CN112454052B - Automatic deburring device and deburring method for large-scale shell section part - Google Patents
Automatic deburring device and deburring method for large-scale shell section part Download PDFInfo
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- CN112454052B CN112454052B CN202011368055.XA CN202011368055A CN112454052B CN 112454052 B CN112454052 B CN 112454052B CN 202011368055 A CN202011368055 A CN 202011368055A CN 112454052 B CN112454052 B CN 112454052B
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- guide rail
- linear guide
- deburring
- robot
- shell section
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic deburring device and a deburring method for large-scale shell section parts, which mainly comprise a quick clamping and aligning device, an automatic deburring device and a deburring process error-proofing device; the device can realize the quick clamping, automatic alignment, automatic burring and the course of working mistake proofing of large-scale shell section part, reduces or replaces operator's manual work, improves the machining efficiency and the stability of quality of product.
Description
Technical Field
The invention relates to the field of machining, in particular to an automatic deburring device and a deburring method for large-scale shell section parts.
Background
The large-scale shell section part is a typical structural member of an aerospace product, is generally cylindrical or conical in appearance, generally has the characteristics of grids, bosses, windows, sealing grooves, holes, threads and the like, comprises a plurality of working procedures in the machining process, and has the characteristics of large product size, high precision requirement and complex process flow.
The deburring process in the current processing flow is manually finished by an operator, the problems of poor processing quality stability, uncontrollable processing time and high manual operation labor intensity exist, the processing quality stability and the processing efficiency of products are seriously influenced, and the production requirement of the current models cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and by designing the robot automatic deburring device, the quick clamping, the automatic alignment, the automatic deburring and the error prevention in the processing process of large-scale shell section parts are realized, the manual work of an operator is reduced or replaced, and the processing efficiency and the quality stability of products are improved.
In order to overcome the defects of the prior art, the invention provides an automatic deburring device and a deburring method for large-scale shell section parts, which are used for solving the technical problems.
The invention is realized by the following technical scheme: an automatic deburring device for large-scale shell section parts comprises a quick clamping and aligning device, an automatic deburring device and a deburring process error-proofing device; the quick clamping and aligning device comprises a workbench, a backing ring, a clamping device and an aligning device; the clamping device comprises a pressing plate, a screw rod, a nut and an upright post; the alignment device comprises an alignment device support platform, a linear guide rail I, a linear guide rail II, a linear guide rail III, a linear guide rail IV, a servo motor I and a servo motor II; the cushion ring is positioned on the workbench, the shell section is positioned on the cushion ring, a T-shaped groove is formed in the workbench, a driving device is arranged at the lower end of the upright column, the driving device can drive the upright column to move up and down so as to adapt to clamping of shells with different heights, a base of the driving device is matched with the T-shaped groove in the workbench and can move along the T-shaped groove so as to adapt to clamping of shells with different diameters, a pressing plate is arranged at the top of the upright column, and the end part of the screw rod is connected with the pressing plate through a nut; the base is provided with a second servo motor, a third linear guide rail and a fourth linear guide rail, the first linear guide rail, the second linear guide rail and the first servo motor are arranged on the alignment device supporting platform, the third linear guide rail is parallel to the fourth linear guide rail, the first linear guide rail is parallel to the second linear guide rail, the alignment device supporting platform is positioned on the third linear guide rail and the fourth linear guide rail and can be driven by the second servo motor to move along the third linear guide rail and the fourth linear guide rail, and the workbench is positioned on the first linear guide rail and the second linear guide rail and can be driven by the first servo motor to move along the first linear guide rail and the second linear guide rail; the rapid clamping alignment device detects shell section position deviation through a laser range finder on a robot actuating mechanism, and a robot control system performs alignment according to the deviation value; the automatic deburring device comprises a robot, a laser range finder, a floating deburring tool, a robot turntable and a robot control system; the error-proofing device for the deburring process is realized by a robot, a vision system and a robot control system.
