CN111958324B - Tool setting device and tool setting method for automatic drilling and riveting robot - Google Patents
Tool setting device and tool setting method for automatic drilling and riveting robot Download PDFInfo
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- CN111958324B CN111958324B CN202010793362.6A CN202010793362A CN111958324B CN 111958324 B CN111958324 B CN 111958324B CN 202010793362 A CN202010793362 A CN 202010793362A CN 111958324 B CN111958324 B CN 111958324B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005553 drilling Methods 0.000 title abstract description 29
- 239000012636 effector Substances 0.000 claims abstract description 22
- 239000000428 dust Substances 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000007664 blowing Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims description 2
- 210000003437 trachea Anatomy 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
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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
- B23Q11/0042—Devices for removing chips
- B23Q11/005—Devices for removing chips by blowing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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Abstract
The invention discloses a tool setting device for an automatic drilling and riveting robot and a tool setting method thereof. The tool setting device adopts a flexible structure, can automatically ensure the relative position precision between the tool setting gauge and the robot end effector and the perpendicularity between the tool setting gauge and the tool axis and can automatically ensure that high-pressure air flow is sprayed to the tool setting gauge tool face through the air tap to clean dust, scraps and the like on the surface of the tool setting gauge tool face, so that the tool setting precision and consistency of the drilling and riveting robot are improved, the limiting device can avoid damage of the tool setting gauge after moving, the point position of the robot does not need to be accurately taught before tool setting, the requirement on the operation of workers is low, and the tool setting operation is convenient.
Description
Technical Field
The invention relates to a tool setting device, in particular to a tool setting device and a tool setting method for an automatic drilling and riveting robot.
Background
In the automatic drilling and riveting operation of an airplane, due to the characteristics of multiple types and large quantity of holes to be machined, the automatic drilling system needs to drill and machine workpieces by replacing different cutters. The tool setting is needed after the machining tool is replaced, the position of the electric spindle is obtained when the tool nose point of the tool reaches the pressure foot plane, and drilling can be performed only after corresponding tool length compensation is set on the basis.
At present, common tool setting methods, such as a manual tool setting method (trial cutting tool setting method), a tool setting gauge tool setting method (mechanical tool setting method) and an automatic tool setting method (optical tool setting method), are generally directed at numerical control machine tools. The tool setting gauge tool setting method is the most tool setting method used by the existing numerical control machine tool due to high precision, and can obtain high tool setting precision due to the fact that the repeated positioning precision of the numerical control machine tool is high enough and can reach 2-5 mu m. In an automatic drilling and riveting robot for aircraft assembly, a tool setting gauge is generally adopted, and due to the narrow space of a drilling end effector, the tool setting gauge cannot be directly installed on the drilling end effector, and can only be installed at a position outside a robot body and generally installed on a tool magazine body. By teaching point positions, the robot end effector reaches the same position in front of the tool setting gauge each time the tool is set, then the tool is extended out to execute tool setting operation, meanwhile, the laser tracker is used to measure the distance between the pressure foot plane and the tool setting gauge plane at the position, so that the position of the electric spindle when the tool point reaches the pressure foot plane can be calculated, but the relative position precision of the tool setting gauge and the robot end effector is not guaranteed due to the lower repeated positioning precision of the robot, usually 50-80 μm, which causes the tool setting precision to be unable to meet the requirement, in addition, the tool setting gauge has strict verticality requirement on the tool face and the tool axis, usually the machine tool can reach the required verticality, the industrial robot is difficult to move to a fixed position, the verticality between the tool axis and the tool face cannot be guaranteed, and errors are also introduced by using the laser tracker to measure the distance, these directly affect the final tool setting accuracy.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides a tool setting device for an automatic drilling and riveting robot and a tool setting method thereof.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows: the utility model provides a tool setting device for automatic bore riveter people, includes the tool setting appearance, the tool setting appearance cup joints in the sleeve, the telescopic right-hand member face of controlling the terminal surface parallel and telescopic flushes with the tool setting face of tool setting appearance, the air cock is installed to the sleeve below, it is gaseous to the tool setting face of tool setting appearance through the air cock blowout, telescopic left end face passes through flexible construction and connects on the riser of right angle support, the diaphragm of right angle support is fixed on the keysets, the tool setting device is connected with the tool magazine body through the keysets.
