CN113579827A

CN113579827A - Intelligent measurement and control equipment for six-axis machining and use method

Info

Publication number: CN113579827A
Application number: CN202110953250.7A
Authority: CN
Inventors: 李文美
Original assignee: Chengdu Tianma Xingkong Robot Research Co ltd
Current assignee: Chengdu Tianma Xingkong Robot Research Co ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2021-11-02

Abstract

The invention belongs to the technical field of machining, and particularly relates to six-shaft machining intelligent measurement and control equipment which comprises six mechanical arms, a machining platform, a limiting component and a measurement and control component, wherein the limiting component is placed on the machining platform and connected with the machining platform, the six mechanical arms are arranged on the outer side of the machining platform, a workpiece is placed in the middle of the limiting component and fixed on the workpiece, and the measurement and control component is arranged on the outer side of the workpiece and connected with the machining platform in a sliding manner. The grabbing and subsequent processing of the mechanical arm are affected.

Description

Intelligent measurement and control equipment for six-axis machining and use method

Technical Field

The invention belongs to the technical field of machining, and particularly relates to intelligent measurement and control equipment for six-axis machining and a using method of the intelligent measurement and control equipment.

Background

In the numerical control machine tool machining production, a six-axis robot is often used to realize an automatic production line. On the frame of lathe, the overall structure of manipulator digit control machine tool is compacter, and the space that occupies is little, has practiced thrift the space. The six-axis multi-joint robot system has the advantages of high efficiency and stability, simple structure and easy maintenance, can meet the production requirements of different products, can adjust the product structure and enlarge the productivity for users quickly, and can greatly reduce the labor intensity of industrial workers. The automatic multi-freedom-degree feeding and discharging device has the advantages that flexible combination of multiple numerical control machines is realized, automatic feeding and discharging of multiple degrees of freedom and workpiece clamping are realized, the requirements of high-difficulty production processes are met, industrial CCD visual detection can be configured, and free grabbing of complex workpieces is realized; can realize continuous mass production of single workpieces and automatic program conversion production of various small batches.

Chinese patent with application number CN201721282414.3 discloses a dustproof structure of a six-axis cutting machine, which comprises a frame, six processing devices and a vacuum adsorption device, wherein the six processing devices are slidably located above the vacuum adsorption device, the vacuum adsorption device comprises an adsorption mechanism and a dustproof mechanism, the adsorption mechanism is provided with a quick-disassembly-assembly type workbench and a vacuum pipeline which are mutually communicated to form vacuum adsorption, the quick-disassembly-assembly type workbench is arranged on the dustproof mechanism through an avoiding mechanism, the vacuum pipeline is arranged in the dustproof mechanism, and cleaning mechanisms are arranged on two sides of the dustproof mechanism; the utility model discloses a beneficial effect embodies: adopt fixed sheet metal type dust cover to replace traditional nylon trailing type dustproof construction, increase the life of machine, can reach better dustproof effect to be equipped with between processingequipment and clean the mechanism, can circulate through the brush and clean in the course of working, in time clean and collect the waste material, reduce artifical intensity of labour by a wide margin, reduce the machine fault rate, reduction in production cost, the be convenient for use in production, the practicality is strong.

However, in the six-axis machining apparatus in the above prior art, after the position of the workpiece is corrected, the robot arm grips the workpiece again, so as to prevent the workpiece from being incompletely contacted with the machining platform during the deviation, which causes inaccurate positioning of the fixture for lathe machining, and particularly when the position of the tubular workpiece is corrected, the tubular workpiece needs to be moved step by step, so that the central axis of the tubular workpiece cannot be aligned with the limiting component easily in multiple movements, and further the position correction of the tubular workpiece cannot be guaranteed, which affects the gripping and subsequent machining of the robot arm.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an intelligent measurement and control device for six-axis machining, which is used for solving the problems that after the position of a workpiece is corrected, the workpiece is grabbed by a mechanical arm, so that the phenomenon that the positioning of a clamp for lathe machining is not accurate due to incomplete contact between the workpiece and a machining platform during the deviation of the workpiece is avoided, especially when the position of a tubular workpiece is corrected, the tubular workpiece needs to be moved step by step, the central axis of the tubular workpiece cannot be aligned with a limiting component easily in multiple movements, and further the position correction of the tubular workpiece cannot be ensured, and the grabbing and subsequent machining of the mechanical arm are influenced.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a six processing are with intelligent measurement and control equipment, includes six arms, processing platform, spacing subassembly and observes and controls the subassembly, spacing subassembly is placed on processing platform and is connected with processing platform, six arms set up in processing platform's the outside, the work piece has been placed and right at the middle part of spacing subassembly the work piece is fixed, observe and control the subassembly set up in the outside of work piece and with processing platform sliding connection, can dismantle on the measurement and control subassembly and be connected with the measurement and control probe, the central line of measurement and control probe is in same horizontal plane and mutually perpendicular with the central line of work piece, the drive has on the measurement and control subassembly observe and control the subassembly removal and make the measurement and control probe be close to or keep away from the actuating mechanism of work piece, the front end of six arms snatchs the work piece.