A deburring method of an automatic deburring device for large-scale shell section parts specifically comprises the following steps:
step 1: rapidly clamping and aligning; during clamping, the shell section is hoisted to a backing ring of the device, the outer diameter of the backing ring is consistent with the size of the shell section, and the hoisting deviation is not more than 20mm; the shell sections are fixed by a clamping device by utilizing a T-shaped groove on a workbench, wherein the height of the upright post can be adjusted, and screws with different specifications are selected to adapt to different shell section heights; after the shell sections are fixed, detecting deviation values of the top surfaces of the ribs of the shell sections in 2 directions through a laser range finder on a robot actuating mechanism, controlling the actions of a servo motor I and a servo motor II through a robot control system, and completing the movement of a workbench in 2 directions according to the deviation values to realize the quick four-point alignment of the shell sections; after the four points of the shell section are aligned, the zero point setting of the circumferential angle of the shell section is realized through a rotary table at the bottom of the robot;
step 2: automatic deburring; the deburring processing program is compiled in an off-line programming mode of a robot, the shell section inner shape processing program is divided into a plurality of parts according to the circumferential direction according to the roundness deformation condition of the shell, and the roundness deviation value of each part of the shell section is ensured to be not more than 1mm; detecting the rib top position at the middle position of a single processing part by using a laser range finder, comparing an actual value and a theoretical value of the position by using a robot control system, and integrally offsetting a theoretical deburring processing program according to a deviation value so as to compensate the roundness deviation of the shell; the offset value of a single processing area is compensated and processed by a floating deburring tool; the rotation angle of a single processing position is realized by a numerical control turntable at the bottom of the robot, and the robot realizes the action of a single processing part; the floating deburring tool is pneumatically driven, and adopts a radial floating compensation mode or an axial compensation mode according to different compensation principles;
and step 3: the deburring process is error-proof; before processing a single processing area, detecting the position and the shape of a certain processing characteristic in the processing area through a vision system and a robot control system; and the robot control system compares and analyzes the shape and the position of the actual machining characteristic with the theoretical model according to the allowed tolerance value so as to eliminate zero offset, alignment error and machining program error of the robot.
The invention has the beneficial effects that: through designing an automatic burring device of robot, realize quick clamping, automatic alignment, automatic burring and the course of working mistake proofing of large-scale shell section part, reduce or replace operator's manual work, improve the machining efficiency and the stability of quality of product. The alignment device can realize 100% automation of the alignment process of the parts by quickly clamping and aligning, and the alignment error is not more than 0.1mm; through automatic burring device part, can realize that shell section product circularity warp within 10mm, the self-adaptation processing within 1mm of the straightness deformation that hangs down, the chamfer is not more than 0.5mm after the burring. Through the error-proof device part in the deburring process, the automatic detection of the problems of zero offset, alignment error, machining program error and the like of the robot can be realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the robot automated deburring device of the present invention;
FIG. 2 is a schematic diagram of a robot actuator according to the present invention;
FIG. 3 is a schematic view of a clamping structure of the present invention;
FIG. 4 is a first schematic view of a quick alignment structure of the present invention;
fig. 5 is a schematic diagram of a quick alignment structure of the present invention.
In the figure: the device comprises a shell section 1, a robot 2, a vision system 21, a laser range finder 22, a floating deburring tool 23, a rotary table 24, a clamping device 3, a pressing plate 31, a screw 32, a nut 33, an upright column 34, a workbench 4, a backing ring 41, an alignment device 5, a linear guide rail I51, a servo motor I52, an alignment device supporting table 53, a linear guide rail II 54, a servo motor II 55, a linear guide rail III 56, a linear guide rail IV 57, a base 6 and supporting legs 7
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The device mainly comprises a quick clamping and aligning device, an automatic deburring device and a deburring process error-proofing device.
The quick clamping and aligning device is characterized in that 2 groups of linear guide rails are additionally arranged at the bottom of the workbench 4 to form a cross sliding table, deviation values in 2 directions of the shell section are detected through a laser range finder 22 in the robot actuating mechanism, and automatic quick alignment of the shell section is realized through the cross sliding table.
The automatic deburring device part divides the inner shape processing area into a plurality of parts according to the circumferential direction according to the inner shape characteristic distribution of the shell section, the roundness deviation value of each part is not more than 1mm, the whole deviation is independently calibrated on the top position of the inner shape reinforcing rib of the shell section 1 through the laser range finder 22 in the robot executing mechanism, and the position deviation of each characteristic in the processing position is automatically compensated and processed through a floating deburring tool.