Further, the tool setting gauge is sleeved in the sleeve, a tool setting face of the tool setting gauge is coplanar with a right end face of the sleeve, and a base of the tool setting gauge extends out of the sleeve and is locked and fixed with a left end face of the sleeve through an inner hexagonal socket head cap screw.
Further, the air cock passes through cross recess cylinder screw cooperation gasket locking to be fixed in the sleeve below, the inside air flue of having seted up of air cock, the air flue entry passes through the external trachea of air pipe joint to blow through solenoid valve control, the air flue export is perpendicularly upwards pressed close to the knife face of tool setting appearance, and before the tool setting, high-pressure draught passes through the air cock and is exported the blowout by the air flue, with the tool setting appearance to the clean up such as dust and piece on knife face surface, avoids causing the influence to the tool setting precision.
Furthermore, the bottom of the sleeve is provided with a chip groove, so that dust, chips and the like can be conveniently discharged.
Further, the flexible structure is a corrugated pipe coupler, the left end of the corrugated pipe coupler is fixedly connected to a vertical plate of the right-angle support through a first pin shaft, the right end of the corrugated pipe coupler is fixedly connected to the left end face of the sleeve through a second pin shaft, the first pin shaft is fastened with the right-angle support through an inner hexagonal set screw, and the second pin shaft is fastened with the sleeve through an inner hexagonal set screw.
Furthermore, the total number of the corrugated pipe couplings is four, and the corrugated pipe couplings are uniformly distributed on the circumference of the left end face of the sleeve.
Further, a limiting device is installed on the sleeve, and the limiting device limits the tool setting gauge to be always located on the right side of a vertical plate of the right-angle support in the moving process along with the sleeve.
Furthermore, stop device is three spacing bolt, and three spacing bolt equipartition is fixed in telescopic first semicircle and cooperation nut locking, spacing bolt and right angle support riser between the interval be less than tool setting appearance and right angle support riser between the interval, tool setting appearance and right angle support collision and damage when avoiding automatic drilling and riveting robot's pressure foot tool setting position too leans on the back.
Further, the right-angle support is connected with the adapter plate through an inner hexagonal socket head cap screw, a fixing hole is formed in the adapter plate, and the adapter plate is connected with the tool magazine body through a fixing hole matched with the locking piece.
The invention also provides a tool setting method of the tool setting device for the automatic drilling and riveting robot, which comprises the following steps:
s1, fixedly connecting the tool setting device with the tool magazine body through an adapter plate, connecting an air passage inlet of an air nozzle with an external air pipe through an air pipe joint, controlling air blowing through an electromagnetic valve, and checking to ensure smooth transmission of the air nozzle and related signals;
s2, point position teaching is carried out on the robot end effector: the first point position is the position where the robot end effector moves to the position 18-22 mm in front of the tool setting gauge, and the second point position is the position where the robot end effector feeds forwards by 2-3 mm after the pressure foot plane is attached to the right end face of the sleeve, so that the pressure foot plane is tightly attached to the right end face of the sleeve;
s3, replacing the tool needing tool setting by the robot end effector, and moving according to the point position sequence taught in the step S2;
s4, after the second teaching point position is finished, opening the electromagnetic valve, and spraying high-pressure air flow from an air passage outlet through an air nozzle to clean the tool setting surface of the tool setting gauge;
s5, slowly extending the cutter at a speed of 50-200 mm/min, sending a signal to a system when the tool point of the cutter touches the tool setting surface of the tool setting gauge, and controlling the cutter to stop moving and acquiring the position of the electric spindle by the system.