The measurement and control assembly can measure the workpiece on a machine for processing, so that the working efficiency can be improved, and errors caused by repeated clamping can be reduced to the greatest extent. Today, where time costs are getting higher, increasing accuracy and efficiency means that more profit margin is possible. The measurement and control probe in the measurement and control assembly can measure the change of the central axis for many times, and the workpiece is prevented from moving continuously after shaking.

Further, observe and control the subassembly still including observing and controlling the slide rail, with observe and control slide rail sliding connection's observing and controlling the sliding plate, observe and control the probe and be connected with the upper portion of observing and controlling the sliding plate, actuating mechanism locates the screw rod fixed block and the driving hand wheel of screw rod periphery including setting up drive screw, the cover on observing and controlling the sliding plate, the both ends of screw rod are connected with observing and controlling probe, driving hand wheel respectively, it is rotatory drive hand wheel, observe and control the subassembly court the radial movement of work piece works as observe and control probe and work piece contact, observe and control the probe and record current displacement and pass to external system with observing and controlling data.

When the measurement and control probe is contacted with a workpiece, a sensor at the front end of the measurement and control probe sends a signal, an external system records the moving distance of the measurement and control assembly, the measurement and control assembly moves repeatedly when the workpiece moves for multiple times, and the measurement and control probe records the moving distance of the measurement and control assembly for multiple times.

Further, the outside of observing and controling the subassembly still is equipped with the work piece subassembly that targets in place, the work piece subassembly that targets in place including set up in the rotation hand wheel of processing platform bottom, with rotate hand wheel matched with worm gear unit, the front end of worm gear unit is connected with the U-shaped connecting block, the head of U-shaped connecting block still is connected with stirs the slider, the last rectangular shape recess of having seted up of processing platform, stir the slider and stretch into in the rectangular shape recess, it is rotatory rotate the hand wheel, stir the slider and will remove on rectangular shape recess.

The worm gear unit changes the driving direction of rotating the hand wheel, realizes will stirring the slider and move on rectangular shape recess, and then realizes the removal of work piece subassembly that targets in place, and wherein the U-shaped connecting block can be dismantled, makes things convenient for routine maintenance.

Furthermore, the workpiece in-place assembly further comprises a workpiece pushing piece arranged on the upper portion of the machining platform, and the bottom of the workpiece pushing piece is connected with the shifting sliding block.

The workpiece in-place assembly can adopt a specific action form of contacting a workpiece pushing piece with the workpiece, and the workpiece pushing piece is connected with the poking sliding block to realize pushing of the workpiece.

Furthermore, the front end of the workpiece pushing piece is also connected with an L-shaped bracket.

The L-shaped support can be detachably connected with the workpiece pushing piece, the size of the L-shaped support is changed according to the diameter of the workpiece, and meanwhile, the bottom of the changed L can play a role in adjusting a central contact point with the end face of the workpiece, so that the stress direction is coincided with the moving direction.

Further, be connected with on the measurement and control probe and be equipped with the butt strip, the one end of butt strip surpasss the long limit of measurement and control probe and can contact with work piece propulsion.

When the sliding distance of the workpiece in place assembly is too large, the workpiece pushing piece can be in direct contact with the measurement and control probe or even collide with the measurement and control probe, the measurement and control assembly is damaged after a long time, and the butt strip can play a role in collision prevention.

Further, be equipped with symmetrical sliding part and regulating part on the spacing subassembly, two the inboard of sliding part is connected with the grip block, the grip block produces clamping-force and fixes the work piece, the regulating part sets up in the upper end of sliding part.

