CN111941009A - Machining method of robot moving and traveling mechanism - Google Patents
Machining method of robot moving and traveling mechanism Download PDFInfo
- Publication number
- CN111941009A CN111941009A CN202010830726.3A CN202010830726A CN111941009A CN 111941009 A CN111941009 A CN 111941009A CN 202010830726 A CN202010830726 A CN 202010830726A CN 111941009 A CN111941009 A CN 111941009A
- Authority
- CN
- China
- Prior art keywords
- moving
- travelling mechanism
- milling
- machining
- bottom plane
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Milling Processes (AREA)
- Manipulator (AREA)
Abstract
The invention provides a machining method of a robot moving walking mechanism, which ensures the accurate machining of a bottom plane and an upper working surface by adopting a machining mode of alternate rough milling and alternate finish milling of the bottom plane and the upper working surface, improves the machining precision and the machining quality of the robot moving walking mechanism, provides guarantee for the stability and smoothness of the robot walking and promotes the popularization and the application of the robot.
Description
Technical Field
The invention relates to the technical field of machine manufacturing, in particular to a machining method of a robot moving and traveling mechanism.
Background
Along with the rapid development of intelligent automation technology, the industrial robot is well popularized and applied, and particularly in large-scale cluster type machine tool cloth arranging production units, the popularization and application of the robot not only reduce the labor cost, but also greatly improve the production efficiency and the production quality. In the actual use process, the robot needs to be capable of walking to serve more production equipment, and the walking of the robot depends on the mobile walking mechanism, so that the quality of the mobile walking mechanism of the robot determines the working stability of the robot. In order to better promote the popularization and application of the robot, on the basis of completing the welding processing of the robot moving travelling mechanism, the robot moving travelling mechanism is mechanically processed to ensure the precision and the quality of the robot moving travelling mechanism, so that the stability and the smoothness of the robot travelling are ensured.
Disclosure of Invention
The invention aims to improve the precision and the quality of a robot mobile walking mechanism, ensure the stability and the smoothness of robot walking and promote the popularization and the application of a robot.
In order to achieve the purpose, the invention adopts the following technical scheme: a machining method of a robot moving and traveling mechanism comprises the following steps:
s1, welding, processing and forming, wherein a milling allowance is reserved for a moving and traveling mechanism after forming;
s2, tempering the whole moving and traveling mechanism to remove internal stress and improve the stability of the structure;
s3, roughly milling a bottom plane, comprising the following steps:
s31, adjusting the whole moving travelling mechanism to be straight, and fixing the moving travelling mechanism on a machine tool workbench after the moving travelling mechanism is corrected to be horizontal;
s32, milling a bottom plane, and reserving machining allowance for the total height;
s33, processing each hole on the bottom plane, and chamfering an orifice;
s34, chamfering the periphery of the bottom plane square;
s4, roughly milling an upper working face, comprising the following steps:
s41, after turning over the moving travelling mechanism, placing the moving travelling mechanism at the processed bottom plane by using equal-height blocks, straightening the upper working surface and the side surface of the moving travelling mechanism, and fixing the moving travelling mechanism on a machine tool workbench after the adjustment is finished;
s42, roughly milling each groove on the upper working surface, reserving a machining allowance of 1 mm for the total height, and reserving machining allowances of 0.5 mm for two sides of each groove;
s43, roughly milling the total length, and reserving a machining allowance of 1.5 mm;
s44, performing comprehensive chamfering on the periphery of the mobile walking mechanism;
s5, finely milling a bottom plane, comprising the following steps:
s51, leveling the moving travelling mechanism by using the equal-height blocks, and straightening two side surfaces;
s52, fixing the movable travelling mechanism by using tool blocks at the periphery;
s53, finely milling a bottom plane, and reserving a machining allowance of 0.5 mm;
s6, finely milling the upper working face, which comprises the following steps:
s61, after the mobile travelling mechanism is turned over, the mobile travelling mechanism is laid flat by using equal-height blocks, two machined side faces are straightened, and the mobile travelling mechanism is fixed by using a tool block;
s62, finely milling each processing surface of the upper working surface;
s63, machining each hole of the upper working face, and chamfering an orifice;
s64, finely milling the total length size and form and position tolerance, and machining each hole on the side face;
s65, deburring the front side and the back side, and smearing anti-rust oil.