The invention has the following beneficial effects:
1) the tool setting device is simple in structural configuration, and compared with a tool setting instrument installed on a machine tool, the tool setting device has low requirement on installation accuracy, does not need a laser tracker to measure distance, is simple to assemble and is easy to maintain;
2) the tool setting device of the invention sleeves the tool setting gauge in the sleeve, the right end surface of the sleeve is flush with the tool setting gauge tool setting surface, the sleeve is connected on the right-angle support by adopting a flexible structure, when the pressure foot plane of the automatic drilling and riveting robot is pressed on the right end surface of the sleeve, the right end surface of the sleeve can be completely attached to the pressure foot plane of the robot due to certain elasticity of the flexible structure arranged at the left end of the sleeve, in the whole tool setting process, the distance between the pressure foot plane and the tool setting gauge plane measured by the laser tracker is saved due to the tight attachment of the pressure foot plane and the right end surface of the sleeve, the measurement error of the laser tracker is eliminated, and meanwhile, even under the condition that the repeated positioning precision of the robot is poor, the close attachment of the pressure foot plane and the right end surface of the sleeve also ensures the relative position precision between the tool setting gauge and the end effector of the robot and the perpendicularity between the tool setting gauge tool setting axis, the influence caused by poor repeated positioning precision of the robot is eliminated, and the tool setting precision and consistency of the drilling and riveting robot are improved;
3) according to the tool setting device, the limiting device is further arranged on the sleeve, the limiting device limits the tool setting gauge to be always positioned on the right side of the right-angle support in the tool setting process, and the tool setting gauge is prevented from being damaged due to collision with the right-angle support when the tool setting position of a pressure foot of the automatic drilling and riveting robot is too close to the rear position;
4) according to the invention, the air tap is arranged below the sleeve, high-pressure air flow is sprayed out from the air passage outlet through the air tap, so that dust, debris and the like on the surface of a tool setting gauge can be cleaned, and the influence on tool setting precision is avoided;
5) the invention adopts a flexible structure to automatically ensure the relative position precision between the tool setting gauge and the robot end effector and the verticality between the tool setting gauge and the tool axis, does not need to accurately teach the point position of the robot before tool setting, has low operation requirement on workers and is convenient to use and operate.
Drawings
FIG. 1 is a schematic structural diagram of a tool setting device for an automatic drilling and riveting robot according to the present invention;
FIG. 2 is a schematic view of the tool setting gauge of FIG. 1 connected to a sleeve;
FIG. 3 is a schematic view of the sleeve of FIG. 2;
FIG. 4 is a cross-sectional view of a tool setting device for an automatic drilling and riveting robot, which is disclosed by the invention;
fig. 5 is a tool setting schematic diagram of the tool setting device for the automatic drilling and riveting robot of the invention;
fig. 6 is a line diagram of ten tool setting tests of the tool setting gauge and the tool setting device of the present invention in embodiment 2, wherein the abscissa is the number of tool setting tests, and the ordinate is the position to which the electric spindle moves when the point of the tool tip reaches the pressure foot plane of the robot end effector.
Wherein the reference numerals are: the tool setting device comprises a tool setting gauge 1, a sleeve 2, a chip groove 2-1, an air tap 3, a flexible structure 4, a right-angle support 5, an adapter plate 6, an inner hexagonal socket head screw 7, a cross groove cylindrical screw 8, a gasket 9, a first pin shaft 10, a second pin shaft 11, an inner hexagonal set screw 12, a limiting device 13, a nut 14, a pressure foot 15, a tool 16 and an electric spindle 17.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
Example 1
As shown in figures 1-4, a tool setting device for an automatic drilling and riveting robot comprises a tool setting gauge 1, wherein the tool setting gauge 1 is sleeved in a sleeve 2, the left end surface and the right end surface of the sleeve 2 are parallel, the right end surface of the sleeve 2 is flush with the tool setting surface of the tool setting gauge 1, a base of the tool setting gauge 1 extends out of the sleeve 2 and is locked and fixed with the left end surface of the sleeve 2 through an inner hexagonal cylindrical head screw 7, an air nozzle 3 is locked and fixed below the sleeve 2 through a cross groove cylindrical screw 8 and a gasket 9, an air passage is formed inside the air nozzle 3, an air pipe is externally connected with an air pipe at an air passage inlet through an air pipe connector