The grabbed workpiece is transferred onto the machine tool through the six-axis mechanical arm, the workpiece cannot be shifted in position, and the workpiece is positioned by the clamp to meet the requirement of subsequent processing.

The supporting assembly comprises a telescopic cylinder and a supporting block, the telescopic cylinder is connected to the bottom of the processing platform, the head of the telescopic cylinder is connected with a detachable ejector rod, the supporting block is connected with the telescopic cylinder through the ejector rod, the telescopic cylinder controls the supporting block to ascend and descend and contacts with the bottom of the workpiece, and then the pressure of the workpiece on the clamping blocks on the two sides is adjusted.

The supporting component is arranged between the two sliding parts, so that the adjustment of the position of the workpiece in the vertical direction is increased, and the workpiece offset can be further avoided.

Further, the automatic leveling device comprises a leveling assembly, wherein the leveling assembly is arranged on one side of the limiting assembly, a through hole is formed in the leveling assembly, and an elastic rubber pad is arranged on the inner wall of the through hole.

The flat-arranging component is added, the other side of the tubular workpiece is sleeved in the through hole, the support and the tubular work lifting are kept horizontal, the elastic rubber pad is used for placing the workpiece to be in direct contact with the through hole, the workpiece is damaged due to collision on the inner wall of the through hole or is abraded due to long-time work, the flat-arranging component is provided with a sliding rail, and the flat-arranging component is in sliding connection with the processing platform through the sliding rail.

The use method of the intelligent measurement and control equipment for six-axis machining comprises the following steps:

s1: the device is assembled, the limiting assembly is placed on the processing platform and connected with the processing platform, the six-axis mechanical arm is arranged on the outer side of the six-axis mechanical arm, and the measurement and control assembly is arranged on the outer side of a workpiece and is connected with the processing platform in a sliding mode;

s2: the method comprises the following steps of collecting measurement and control data for the first time, placing one end of a workpiece between limiting assemblies, and enabling a measurement and control probe in the measurement and control assemblies to collect the offset data of the central axis of the workpiece for the first time by controlling a driving mechanism;

s3: the workpiece in-place assembly acts on the tail of the workpiece, and the workpiece pushing piece acts on the tail of the workpiece by controlling the workpiece in-place assembly to move back and forth so as to move towards the limiting assembly;

s4: and (4) acquiring measurement and control data again, repeatedly acting the workpiece in-place assembly on the workpiece in S3, repeatedly transversely translating the measurement and control probe to contact with different parts on the axis of the workpiece, recording the current moving distance by the measurement and control probe for many times, and transmitting the measurement and control data to an external system.

Compared with the prior art, the invention has the following beneficial effects:

1. in the process that the tubular workpiece moves towards the limiting assembly, the measurement and control probe in the measurement and control assembly can detect the change value of the central axis, and the situation that the workpiece is shifted and enlarged and cannot be corrected timely due to continuous movement after shaking is prevented.

2. The driving mechanism moves the measurement and control assembly towards the normal position of the central axis of the workpiece, when the measurement and control probe is in contact with the workpiece, a sensor at the front end of the measurement and control probe sends a signal, an external system records the moving distance of the measurement and control assembly, the measurement and control assembly repeatedly moves when the workpiece moves for multiple times, and the measurement and control probe records the moving distance of the measurement and control assembly for multiple times.

3. The invention adds a workpiece in-place component on the outer side of the measurement and control component, and acts on the tail part of the workpiece for multiple times to enable the workpiece to move towards the limit component for multiple times so as to meet the length requirement of the workpiece entering the limit component, the in-place component is matched with the execution pace of the measurement and control component, the measurement and control component returns to the initial position every time the workpiece is pushed, and the measurement and control component moves again after the workpiece in-place component is pushed, the measurement and control probe measures and controls the transverse moving distance again, the workpiece moves for multiple times, the measurement and control probe generates multiple groups of data, if the workpiece moves in a swinging mode, the measured data are different, and the multi-stage measurement and control data are processed and compared by an external system to obtain corresponding judgment results so as to achieve the purpose of measurement and control.