Before the shell section is machined, a vision system 21 in a robot actuating mechanism is adopted in the error-proof part in the deburring process to detect whether the actual machining characteristic shape and position are consistent with the theory or not so as to solve the problems of zero offset, alignment error, machining program error and the like of the robot.
As shown in fig. 1 and 3-5, the quick clamping and aligning device comprises a workbench 4, a backing ring 41, a clamping device 3 and an aligning device 5; the clamping device 3 comprises a pressure plate 31, a screw 32, a nut 33 and a column 34; the alignment device 5 comprises an alignment device support platform 53, a linear guide rail I51, a linear guide rail II 54, a linear guide rail III 56, a linear guide rail IV 57, a servo motor I52 and a servo motor II 55; the backing ring 41 is positioned on the workbench 4, the shell section 1 is positioned on the backing ring 41, a T-shaped groove is arranged on the workbench 4, a driving device is arranged at the lower end of the upright column 34, the driving device can drive the upright column 34 to move up and down so as to adapt to clamping of shells with different heights, a base of the driving device is matched with the T-shaped groove on the workbench 4 and can move along the T-shaped groove so as to adapt to clamping of shells with different diameters, a pressing plate 31 is arranged at the top of the upright column 34, and the end part of the screw rod 32 is connected with the pressing plate 31 through a nut 33; the base 6 is provided with a second servo motor 55, a third linear guide rail 56 and a fourth linear guide rail 57, the alignment device supporting platform 53 is provided with a first linear guide rail 51, a second linear guide rail 54 and a first servo motor 52, the third linear guide rail 56 is parallel to the fourth linear guide rail 57, the first linear guide rail 51 is parallel to the second linear guide rail 54, the alignment device supporting platform 53 is positioned on the third linear guide rail 56 and the fourth linear guide rail 57 and can be driven by the second servo motor 55 to move along the third linear guide rail 56 and the fourth linear guide rail 57, and the workbench 4 is positioned on the first linear guide rail 51 and the second linear guide rail 54 and can be driven by the first servo motor 52 to move along the first linear guide rail 51 and the second linear guide rail 54.
During clamping, the shell section 1 is hoisted to a backing ring 41 of the device, the outer diameter of the backing ring 41 is consistent with the size of the shell section 1, and the hoisting deviation is not more than 20mm; the shell section 1 is fixed by a clamping device 3 by utilizing a T-shaped groove on a workbench 4, wherein the height of the upright column 34 can be adjusted, and the screw rods 32 with different specifications are selected to adapt to different heights of the shell section 1; after the shell section 1 is fixed, detecting deviation values of the top surfaces of the ribs of the shell section 1 in 2 directions through a laser range finder 22 on an executing mechanism of the robot 2, controlling the actions of a first servo motor 52 and a second servo motor 55 through a robot control system, and completing the movement of a workbench in 42 directions according to the deviation values to realize the quick four-point alignment of the shell section 1; after the shell section 1 is subjected to four-point alignment, the zero point setting of the circumferential angle of the shell section 1 is realized through a rotary table 24 at the bottom of the robot 2.
As shown in fig. 2, the quick clamping and aligning device detects the position deviation of the shell section through a laser range finder 22 on the robot actuating mechanism, and the robot control system performs alignment according to the deviation value; the automatic deburring device comprises a robot 2, a laser range finder 22, a floating deburring tool 23, a robot rotary table 24 and a robot control system; the deburring processing program is compiled in an off-line programming mode of a robot, the inner-shape processing program of the shell section 1 is divided into a plurality of parts according to the circular degree deformation condition of the shell 1, and the circular degree deviation value of each part of the shell section 1 is ensured to be not more than 1mm; detecting the rib top position at the middle position of a single processing part by using a laser range finder 22, comparing the actual value and the theoretical value of the position by using a robot control system, and integrally offsetting the theoretical deburring processing program according to the deviation value so as to compensate the roundness deviation of the shell 1; the offset value of the single machining area is compensated and machined by a floating deburring tool 23; the rotation angle of a single processing position is realized by a numerical control rotary table 24 at the bottom of the robot 2, and the robot 2 realizes the action of a single processing part; the floating deburring tool 23 is driven by air, and adopts a radial floating compensation mode or an axial compensation mode according to different compensation principles.