and is controlled to blow air through an electromagnetic valve, an air passage outlet is vertically and upwards close to the tool setting surface of the tool setting gauge 1, high-pressure air flow is sprayed out from the air passage outlet through the air nozzle 3 before a tool is set, dust, scraps and the like on the surface of the tool setting gauge 1 are cleaned, the tool setting accuracy is prevented from being influenced, a chip discharge groove 2-1 is formed in the bottom of the sleeve 2, the discharge of dust, debris and the like is facilitated, the left end face of a sleeve 2 is connected to a vertical plate of a right-angle support 5 through a flexible structure 4, the flexible structure 4 adopts a corrugated pipe coupler, the number of the corrugated pipe couplers is four, the corrugated pipe couplers are uniformly distributed on the circumference of the left end face of the sleeve 2, the left end of the corrugated pipe coupler is fixedly connected to the vertical plate of the right-angle support 5 through a first pin shaft 10, the right end of the corrugated pipe coupler is fixedly connected to the left end face of the sleeve 2 through a second pin shaft 11, wherein the first pin shaft 10 is fastened with the right-angle support 5 through an inner hexagonal set screw 12, the second pin shaft 11 is fastened with the sleeve 2 through the inner hexagonal set screw 12, the four mounted corrugated pipe couplers enable the sleeve 2 to have certain elasticity, when the pressure foot 15 plane of an automatic drilling and riveting robot is pressed on the right end face of the sleeve 2 of a tool setting device, the right end face of the sleeve 2 can be completely attached to the pressure foot 15 plane of the robot, the influence that the poor and laser tracker measurement error of robot repeated positioning accuracy brought has been eliminated, the diaphragm of right angle support 5 passes through hexagon socket head cap screw 7 locking fixation on keysets 6, the fixed orifices has been seted up on the keysets 6, keysets 6 is connected with the tool magazine body through fixed orifices cooperation retaining member, still install stop device on the sleeve 2, this stop device 13 adopts three spacing bolt, three spacing bolt equipartition is in the first semicircle of sleeve 2 and cooperation nut 14 locking fixed, interval is less than the interval between tool setting appearance 1 and the right angle support 5 riser between spacing bolt and the right angle support 5 riser, can avoid automatic drilling and riveting robot's pressure foot 15 tool setting position to lean on the back when tool setting appearance 1 collides with right angle support 5 and damages.
Example 2
The tool setting method of the tool setting device for the automatic drilling and riveting robot in the embodiment 1 comprises the following steps:
s1, fixedly connecting the tool setting device with the tool magazine body through the adapter plate 6, connecting an air passage inlet of the air nozzle 3 with an external air pipe through an air pipe joint, controlling air blowing through an electromagnetic valve, and checking to ensure smooth transmission of the air nozzle 3 and related signals;
s2, point position teaching is carried out on the robot end effector: the first point position is the position where the robot end effector moves to the position 18-22 mm in front of the tool setting gauge 1, and the second point position is the position where the robot end effector pressure pin 15 plane is attached to the right end face of the sleeve 2 and then is fed forward by 2-3 mm, so that the pressure pin 15 plane is tightly attached to the right end face of the sleeve 2;
s3, replacing the tool 16 needing tool setting by the robot end effector, and moving according to the point position sequence taught in the step S2;
s4, after the second teaching point position is finished, opening the electromagnetic valve, and spraying high-pressure air flow from an air passage outlet through an air nozzle 3 to clean the tool setting surface of the tool setting gauge 1;
s5, slowly extending the cutter 16 at a speed of 50-200 mm/min, as shown in FIG. 5, when the tool point of the cutter 16 touches the tool setting surface of the tool setting gauge 1, sending a signal to the system by the tool setting gauge 1, and at the moment, the system controls the cutter 16 to stop moving and obtains the position of the electric spindle 17;
s6, recording corresponding measurement data, performing corresponding tool length compensation on the tool 16 before subsequent drilling machining, wherein the operation speed of the industrial robot is 30%, performing ten tool setting experiments on the same tool by respectively adopting the existing tool setting gauge (BLUM Z-Nano IR) and the tool setting device of the invention, and acquiring the position to which the motorized spindle 17 moves when the tool point of the tool 16 reaches the plane of the pressure foot 15 of the end effector of the robot;
as shown in Table 1, the tool setting data obtained by the tool setting device disclosed by the invention are superior to tool setting of a tool setting gauge in accuracy and consistency through comparison of tool setting experimental data for ten times.