4. The workpiece is limited by the limiting assembly, and particularly, the clamping blocks on the inner sides of the two sliding parts on the limiting assembly clamp the workpiece, so that the position of the workpiece in the left and right directions is limited and the workpiece is isolated from other workpieces, the shape of the workpiece is adjusted in the clamping process of the clamping blocks, the bottom of the workpiece is guaranteed to be in complete contact with a machining platform, the six-axis mechanical arm grabs the workpiece, the grabbed workpiece is transferred to a machine tool on the six-axis mechanical arm, the workpiece cannot shift in position after being placed, and the workpiece is positioned by the clamp to meet the requirement of subsequent machining.

Drawings

FIG. 1 is a schematic perspective view (view one) of a measurement and control assembly in an embodiment of an intelligent measurement and control device for six-axis machining according to the present invention;

FIG. 2 is a schematic view of a top view structure of a measurement and control assembly in an embodiment of an intelligent measurement and control device for six-axis machining according to the present invention;

FIG. 3 is a schematic perspective view (view two) of a measurement and control assembly in an embodiment of an intelligent measurement and control device for six-axis machining according to the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is a schematic diagram of an overall three-dimensional structure of an embodiment of an intelligent measurement and control device for six-axis machining according to the present invention;

FIG. 6 is a partial enlarged view of FIG. 5 at B;

reference numerals in the drawings of the specification include:

the six-axis mechanical arm 1, the processing platform 14 and the strip-shaped groove 141;

the limiting component 2, a sliding part 21, a clamping block 22, a rotary clamping head 230, an adjusting part 23 and a locking unit 24;

the supporting component 3, the supporting block 32 and the mandril 33;

the leveling component 4, a through hole 41, an elastic rubber pad 42 and a slide rail 43;

the measurement and control assembly 6, the measurement and control probe 61, the sensor 610, the abutting strip 611, the driving mechanism 62, the screw 621, the screw fixing block 622, the driving hand wheel 623, the measurement and control slide rail 63 and the measurement and control slide plate 64;

the device comprises a workpiece 7, a workpiece in-place assembly 8, a rotating hand wheel 81, a worm and gear unit 82, a U-shaped connecting block 83, a toggle sliding block 84, a workpiece pushing piece 85 and an L-shaped bracket 86.

Detailed Description

In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.

Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The first embodiment is as follows:

as shown in fig. 1-6, the six-axis intelligent measurement and control equipment for machining of the invention comprises six-axis mechanical arms 1, a machining platform 14, a limiting component 2 and a measurement and control component 6, wherein the limiting component 2 is placed on the machining platform 14 and connected with the machining platform 14, the six-axis mechanical arms 1 are arranged on the outer side of the machining platform 14, a workpiece 7 is placed in the middle of the limiting component 2 and fixed to the workpiece 7, the measurement and control component 6 is arranged on the outer side of the workpiece 7 and slidably connected with the machining platform 14, a measurement and control probe 61 is detachably connected to the measurement and control component 6, the center line of the measurement and control probe 61 and the center line of the workpiece 7 are in the same horizontal plane and are perpendicular to each other, a driving mechanism 62 for driving the measurement and control component 6 to move so that the measurement and control probe 61 is close to or far away from the workpiece 7 is arranged on the measurement and control component 6, and the front ends of the six-axis mechanical arms 1 are used for grabbing the workpiece 7.

The measurement and control assembly 6 can measure the workpiece on a machine for processing, so that the working efficiency can be improved, and errors caused by repeated clamping can be reduced to the greatest extent. Today, where time costs are getting higher, increasing accuracy and efficiency means that more profit margin is possible. In the invention, when the tubular workpiece moves towards the limiting component 2, the measurement and control probe 61 in the measurement and control component 6 can measure the change of the central axis for a plurality of times, so that the situation that the workpiece moves continuously after shaking to cause the offset expansion and the workpiece cannot be corrected in time is prevented.