As shown in fig. 2, the deburring process error proofing means is realized by a robot 2, a vision system 21 and a robot control system. Before a single machining area is machined, the position and the shape of a certain machining feature in the machining area are detected through a vision system 21 and a robot control system; and the robot control system compares and analyzes the shape and the position of the actual machining characteristic with the theoretical model according to the allowed tolerance value so as to eliminate the problems of zero offset, alignment error, machining program error and the like of the robot.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The utility model provides an automatic burring device of large-scale shell section part which characterized in that: the device comprises a quick clamping and aligning device, an automatic deburring device and a deburring process error-proofing device; the quick clamping and aligning device comprises a workbench (4), a backing ring (41), a clamping device (3) and an aligning device (5); the clamping device (3) comprises a pressure plate (31), a screw rod (32), a nut (33) and an upright post (34); the alignment device (5) comprises an alignment device support platform (53), a linear guide rail I (51), a linear guide rail II (54), a linear guide rail III (56), a linear guide rail IV (57), a servo motor I (52) and a servo motor II (55); the cushion ring (41) is positioned on the workbench (4), the shell section (1) is positioned on the cushion ring (41), a T-shaped groove is formed in the workbench (4), a driving device is arranged at the lower end of the upright column (34), the driving device can drive the upright column (34) to move up and down so as to adapt to clamping of shells with different heights, a base of the driving device is matched with the T-shaped groove in the workbench (4) and can move along the T-shaped groove so as to adapt to clamping of shells with different diameters, a pressing plate (31) is arranged at the top of the upright column (34), and the end part of the screw rod (32) is connected with the pressing plate (31) through a nut (33); the base (6) is provided with a second servo motor (55), a third linear guide rail (56) and a fourth linear guide rail (57), the alignment device supporting platform (53) is provided with a first linear guide rail (51), a second linear guide rail (54) and a first servo motor (52), the third linear guide rail (56) is parallel to the fourth linear guide rail (57), the first linear guide rail (51) is parallel to the second linear guide rail (54), the alignment device supporting platform (53) is located on the third linear guide rail (56) and the fourth linear guide rail (57), the three linear guide rail (56) and the fourth linear guide rail (57) can be driven to move along the second linear guide rail (51) and the fourth linear guide rail (57) through the second servo motor (55), and the workbench (4) is located on the first linear guide rail (51) and the second linear guide rail (54) and can be driven to move along the first linear guide rail (51) and the second linear guide rail (54) through the first servo motor (52).
2. The automatic deburring device for large shell parts according to claim 1, characterized in that the rapid clamping and aligning device detects shell position deviation through a laser range finder (22) on a robot executing mechanism, and a robot control system performs alignment according to the deviation value.
3. The automatic deburring device for large shell segment parts according to claim 1 is characterized by comprising a robot (2), a laser range finder (22), a floating deburring tool (23), a robot turntable (24) and a robot control system.
4. The automatic deburring device for large shell segment parts according to claim 1, characterized in that said deburring process error proofing device is realized by a robot (2), a vision system (21) and a robot control system.