Table 1 tool setting gauge and tool setting test data of tool setting device for automatic drilling and riveting robot
In the embodiment, the tool setting gauge 1 has good flexibility through the flexible structure 4 (four corrugated couplings), the plane of the pressure foot 15 of the automatic drilling and riveting robot can be completely attached to the right end face of the sleeve 2, the relative position precision between the tool setting gauge 1 and the robot end effector is ensured, the verticality between the tool setting surface of the tool setting gauge 1 and the tool axis is also ensured, a laser tracker is not needed for measuring distance, the precision is high, and the speed is high; in addition, the limiting device 13 is arranged on the sleeve, so that the safety of the tool setting gauge 1 in the tool setting process is guaranteed, and the tool setting gauge 1 is prevented from being damaged due to collision with the right-angle support 5; an air tap 3 is arranged below the sleeve 2, so that the tool setting surface of the tool setting gauge 1 can be kept clean, a chip groove 2-1 formed below the sleeve 2 is beneficial to discharging dust and chips, and the tool setting error caused by the chip groove is eliminated; in conclusion, the automatic drilling and riveting robot can solve the problem of poor tool setting precision caused by poor robot repeated positioning precision and the like, eliminates the influence of the robot repeated positioning precision and the laser tracker measurement error on the length compensation precision of the tool 16, and ensures the tool setting precision and the tool setting consistency of the automatic drilling and riveting robot.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. The utility model provides a tool setting device for automatic bore riveter people, includes tool setting appearance (1), its characterized in that, tool setting appearance (1) cup joints in sleeve (2), the parallel right-hand member face and the tool setting face of sleeve (2) of the left and right sides terminal surface of sleeve (2) flushes with tool setting appearance (1), air cock (3) are installed to sleeve (2) below, and is gaseous to pass through air cock (3) spout the tool setting face to tool setting appearance (1), the left end face of sleeve (2) passes through flexible construction (4) and connects on the riser of right angle support (5), the diaphragm of right angle support (5) is fixed on keysets (6), the tool setting device is connected with the tool magazine body through keysets (6).
2. The tool setting device for the automatic drill and rivet robot according to claim 1, characterized in that: the tool setting instrument (1) is sleeved in the sleeve (2), a tool setting surface of the tool setting instrument (1) is coplanar with a right end surface of the sleeve (2), and a base of the tool setting instrument (1) extends out of the sleeve (2) and is locked and fixed with a left end surface of the sleeve (2) through an inner hexagonal cylindrical head screw (7).
3. The tool setting device for the automatic drill and rivet robot according to claim 2, characterized in that: air cock (3) are fixed in sleeve (2) below through cross recess cylinder screw (8) cooperation gasket (9) locking, the air flue has been seted up to air cock (3) inside, the air flue entry is through the external trachea of air pipe connector to blow through solenoid valve control, the air flue export is towards the tool setting face of tool setting appearance (1).
4. The tool setting device for the automatic drill and rivet robot according to claim 3, characterized in that: the bottom of the sleeve (2) is provided with a chip removal groove (2-1) which is convenient for discharging dust and debris.
5. The tool setting device for the automatic drill and rivet robot according to claim 4, characterized in that: the flexible structure (4) is a corrugated pipe coupler, the left end of the corrugated pipe coupler is fixedly connected to a vertical plate of the right-angle support (5) through a first pin shaft (10), the right end of the corrugated pipe coupler is fixedly connected to the left end face of the sleeve (2) through a second pin shaft (11), the first pin shaft (10) is fastened with the right-angle support (5) through an inner hexagonal set screw (12), and the second pin shaft (11) is fastened with the sleeve (2) through the inner hexagonal set screw (12).
6. The tool setting device for the automatic drill and rivet robot according to claim 5, characterized in that: the total number of the corrugated pipe couplings is four, and the corrugated pipe couplings are uniformly distributed on the circumference of the left end face of the sleeve (2).
7. The tool setting device for the automatic drill and rivet robot according to claim 6, characterized in that: install stop device (13) on sleeve (2), stop device (13) are injectd tool setting appearance (1) and are being located the riser right side of right angle support (5) all the time along with sleeve (2) removal in-process.