The measurement and control assembly 6 further comprises a measurement and control slide rail 63 and a measurement and control slide plate 64 connected with the measurement and control slide rail 63 in a sliding manner, the measurement and control probe 61 is connected with the upper portion of the measurement and control slide plate 64, the driving mechanism 62 comprises a driving screw 621 arranged on the measurement and control slide plate 64, a screw fixing block 622 and a driving hand wheel 623, the screw fixing block 622 and the driving hand wheel 623 are sleeved on the periphery of the screw 621, two ends of the screw 621 are respectively connected with the measurement and control probe 61 and the driving hand wheel 623, the driving hand wheel 623 is rotated, the measurement and control assembly 6 moves towards the radial direction of the workpiece 7, when the measurement and control probe 61 is in contact with the workpiece 7, the measurement and control probe 61 records the current moving distance and transmits measurement and control data to an external system. The driving mechanism 62 of the present invention moves the measurement and control assembly 6 towards the normal position of the central axis of the workpiece, when the measurement and control probe 61 contacts the workpiece, the sensor 610 at the front end of the measurement and control probe 61 sends a signal, the external system records the moving distance of the measurement and control assembly 6, the measurement and control assembly 6 will move repeatedly when the workpiece moves for multiple times, and the measurement and control probe 61 records the moving distance of the measurement and control assembly itself for multiple times.

The outer side of the measurement and control assembly 6 is also provided with a workpiece in-place assembly 8, the workpiece in-place assembly 8 comprises a rotating hand wheel 81 arranged at the bottom of the processing platform 14 and a worm and gear unit 82 matched with the rotating hand wheel 81, the front end of the worm and gear unit 82 is connected with a U-shaped connecting block 83, the head of the U-shaped connecting block 83 is also connected with a shifting sliding block 84, a long strip-shaped groove 141 is formed in the processing platform 14, the shifting sliding block 84 extends into the long strip-shaped groove 141, the hand wheel 81 is rotated, and the shifting sliding block 84 moves on the long strip-shaped groove 141. The workpiece in-place component 8 acts on the tail of the workpiece 7 for multiple times to enable the workpiece 7 to move towards the limiting component 2 for multiple times so as to meet the length requirement that the workpiece 7 enters the limiting component 2, the in-place component 8 is matched with the execution pace of the measurement and control component 6, the measurement and control component 6 returns to the initial position every time the workpiece 7 is pushed, the measurement and control component 6 moves again after the workpiece in-place component 8 pushes the workpiece for the last time, the measurement and control probe 61 measures and controls the transverse moving distance again, the workpiece moves for multiple times, the measurement and control probe 61 generates multiple groups of data, if the workpiece shakes during moving, the measured data are different, and the multiple levels of measurement and control data are processed and compared by an external system to obtain corresponding judgment results so as to achieve the purpose of measurement and control.

The worm and gear unit 82 changes the driving direction of the rotating hand wheel 81, so that the shifting sliding block 84 can move on the elongated groove 141, the workpiece in-place assembly 8 can move, and the U-shaped connecting block 83 can be detached, so that the daily maintenance is facilitated.

The workpiece positioning assembly 8 further comprises a workpiece pushing member 85 arranged on the upper part of the processing platform 14, and the bottom of the workpiece pushing member 85 is connected with the toggle sliding block 84. The workpiece in-place assembly 8 can adopt a specific action mode that the workpiece pushing piece 85 is contacted with the workpiece 7, and the workpiece pushing piece 85 is connected with the toggle sliding block 84 to realize the pushing of the workpiece.

The L-shaped bracket 86 can be detachably connected with the workpiece pushing piece 85, the size of the model of the L-shaped bracket 86 can be changed according to the diameter of the workpiece, and meanwhile, the bottom of the changed L can play a role in adjusting a central contact point with the end face of the workpiece, so that the stress direction is coincided with the moving direction.

The measurement and control probe 61 is connected with an abutting strip 611, and one end of the abutting strip 611 exceeds the long edge of the measurement and control probe 61 and can be in contact with the workpiece pushing piece 85. When the sliding distance of the workpiece in-place component 8 is too large, the workpiece pushing component 85 may directly contact or even collide with the measurement and control probe 61, and after a long time, the measurement and control component 6 is damaged, and the abutting strip 611 can play a role of collision prevention, and of course, the abutting strip 611 can be made of an elastic material.

The limiting component 2 is provided with symmetrical sliding parts 21 and adjusting parts 23, clamping blocks 22 are connected to the inner sides of the two sliding parts 21, the clamping blocks 22 generate clamping force for fixing the workpiece 7, and the adjusting parts 23 are arranged at the upper ends of the sliding parts 21.