Preferably, in step S31, the whole of the mobile travelling mechanism is adjusted to be straight by using a tool or a machine tool adjusting block.
Preferably, the traveling mechanism is fixed to the machine tool table using a pressing block in steps S31 and S41.
Preferably, the chamfers are 1.5 × 45 ° in steps S33, S34, and S44, respectively.
Preferably, the traveling device is placed on the wood of the same height after the processing of steps S44 and S53 to prevent deformation.
Preferably, the step S61 further includes removing the bottom plane burrs and garbage.
Preferably, the holes of the upper face are machined in step S63 using drilling, reaming, tapping.
Compared with the prior art, the invention has the beneficial effects that: the processing mode that the bottom plane and the upper working face are subjected to rough milling in turn and then finish milling in turn is adopted, so that the precise processing of the bottom plane and the upper working face is ensured, the processing precision and the processing quality of the robot moving walking mechanism are improved, the guarantee is provided for the stability and smoothness of the robot walking, and the popularization and the application of the robot are promoted.
Drawings
Fig. 1 is a schematic structural diagram of a mobile walking mechanism of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a bottom plane machining fixture;
fig. 3 is a schematic view of the upper working surface processing and fixing.
Detailed Description
In order to further understand the objects, structures, features and functions of the present invention, the following embodiments are described in detail.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a mobile walking mechanism of a robot according to an embodiment of the present invention, where the mobile walking mechanism includes a bottom plane 1 and an upper working surface 2.
The invention discloses a machining method of a robot moving and traveling mechanism, which comprises the following steps of:
s1, welding, processing and forming, wherein a milling allowance is reserved for a moving and traveling mechanism after forming;
s2, tempering the whole moving and traveling mechanism, removing internal stress and improving the stability of the structure;
s3, roughly milling a bottom plane, comprising the following steps:
s31, as shown in figure 2, the movable travelling mechanism is placed on a machine tool workbench 3, the whole movable travelling mechanism is adjusted to be straight by a tool or a machine tool adjusting block 4, and the movable travelling mechanism is fixed by a pressing block after being corrected to be horizontal;
s32, milling a bottom plane, and reserving machining allowance for the total height;
s33, processing each hole on the bottom plane, and chamfering an orifice;
s34, chamfering the periphery of the bottom plane square;
s4, roughly milling an upper working face, comprising the following steps:
s41, as shown in figure 3, turning over the moving travelling mechanism, then placing the turning over moving travelling mechanism on a machine tool workbench 3, placing the turning over moving travelling mechanism on a processed bottom plane 1 by using an equal-height block 5, straightening the upper working surface 2 and the side surface of the moving travelling mechanism, and after the adjustment is finished, fixing the moving travelling mechanism by using a pressing block or an angle iron tool 6;
s42, roughly milling each groove on the upper working surface, reserving a machining allowance of 1 mm for the total height, and reserving machining allowances of 0.5 mm for two sides of each groove;
s43, roughly milling the total length, and reserving a machining allowance of 1.5 mm;
s44, performing comprehensive chamfering on the periphery of the mobile walking mechanism;
s5, finely milling a bottom plane, comprising the following steps:
s51, leveling the moving travelling mechanism by using the equal-height blocks, and straightening two side surfaces;
s52, fixing the movable travelling mechanism by using tool blocks at the periphery;
s53, finely milling a bottom plane, and reserving a machining allowance of 0.5 mm;
s6, finely milling the upper working face, which comprises the following steps:
s61, after the mobile travelling mechanism is turned over, the mobile travelling mechanism is laid flat by using equal-height blocks, two machined side faces are straightened, and the mobile travelling mechanism is fixed by using a tool block;
s62, finely milling each machined surface of the upper working surface to the dimension and form and position tolerance required by a drawing;
s63, machining each hole of the upper working face, and chamfering an orifice;
s64, finely milling the total length size and the form and position tolerance to meet the requirements of a drawing, and machining each hole on the side face to meet the requirements of the drawing;
s65, performing deburring treatment on the front side and the back side by a bench worker, and coating antirust oil.
In steps S33, S34, and S44, the chamfers are all 1.5 × 45 °.
The traveling device is placed on the wood of the same height after the processing of steps S44 and S53 to prevent deformation.
