CN114311132A - Numerical control machining process equipment for unmanned aerial vehicle body - Google Patents
Numerical control machining process equipment for unmanned aerial vehicle body Download PDFInfo
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- CN114311132A CN114311132A CN202111493807.XA CN202111493807A CN114311132A CN 114311132 A CN114311132 A CN 114311132A CN 202111493807 A CN202111493807 A CN 202111493807A CN 114311132 A CN114311132 A CN 114311132A
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Abstract
The invention discloses numerical control machining process equipment for an unmanned aerial vehicle body, which comprises a machining platform base and a three-axis numerical control machining platform arranged on the machining platform base, wherein the three-axis numerical control machining platform comprises an X axis moving transversely, a Y axis which is perpendicular to the X axis direction and rotates in a vertical plane and a Z axis which is perpendicular to the X axis and moves up and down in the vertical plane, and a cutter motor is arranged on the Z axis. The invention completes the scheme design and drawing chemical work of the process equipment, completes the first equipment assembly debugging and trial processing, completes the control and structure optimization, solves various problems found in the processing process and finally completes the research smoothly.
Description
Technical Field
The invention belongs to the technical field of intelligent automatic manufacturing process equipment, and relates to numerical control processing equipment for an unmanned aerial vehicle body.
Background
The development of the XF101 project was derived from the russian introduction project. The device mainly comprises a photoelectric device protective hood, a middle bomb body cabin, a tail cabin, a front missile wing, a rear missile wing, a vertical tail wing and a folding self-falling hoop restraining device. The bullet body middle cabin contains various measurement control and data recording equipment, a fuel tank and a battery, and the upper part of the middle cabin is provided with an engine which is the most important component in a product.
The head cover shell, the middle cabin shell and the tail cabin shell in the product are all made of composite materials. The length of the head housing body is about 200mm, the head housing body is composed of a hemisphere with the radius of 100mm and a cylinder with the length of 100mm, the diameter of the middle housing body is 200mm, the length of the middle housing body is about 820mm, the length of the tail housing body is about 260mm, and the head housing body is composed of a cylinder with the radius of 100mm and a cone. In order to ensure accurate connection combination of the three parts and accommodate various types of equipment, the three parts need to be processed with various types of mounting hole positions. According to statistics, the head cover shell has 10 holes in one category, the tail cabin shell has 15 holes in one category, the middle cabin shell has 219 holes in 16 categories, and two special-shaped openings are added. Due to the fact that the variety and the number of the holes are multiple, the qualification rate of the composite material product is improved, and the precision is guaranteed, so that the composite material product is not beneficial to being manufactured in a die in the process of machining the shell, secondary reprocessing is needed after the shell is formed through the die, and the composite material product finally becomes a finished product capable of being assembled after being inspected to be qualified.
In the initial stage of the project development, the processing of various hole sites is carried out in a mode of manually marking and measuring according to drawing lines and then processing by using a handheld electric tool. In order to achieve the accuracy of manual scribing, a clamping tool of the composite material assembly needs to be designed firstly, various datum planes are designed, a workpiece is placed in place accurately, and scribing is performed by using the datum planes. Whether the design of the clamping tool reasonably and directly affects the scribing precision can be finished by people with very much design and practical experience. After the marking-off is finished, various auxiliary processing tools are required to be designed for the accuracy of manual processing so as to meet the requirements of perpendicularity, parallelism, accuracy of special-shaped openings and the like of various hole positions. These works are very tedious, time-consuming and labor-consuming, and the ideal use effect for people with insufficient experience cannot be achieved. Therefore, the secondary processing process described above has many drawbacks. Firstly, in the development stage, various designed tools may not be suitable for use any more due to the change of the scheme, which causes resource waste. Secondly, the variety of the tools and auxiliary devices which need to be designed is various, which is not beneficial to the batch production after the shaping, and the operation burden of the personnel is also increased invisibly. Furthermore, manual marking and manual processing bring uncertainty from person to person, the skill level of each person is inconsistent, the processing accuracy is uncertain, the efficiency is low, waste parts are generated in serious cases, and the progress of projects is influenced.
Disclosure of Invention
Objects of the invention
The purpose of the invention is: the utility model provides an unmanned aerial vehicle fuselage numerical control processing technology equipment realizes the automation of product bullet body middle deck, hood and tail cabin and punches, greatly promotes work efficiency to thought and experience have been accumulated for productivity promotion and production line construction on next step.
(II) technical scheme
In order to solve the technical problems, the invention provides numerical control machining process equipment for an unmanned aerial vehicle body, which comprises a machining platform base and a three-axis numerical control machining platform arranged on the machining platform base, wherein the three-axis numerical control machining platform comprises an X axis moving transversely, a Y axis which is perpendicular to the X axis and rotates in a vertical plane and a Z axis which is perpendicular to the X axis and moves up and down in the vertical plane, and a cutter motor is arranged on the Z axis.
And the X axis, the Y axis and the Z axis are driven by stepping motors.
Wherein, the processing platform base selects a transfer trolley.