The existing equipment has the defects that the position of a workpiece is not accurate in machining, the positioning of a machining clamp is influenced, particularly, a part of the workpiece is not completely contacted with a platform plane due to the mutual collision of a large number of workpieces in a feeding disc, the workpiece is inclined, when a mechanical arm is used for grabbing and is movably placed on lathe equipment, the workpiece can shake relatively to generate position deviation, the subsequent machining is influenced, the workpiece is not stably guided in the feeding disc, part of the workpiece to be machined is inclined and is conveyed to an operation platform by the workpieces on two sides, the mechanical arm can grab the workpiece, the inclined workpiece is not adjusted, the workpiece is not stably placed on a lathe by the mechanical arm, the workpiece can shake due to the self gravity, and the position coordinate of the workpiece on the lathe can deviate, the invention adopts the limiting component 2 to limit the workpiece, particularly the clamping blocks 22 at the inner sides of two sliding parts 21 on the limiting component 2 to clamp the workpiece, on one hand, the position of the workpiece in the left and right directions is limited and is separated from other workpieces, on the other hand, the shape of the workpiece is adjusted in the clamping process of the clamping blocks 22 to ensure the complete contact of the bottom of the workpiece and a processing platform, and then the six-axis mechanical arm 1 grabs the workpiece, the grabbed workpiece is transferred to a machine tool on the six-axis mechanical arm 1, and after the workpiece is placed, the position of the workpiece cannot deviate, and the fixture positions the workpiece to meet the requirement of subsequent processing, and the deviation caused by the matching of the workpiece and the fixture is reduced in the clamping process, so that the processing efficiency of the workpiece machine and the finished product precision are improved.

The adjusting portion 23 is provided at the upper end of the sliding portion 21, the adjusting portion 23 is provided with a rotary chuck 230 and a locking unit 24 for driving the rotary chuck 230 to rotate, and the rotary chuck 230 rotates relative to the adjusting portion 23 and moves the holding block 22 toward both outer sides of the sliding portion 21. In the process that the clamping block 22 clamps the workpiece therein, the shape of the workpiece needs to be adjusted, if only direct clamping is adopted, no external interference is added, and the aim of adjustment is possible to be achieved, the invention adopts the adjusting part 23 arranged on the sliding part 21, the rotating chuck 230 is controlled by the locking unit 24, the rotating chuck 230 can act on one clamping block 22 or two clamping blocks according to the requirement, the rotating chuck 230 rotates, the front end of the rotating chuck 230 is contacted with the inner side of the clamping block 22, the rotating chuck 230 rotates to move the clamping block 22 in the sliding part 21 towards two outer sides, so that the two clamping blocks 22 can not act on the workpiece at the same time, the force form applied to the two sides of the workpiece is not a couple, the workpiece can be self-adjusted, but the last two clamping blocks 22 can act on the two sides of the workpiece for clamping, and the aim of adjusting the workpiece is achieved, meanwhile, the position of the workpiece is limited, and the six-axis mechanical arm 1 can be grabbed conveniently.

The supporting component 3 is arranged between the two sliding portions 21, the supporting component 3 comprises a telescopic cylinder (not shown in the figure) and a supporting block 32, the telescopic cylinder is connected to the bottom of the processing platform 14, the head of the telescopic cylinder is connected with a detachable ejector rod 33, the supporting block 32 is connected with the telescopic cylinder through the ejector rod 33, the telescopic cylinder controls the supporting block 32 to ascend and descend and contacts with the bottom of the workpiece 7, and then the pressure of the workpiece 7 on the clamping blocks 22 on the two sides is adjusted.

Set up supporting component 3 between two sliding parts 21, increase the adjustment of a vertical direction to the work piece position on the one hand, can further avoid the emergence of work piece skew, on the other hand, telescopic cylinder control supporting shoe 32 rise with descend and contact with the bottom of work piece, it is too big to receive two grip block 22 form squints when the work piece, the contained angle that forms with the surface of water is big, make grip block 22's impetus undersize, make the centre gripping dynamics when too big, through the removal from top to bottom with the work piece, change work piece outer wall and grip block 22's contact impetus, adjust the work piece to the pressure of both sides grip block 22, and then make the centre gripping more balanced.