Step S61 also includes removing bottom surface burrs and trash.
In step S63, the holes of the upper face are machined using drilling, reaming, tapping.
According to the machining method of the robot mobile walking mechanism, the accurate machining of the bottom plane and the upper working face is ensured by adopting the machining mode that the bottom plane and the upper working face are subjected to alternate rough milling and then alternate finish milling, the machining precision and the machining quality of the robot mobile walking mechanism are improved, the guarantee is provided for the stability and smoothness of the robot walking, and the popularization and the application of the robot are promoted.
The present invention has been described in relation to the above embodiments, which are only exemplary of the implementation of the present invention. It should be noted that the disclosed embodiments do not limit the scope of the invention. Rather, it is intended that all such modifications and variations be included within the spirit and scope of this invention.
Claims (7)
1. A machining method of a robot moving and traveling mechanism is characterized by comprising the following steps:
s1, welding, processing and forming, wherein a milling allowance is reserved for a moving and traveling mechanism after forming;
s2, tempering the whole moving and traveling mechanism to remove internal stress and improve the stability of the structure;
s3, roughly milling a bottom plane, comprising the following steps:
s31, adjusting the whole moving travelling mechanism to be straight, and fixing the moving travelling mechanism on a machine tool workbench after the moving travelling mechanism is corrected to be horizontal;
s32, milling a bottom plane, and reserving machining allowance for the total height;
s33, processing each hole on the bottom plane, and chamfering an orifice;
s34, chamfering the periphery of the bottom plane square;
s4, roughly milling an upper working face, comprising the following steps:
s41, after turning over the moving travelling mechanism, placing the moving travelling mechanism at the processed bottom plane by using equal-height blocks, straightening the upper working surface and the side surface of the moving travelling mechanism, and fixing the moving travelling mechanism on a machine tool workbench after the adjustment is finished;
s42, roughly milling each groove on the upper working surface, reserving a machining allowance of 1 mm for the total height, and reserving machining allowances of 0.5 mm for two sides of each groove;
s43, roughly milling the total length, and reserving a machining allowance of 1.5 mm;
s44, performing comprehensive chamfering on the periphery of the mobile walking mechanism;
s5, finely milling a bottom plane, comprising the following steps:
s51, leveling the moving travelling mechanism by using the equal-height blocks, and straightening two side surfaces;
s52, fixing the movable travelling mechanism by using tool blocks at the periphery;
s53, finely milling a bottom plane, and reserving a machining allowance of 0.5 mm;
s6, finely milling the upper working face, which comprises the following steps:
s61, after the mobile travelling mechanism is turned over, the mobile travelling mechanism is laid flat by using equal-height blocks, two machined side faces are straightened, and the mobile travelling mechanism is fixed by using a tool block;
s62, finely milling each processing surface of the upper working surface;
s63, machining each hole of the upper working face, and chamfering an orifice;
s64, finely milling the total length size and form and position tolerance, and machining each hole on the side face;
s65, deburring the front side and the back side, and smearing anti-rust oil.
2. The method of claim 1, wherein the whole of the mobile robot is adjusted to be straight by using a tool or a machine tool adjusting block in step S31.
3. The method of claim 1, wherein the moving walk means is fixed to the table of the machine tool by using a pressing block in steps S31 and S41.
4. The method of claim 1, wherein the chamfers are 1.5 x 45 ° in each of the steps S33, S34, and S44.
5. The method of claim 1, wherein the step of placing the traveling mechanism on the wood of the same height to prevent deformation is performed after the steps of S44 and S53.
6. The method as claimed in claim 1, wherein the step S61 further comprises removing burrs and garbage from the bottom surface.