8. The tool setting device for the automatic drill and rivet robot according to claim 7, characterized in that: stop device (13) are three spacing bolts, and three spacing bolt equipartition is fixed in the first semicircle of sleeve (2) and cooperation nut (14) locking, the interval is less than the interval between tool setting appearance (1) and right angle support (5) riser between spacing bolt and right angle support (5) riser.
9. The tool setting device for the automatic drill and rivet robot according to claim 8, characterized in that: the tool magazine is characterized in that the right-angle support (5) is connected with the adapter plate (6) through an inner hexagonal socket head cap screw (7), the adapter plate (6) is provided with a fixing hole, and the adapter plate (6) is connected with the tool magazine body through a fixing hole matched with the locking piece.
10. The tool setting method of the tool setting device for the automatic drill riveting robot as claimed in any one of claims 1-9, characterized by comprising the following steps:
s1, fixedly connecting the tool setting device with the tool magazine body through an adapter plate (6), connecting an air passage inlet of the air nozzle (3) with an external air pipe through an air pipe joint, controlling air blowing through an electromagnetic valve, and checking to ensure smooth transmission of the air nozzle (3) and related signals;
s2, point position teaching is carried out on the robot end effector: the first point position is the position where the robot end effector moves to the position 18-22 mm in front of the tool setting gauge (1), and the second point position is the position where the plane of a pressure pin (15) of the robot end effector is attached to the right end face of the sleeve (2) and then is fed forward by 2-3 mm, so that the plane of the pressure pin (15) is tightly attached to the right end face of the sleeve (2);
s3, replacing the tool (16) needing tool setting by the robot end effector, and moving according to the point position sequence taught in the step S2;
s4, after the second teaching point position is finished, opening the electromagnetic valve, and spraying high-pressure air flow from an air passage outlet through an air nozzle (3) to clean the tool setting surface of the tool setting gauge (1);
s5, slowly extending the cutter (16) at a speed of 50-200 mm/min, and when the tool point of the cutter (16) touches the tool setting surface of the tool setting gauge (1), sending a signal to a system by the tool setting gauge (1), wherein the system controls the cutter (16) to stop moving and obtains the position of the electric spindle (17).
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| CN202010793362.6A CN111958324B (en) | 2020-08-10 | 2020-08-10 | Tool setting device and tool setting method for automatic drilling and riveting robot |
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| CN202010793362.6A CN111958324B (en) | 2020-08-10 | 2020-08-10 | Tool setting device and tool setting method for automatic drilling and riveting robot |
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| CN111958324B true CN111958324B (en) | 2021-12-07 |
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| CN107020528A (en) * | 2017-04-13 | 2017-08-08 | 南京航空航天大学 | A kind of pressure foot of automatic drill-rivet end effector device of integrated normal direction centering function |
| CN209453251U (en) * | 2019-01-26 | 2019-10-01 | 东莞市圣越机电科技有限公司 | A kind of numerically-controlled machine tool tool setting gauge |
| CN209551309U (en) * | 2019-01-26 | 2019-10-29 | 东莞市圣越机电科技有限公司 | A kind of numerically-controlled machine tool tool setting gauge |
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2020
- 2020-08-10 CN CN202010793362.6A patent/CN111958324B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2229856Y (en) * | 1994-05-16 | 1996-06-26 | 关世钟 | Instrument for automatically putting cutting tool on its right working position for numerically controlled machine tool |
| CN203018763U (en) * | 2012-11-29 | 2013-06-26 | 舒丽琴 | Cutter setting instrument |
| CN206216386U (en) * | 2016-11-12 | 2017-06-06 | 东莞市文涛机电有限公司 | A kind of tool setting gauge |
| CN107020528A (en) * | 2017-04-13 | 2017-08-08 | 南京航空航天大学 | A kind of pressure foot of automatic drill-rivet end effector device of integrated normal direction centering function |
| CN209453251U (en) * | 2019-01-26 | 2019-10-01 | 东莞市圣越机电科技有限公司 | A kind of numerically-controlled machine tool tool setting gauge |
| CN209551309U (en) * | 2019-01-26 | 2019-10-29 | 东莞市圣越机电科技有限公司 | A kind of numerically-controlled machine tool tool setting gauge |
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| CN111958324A (en) | 2020-11-20 |
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