The outside of supporting component 3 is connected with the strengthening rib, and telescopic cylinder passes through the strengthening rib to be connected with processing platform 14. The reinforcing ribs play a role in reinforcing the connection between the fixed support assembly 3 and the processing platform 14. The leveling component 4 is arranged on one side of the limiting component 2, a through hole 41 is formed in the leveling component 4, and an elastic rubber pad 42 is arranged on the inner wall of the through hole 41. The flat-arranging component 4 is added, the other side of the tubular workpiece is sleeved in the through hole 41 to support and lift the tubular workpiece to keep horizontal, wherein the elastic rubber pad 42 is used for placing the workpiece to be in direct contact with the through hole 41 to collide with the inner wall of the through hole 41 to damage or wear after long-time work, the flat-arranging component 4 is provided with a slide rail 43, and the flat-arranging component 4 is in sliding connection with the processing platform 14 through the slide rail 43. The flat-arranging component 4 is provided with a slide rail 43, the force point of the through hole 41 on the flat-arranging component 4 and the tubular workpiece is changed through the slide rail 43, the flat-arranging component can adapt to the requirements of tubular workpieces with different lengths, the adjustment is convenient, the inner sides of the clamping blocks 22 are arc-shaped, and a gap is reserved between the two clamping blocks 22. The clearance is to leave a space for the ejector rod 33 and the head of the telescopic cylinder. The inner side of the clamping block 22 is arc-shaped, which can be customized according to the outer shape of the actual workpiece, and is also suitable for the requirement of tubular workpieces.

s1: assembling the device, namely placing the limiting assembly 2 on a processing platform and connecting the limiting assembly with the processing platform, arranging the six-axis mechanical arm 1 outside the six-axis mechanical arm 1, and arranging the measurement and control assembly 6 outside the workpiece 7 and in sliding connection with the processing platform 14;

s2: the method comprises the following steps of (1) primarily collecting measurement and control data, namely placing one end of a workpiece between limiting assemblies 2, and primarily collecting the central axis offset data of the workpiece 7 by a measurement and control probe 61 in a measurement and control assembly 6 by controlling a driving mechanism 62;

s3: the workpiece in-place assembly 8 acts on the tail of the workpiece 7, and the workpiece pushing piece 85 acts on the tail of the workpiece 7 by controlling the forward and backward movement of the workpiece in-place assembly 8 to move towards the limiting assembly 2;

s4: and (4) acquiring measurement and control data again, repeatedly acting the workpiece in-place assembly 8 on the workpiece 7 in S3, repeatedly transversely translating the measurement and control probe 61 to contact with different parts on the axis of the workpiece 7, recording the current moving distance by the measurement and control probe 61 for many times, and transmitting the measurement and control data to an external system.

The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.

In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being fixed or detachable or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Claims

1. The utility model provides a six processing are with intelligent measurement and control equipment which characterized in that: including six arms (1), processing platform (14), spacing subassembly (2) and observe and control subassembly (6), spacing subassembly (2) are placed on processing platform (14) and are connected with processing platform (14), six arms (1) set up in the outside of processing platform (14), work piece (7) and right have been placed at the middle part of spacing subassembly (2) work piece (7) are fixed, observe and control subassembly (6) set up in the outside of work piece (7) and with processing platform (14) sliding connection, it observes and controls probe (61) to dismantle to be connected with on observing and controlling subassembly (6), the central line of observing and controlling probe (61) and the central line of work piece (7) are in same horizontal plane and mutually perpendicular, it has the drive on observing and controlling subassembly (6) observe and control subassembly (6) and remove and make observe and control probe (61) be close to or keep away from actuating mechanism (62) of work piece (7), the front end of the six-axis mechanical arm (1) is used for grabbing a workpiece (7).

2. The intelligent measurement and control equipment for six-axis machining according to claim 1, characterized in that: observe and control subassembly (6) still include observing and control slide rail (63), observe and control slide plate (64) with observing and control slide rail (63) sliding connection, observe and control probe (61) and be connected with the upper portion of observing and controlling slide plate (64), actuating mechanism (62) are including setting up drive screw (621) on observing and controlling slide plate (64), the screw rod fixed block (622) and the driving hand wheel (623) of screw rod (621) periphery are located to the cover, the both ends of screw rod (621) are connected with observing and controlling probe (61), driving hand wheel (623) respectively, rotate driving hand wheel (623), observe and control subassembly (6) court the radial movement of work piece (7) works as observe and control probe (61) and work piece (7) contact, observe and control probe (61) record current displacement and pass to external system with observing and controlling data.