7. The method of claim 1, wherein the holes of the upper working surface are drilled, reamed, and tapped in step S63.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010830726.3A CN111941009A (en) | 2020-08-18 | 2020-08-18 | Machining method of robot moving and traveling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010830726.3A CN111941009A (en) | 2020-08-18 | 2020-08-18 | Machining method of robot moving and traveling mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111941009A true CN111941009A (en) | 2020-11-17 |
Family
ID=73342520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010830726.3A Pending CN111941009A (en) | 2020-08-18 | 2020-08-18 | Machining method of robot moving and traveling mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111941009A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458726A (en) * | 2021-06-29 | 2021-10-01 | 江苏兴达钢帘线股份有限公司 | Machining method for removing micro-deformation of robot walking mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003262987A1 (en) * | 2002-09-04 | 2004-03-29 | Kennametal Inc. | Cutting tool for rough and finish milling |
| CN106112395A (en) * | 2016-06-29 | 2016-11-16 | 洛阳奇瑞机械科技有限公司 | A kind of machine-tooled method of Aircraft Air gondola connection dish |
| CN108637599A (en) * | 2018-05-09 | 2018-10-12 | 安徽瑞林精科股份有限公司 | A kind of efficient automobile cylinder cap processing technology |
| CN109108578A (en) * | 2018-08-28 | 2019-01-01 | 科瑞自动化技术（苏州）有限公司 | The processing method of core part on semiconductor packaging device |
| CN110842047A (en) * | 2019-12-09 | 2020-02-28 | 苏州华泰模具制造有限公司 | Extrusion die machining method |
-
2020
- 2020-08-18 CN CN202010830726.3A patent/CN111941009A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003262987A1 (en) * | 2002-09-04 | 2004-03-29 | Kennametal Inc. | Cutting tool for rough and finish milling |
| CN106112395A (en) * | 2016-06-29 | 2016-11-16 | 洛阳奇瑞机械科技有限公司 | A kind of machine-tooled method of Aircraft Air gondola connection dish |
| CN108637599A (en) * | 2018-05-09 | 2018-10-12 | 安徽瑞林精科股份有限公司 | A kind of efficient automobile cylinder cap processing technology |
| CN109108578A (en) * | 2018-08-28 | 2019-01-01 | 科瑞自动化技术（苏州）有限公司 | The processing method of core part on semiconductor packaging device |
| CN110842047A (en) * | 2019-12-09 | 2020-02-28 | 苏州华泰模具制造有限公司 | Extrusion die machining method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458726A (en) * | 2021-06-29 | 2021-10-01 | 江苏兴达钢帘线股份有限公司 | Machining method for removing micro-deformation of robot walking mechanism |
| CN113458726B (en) * | 2021-06-29 | 2023-08-29 | 江苏兴达钢帘线股份有限公司 | Machining method for removing micro-deformation of robot travelling mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103949909B (en) | A kind of CNC processes spherical parts built-up jig and clamping method | |
| CN205270951U (en) | Jig of radial spot facing work of adaptable multiple size vehicle axle | |
| CN103231247A (en) | Rotating platform type multi-head numerical control drilling and tapping machine tool | |
| CN204867705U (en) | Electric spark shaped electrode trimming device on throne | |
| CN204235120U (en) | Numerical control pipe bores milling machine | |
| CN111941009A (en) | Machining method of robot moving and traveling mechanism | |
| CN103978105A (en) | Coverage piece female mold and machining and assembling method thereof | |
| CN108788208B (en) | Boring method for machining intersection angle box hole system | |
| CN104646764A (en) | Machining method of inclination driving gear box body hole system | |
| CN2825173Y (en) | Digital control horizontal boring milling machine | |
| CN105522356A (en) | Crankshaft machining method | |
| CN104985403B (en) | Machining method for part with multiple unfinished surfaces | |
| CN103028784B (en) | Processing method of internal keyway of conical hole | |
| CN105057464A (en) | Method for machining middle die body of bending machine die for round workpieces | |
| CN204053584U (en) | A kind of eccentric shaft positioning clamping device | |
| CN207309490U (en) | Horizontal milling machine oblique surface machining special fixture with stopper | |
| CN213224430U (en) | Positioning mechanism for drilling of numerical control machine tool | |
| CN207746510U (en) | A kind of edge searching device for processing super machine tool travel workpiece for EDM | |
| CN112809316A (en) | Clamping device for pump bearing box and machining method for bearing box | |
| CN105364186A (en) | Baffle chamfering device | |
| CN211136240U (en) | Novel tower machine base section automatic processing device | |
| CN213998630U (en) | Drilling clamp for pin holes of shaft parts | |
| CN114700700B (en) | Linear guide rail slider machining process | |
| CN204262823U (en) | Be applicable to the device of long guideway location processing guide rail end surface | |
| FR2708501B1 (en) | Process for shaping profiles, manufacturing frames, frames and profiles. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201117 |