machine tool with the workpiece as the main motion is characterized by comprising a machine body, wherein the machine body is provided with a two-axis linkage mechanism, the two-axis linkage mechanism is connected with a cutter through a cutter changing disc, the machine body is also provided with a power system, the power system is connected with a workpiece chuck and can drive the workpiece chuck to rotate, one side of the cutter is provided with a three-axis linkage mechanism installed on the machine body, the three-axis linkage mechanism is connected with a spray head angle adjusting mechanism, the spray head angle adjusting mechanism is connected with a spray head and used for adjusting the spray angle of the spray head, the spray head is connected with a liquid supply mechanism, and the spray head angle adjusting mechanism is also.
2. The micro-lubricated intelligent servo machine tool for the primary motion of a workpiece as claimed in claim 1, wherein the spray head angle adjustment mechanism comprises a rotary mechanism connected to a three-axis linkage mechanism, the rotary mechanism being connected to the rotary mechanism and capable of rotating the rotary mechanism about a first axis, the rotary mechanism being connected to the spray head and capable of rotating the spray head about a second axis perpendicular to the first axis.
3. The smart micro-lubricated slave machine tool having primary motion as claimed in claim 2, wherein the rotary mechanism includes a housing, a rotary member rotatably coupled to the housing, the rotary member being coupled to a rotary drive mechanism disposed on the housing, the rotary drive mechanism being capable of driving the rotary member to rotate about the first axis.
4. The intelligent micro-lubrication servo machine tool with primary motion of a workpiece as claimed in claim 3, wherein the rotary member comprises a bottom cover, an annular upper cover is fixedly connected to the upper end of the bottom cover, a toothed ring is sleeved on the periphery of the bottom cover, the toothed ring is fixedly connected with the bottom cover, and the bottom cover and the upper cover are rotatably connected with the housing.
5. The machine tool of claim 4, wherein the rotary drive mechanism comprises a rotary motor fixedly connected to the housing, the rotary motor being connected to a gear, the gear engaging the toothed ring.
6. The intelligent micro-lubrication servo machine tool with main motion made by workpieces as claimed in claim 2, wherein the rotating mechanism comprises a connecting seat connected with the rotating mechanism, a rotating motor is fixed on the connecting seat, the rotating motor is connected with the rotating frame, and the spray head is fixedly connected with the rotating frame.
7. The micro-lubricated intelligent servo machine tool for the primary motion of the workpiece as claimed in claim 1, wherein the camera mechanism comprises a camera, the camera is mounted on a self-stabilizing pan-tilt, and the self-stabilizing pan-tilt is connected with the nozzle angle adjusting mechanism.
8. The smart micro-lubricated slave machine tool for primary motion of a workpiece according to claim 1, wherein said imaging mechanism further comprises an illumination member for providing lighting conditions for taking pictures.
9. The intelligent micro-lubrication servo machine tool with primary motion of a workpiece as claimed in claim 1, wherein the two-axis linkage mechanism, the power system, the three-axis linkage mechanism, and the nozzle angle adjustment mechanism are connected to a machine tool controller, and the machine tool controller stores nozzle movement data corresponding to the workpiece to be machined in advance.
10. The working method of the intelligent follow-up machine tool with minimal lubrication and main motion of the workpiece as claimed in any one of claims 1 to 9 is characterized in that after the two-axis linkage mechanism drives the cutter to set the cutter, the camera mechanism collects images of the cutter and the spray head, and the three-axis linkage mechanism and the spray head angle adjusting mechanism adjust the spray head to a first set position and a set spray angle;
the power system drives a workpiece arranged on a workpiece chuck to rotate, the two-shaft linkage mechanism drives a cutter to move along a set processing track according to a pre-stored program to process the workpiece, and the three-shaft linkage mechanism drives a nozzle to move according to the set moving track according to pre-stored nozzle moving data corresponding to the workpiece to be processed, so that cutting fluid is sprayed while a processing area is tracked;
after the workpiece is machined, the two-shaft linkage mechanism drives the cutter to retract, and the three-shaft linkage mechanism drives the spray head to move to a second set position according to pre-stored spray head movement data corresponding to the workpiece to be machined.
CN202010514571.2A 2020-06-08 2020-06-08 Micro-lubricating intelligent follow-up machine tool with workpiece doing main motion and working method Withdrawn CN111761404A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112589141A (en) * 2020-12-08 2021-04-02 娄底市仨匠新型环保建材有限公司 Integrative sword of lathe for hardware processing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112589141A (en) * 2020-12-08 2021-04-02 娄底市仨匠新型环保建材有限公司 Integrative sword of lathe for hardware processing
CN112589141B (en) * 2020-12-08 2022-04-19 深圳市精诚信五金机械有限公司 Integrative sword of lathe for hardware processing

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Application publication date: 20201013