3. The intelligent measurement and control equipment for six-axis machining according to claim 1 or 2, characterized in that: the outside of observing and controlling subassembly (6) still is equipped with work piece subassembly (8) that targets in place, the work piece subassembly (8) that targets in place including set up in rotation hand wheel (81) of processing platform (14) bottom, with rotate hand wheel (81) matched with turbine worm unit (82), the front end of turbine worm unit (82) is connected with U-shaped connecting block (83), the head of U-shaped connecting block (83) still is connected with stirs slider (84), rectangular shape recess (141) have been seted up on processing platform (14), stir slider (84) and stretch into in rectangular shape recess (141), it is rotatory rotate hand wheel (81), stir slider (84) and will move on rectangular shape recess (141).

4. The intelligent measurement and control equipment for six-axis machining according to claim 3, characterized in that: the workpiece in-place assembly (8) further comprises a workpiece pushing piece (85) arranged on the upper portion of the machining platform (14), and the bottom of the workpiece pushing piece (85) is connected with the toggle sliding block (84).

5. The intelligent measurement and control equipment for six-axis machining according to claim 4, characterized in that: the front end of the workpiece pushing piece (85) is also connected with an L-shaped bracket (86).

6. The intelligent measurement and control equipment for six-axis machining according to claim 4, characterized in that: the measurement and control probe (61) is connected with a butt joint strip (611), and one end of the butt joint strip (611) exceeds the long edge of the measurement and control probe (61) and can be in contact with the workpiece propelling piece (85).

7. The intelligent measurement and control equipment for six-axis machining according to claim 1, characterized in that: be equipped with symmetrical sliding part (21) and regulating part (23) on spacing subassembly (2), two the inboard of sliding part (21) is connected with grip block (22), grip block (22) produce clamping-force and fix work piece (7), regulating part (23) set up in the upper end of sliding part (21).

8. The intelligent measurement and control equipment for six-axis machining according to claim 7, characterized in that: the pressure adjusting device is characterized by further comprising a supporting assembly (3), the supporting assembly (3) is arranged between the two sliding portions (21), the supporting assembly (3) comprises a telescopic cylinder and a supporting block (32), the telescopic cylinder is connected to the bottom of the machining platform (14), the head of the telescopic cylinder is connected with a detachable ejector rod (33), the supporting block (32) is connected with the telescopic cylinder through the ejector rod (33), the telescopic cylinder controls the supporting block (32) to ascend and descend and to be in contact with the bottom of a workpiece (7), and then the pressure of the workpiece (7) on the clamping blocks (22) on the two sides is adjusted.

9. The intelligent measurement and control equipment for six-axis machining according to claim 2, characterized in that: still including managing flat subassembly (4), it sets up in one side of spacing subassembly (2) to manage flat subassembly (4), through-hole (41) have been seted up on managing flat subassembly (4), through-hole (41) inner wall is equipped with elastic rubber mat (42).

10. The use method of the intelligent measurement and control equipment for six-axis machining according to claim 1, characterized in that: the method comprises the following steps:

s1: the device is assembled, the limiting assembly (2) is placed on a machining platform and connected with the machining platform, the six-axis mechanical arm (1) is arranged on the outer side of the six-axis mechanical arm (1), and the measurement and control assembly (6) is arranged on the outer side of a workpiece (7) and is connected with the machining platform (14) in a sliding mode;

s2: the method comprises the following steps of collecting measurement and control data for the first time, placing one end of a workpiece between limiting assemblies (2), and enabling a measurement and control probe (61) in a measurement and control assembly (6) to collect the central axis offset data of the workpiece (7) for the first time by controlling a driving mechanism (62);

s3: the workpiece in-place assembly (8) acts on the tail of the workpiece (7), and the workpiece pushing piece (85) acts on the tail of the workpiece (7) by controlling the front and back movement of the workpiece in-place assembly (8) to move towards the limiting assembly (2);

s4: and (3) acquiring measurement and control data again, repeatedly acting the workpiece in-place assembly (8) on the workpiece (7) in S3, repeatedly transversely translating the measurement and control probe (61) to contact with different parts on the axis of the workpiece (7), recording the current moving distance by the measurement and control probe (61) for many times, and transmitting the measurement and control data to an external system.