5. The deburring method of the automatic deburring device for the large shell section parts as claimed in any one of claims 1 to 4, characterized by comprising the following steps:
step 1: rapidly clamping and aligning; during clamping, the shell section (1) is hoisted to a backing ring (41) of the device, the outer diameter of the backing ring (41) is consistent with the size of the shell section (1), and the hoisting deviation is not more than 20mm; the shell sections (1) are fixed by utilizing T-shaped grooves on the workbench (4) and the clamping device (3), wherein the height of the upright column (34) can be adjusted, and the screw rods (32) with different specifications are selected to adapt to different heights of the shell sections (1); after the shell section (1) is fixed, deviation values in 2 directions of the top surface of a rib of the shell section (1) are detected through a laser range finder (22) on an executing mechanism of the robot (2), a servo motor I (52) and a servo motor II (55) are controlled to move through a robot control system, movement in 2 directions of a workbench (4) is completed according to the deviation values, and quick four-point alignment of the shell section (1) is achieved;
and 2, step: automatic deburring; the deburring processing program is compiled in an off-line programming mode through a robot, the internal machining program of the shell section (1) is divided into a plurality of parts according to the circular degree deformation condition of the shell (1) in the circumferential direction, a laser range finder (22) is used for detecting the rib top position at the middle position of a single processing part, the actual value and the theoretical value of the position are compared through a robot control system, and the theoretical deburring processing program is integrally offset according to the deviation value so as to compensate the circular degree deviation of the shell (1); the deviation value of the single processing area is compensated and processed by a floating deburring tool (23); the rotation angle of a single processing position is realized by a numerical control rotary table (24) at the bottom of the robot (2), and the robot (2) realizes the action of a single processing part;
and step 3: the deburring process is error-proof; before processing of a single processing area, the position and shape of a certain processing feature in the processing area are detected through a vision system (21) and a robot control system.
6. The deburring method according to claim 5, characterized in that in step 1, after the shell section (1) is aligned at four points, the zero point setting of the circumferential angle of the shell section (1) is realized by a rotary table (24) at the bottom of the robot (2).
7. The deburring method as claimed in claim 5, wherein in step 2, it is ensured that the roundness deviation of each partial shell segment (1) is not more than 1mm.
8. The deburring method according to claim 5, characterized in that in step 2, said floating deburring tool (23) is pneumatically driven, using radial floating compensation or axial compensation depending on the compensation principle.
9. The deburring method of claim 5, wherein in the step 3, the robot control system compares and analyzes the shape and the position of the actual machining feature with a theoretical model according to an allowed tolerance value so as to eliminate zero offset, alignment error and machining program error of the robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011368055.XA CN112454052B (en) | 2020-11-26 | 2020-11-26 | Automatic deburring device and deburring method for large-scale shell section part |
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| CN202011368055.XA CN112454052B (en) | 2020-11-26 | 2020-11-26 | Automatic deburring device and deburring method for large-scale shell section part |
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| CN112454052B true CN112454052B (en) | 2022-12-20 |
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| CN115519313B (en) * | 2022-08-31 | 2023-06-02 | 江苏中科云控智能工业装备有限公司 | Deburring robot workstation based on vision is supplementary |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS58196963A (en) * | 1982-05-08 | 1983-11-16 | Sumitomo Metal Ind Ltd | Deburring method of thin wall pipe end |
| CN103273104B (en) * | 2013-06-21 | 2015-11-18 | 南车戚墅堰机车有限公司 | The vertical type method for processing of axle suspension bearing box installed surface |
| CN203817820U (en) * | 2014-03-20 | 2014-09-10 | 南车戚墅堰机车车辆工艺研究所有限公司 | Positioning clamping tool for bottom scraping of gear box |
| CN105500145A (en) * | 2016-01-05 | 2016-04-20 | 江苏贝特管件有限公司 | Processing system for cylindrical or spherical parts |
| CN106736672A (en) * | 2016-11-29 | 2017-05-31 | 天津市汇晶丰精密机械有限公司 | A kind of high-pressure gear pump rear cover tooling fixture |
| JP6457468B2 (en) * | 2016-12-08 | 2019-01-23 | ファナック株式会社 | Deburring device |
| CN108908103A (en) * | 2018-06-26 | 2018-11-30 | 中国船舶重工集团公司第七0七研究所 | A kind of planetary cycloid reducer casing machining device |
| CN208629085U (en) * | 2018-07-09 | 2019-03-22 | 卢勇兴 | A kind of linear guide head burr remover |
| CN109623624B (en) * | 2018-12-20 | 2021-07-23 | 苏州航发航空零部件有限公司 | Honing process for thin-wall sleeve parts |
| CN110883633B (en) * | 2019-11-25 | 2021-09-07 | 哈尔滨工业大学 | Positioning, supporting and clamping device for large thin-wall cylindrical part |
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