The three-axis numerical control machining platform comprises an X-axis guide rail assembly parallel to the missile body, a Z-axis cutter assembly perpendicular to the missile body and a central control turntable assembly rotating around an X axis.
The X-axis guide rail assembly comprises two smooth guide rails for limiting the degree of freedom, and a lead screw is connected with a stepping motor to realize the movement of the cutter along the X axis; the Z-axis cutter assembly comprises a mechanism supporting plate for fixing an electric drill, and the electric drill is controlled by a stepping motor; the center control turntable assembly is characterized in that the indexing disc is fixed by the turntable mounting plate on one side, and the tail cabin is fixed by the tail cabin positioning seat on the other side, so that the rotating positioning of the missile body is realized.
When the X axis moves transversely, a stepping motor is adopted to match with a precision ball screw to serve as a driving mode.
When the Y axis vertically rotates, the hollow stepping motor is adopted to decelerate the turntable, and the fixed base is matched to serve as the Y axis.
When the Z shaft vertically moves up and down, a stepping motor is adopted and matched with a small-diameter precise ball screw, a base of a cutter motor is fixedly installed on a screw transmission nut of the Z shaft, and the base is limited by two perpendicular and mutually parallel optical axis guide rails.
The X-axis drive adopts a 57-type stepping motor, the Y-axis drive adopts a crossed roller bearing turntable with a 60-type stepping motor, and the Z-axis drive adopts a 42-type stepping motor.
The processing technology equipment further comprises: and the drilling machine controls the on-off of the magnet of the relay through the motion controller, further controls the connection and disconnection of the contact, and controls the starting and stopping of the drilling machine.
(III) advantageous effects
The unmanned aerial vehicle fuselage numerical control processing technology equipment provided by the technical scheme completes the scheme design and drawing chemical work of the processing equipment, completes the first equipment assembly debugging and trial processing, completes the control and structure optimization, solves various problems found in the processing process, finally completes the research smoothly, completes two digital equipment with the precision reaching the product processing requirement through the assembly debugging, compiles the use instruction of the equipment, compiles the processing technology, trains all members of the project research team, and completes the set target.
Drawings
Figure 1 is an exterior view of the transfer car.
Fig. 2 is an X-axis drive configuration.
FIG. 3 is a Y-axis drive configuration.
FIG. 4 is a Z-axis support, vertical movement and rig configuration.
Fig. 5 is an electrical design schematic.
Fig. 6 is a bullet punch verification report.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
Referring to fig. 1 to 6, the design scheme of the numerical control processing equipment for the unmanned aerial vehicle body of the embodiment is as follows.
1. Mechanical structure scheme
Given that XF101 product composite components are primarily cylindrical in form, three axis machining can be satisfactory. The basic components are an X axis moving transversely, a Y axis perpendicular to the X axis direction and rotating in a vertical plane, and a Z axis perpendicular to the X axis and moving up and down in the vertical plane. And a cutter motor is arranged on the Z shaft to form a three-shaft numerical control machining platform. The three shafts are all driven by stepping motors.
Processing a platform base:
considering that the size, the shape and the structural strength of the existing transfer trolley for the control cabin products basically meet the requirement of the project, the transfer trolley is selected as a base of a processing platform and is used after the installation positions of various equipment and mechanical structures are processed according to a design scheme. The form and dimensions of which are shown in figure 1.
Moving the X axis transversely:
a stepping motor is matched with a precise ball screw to serve as a driving mode. Two optical axis linear guide rails with the diameter of 20mm are arranged up and down to serve as a supporting and limiting structure of a transverse moving mechanism, and a part of supporting structural members of a Z axis are arranged on ball linear bearings matched with the upper and lower guide rails, as shown in figure 2.
Vertical rotation Y-axis:
a hollow stepper motor reduction turntable is employed, along with a fixed base as the Y-axis, as shown in fig. 3.
Vertically moving the Z axis up and down:
the Z axis also adopts a stepping motor and is matched with a small-diameter precise ball screw to form the device. And a base for mounting a cutter motor is fixed on the screw rod transmission nut of the Z axis. The base is limited by two perpendicular and mutually parallel optical axis guide rails. These mechanical and electrical structures constitute the Z-axis, as shown in fig. 4.
Drilling machine:
considering that the composite material component does not have the large-diameter punching requirement and the reliability problems of heat dissipation and the like of long-time working of equipment, a brushless motor is adopted and matched with a small precision drill chuck to serve as a final cutting mechanism. Meanwhile, because the workpiece is provided with two large special-shaped openings and needs to be processed like carving, the brushless motor is of a high-speed and high-power type with adjustable speed. Generally, the speed can be adjusted to medium and low speed when punching, and the speed can be adjusted to high speed when opening a special-shaped opening.
In summary, the processing equipment of the embodiment uses the existing transfer trolley as a base, and the whole set of processing equipment is installed on the transfer trolley. The whole set of equipment comprises an X-axis guide rail component parallel to the missile body, a Z-axis cutter component vertical to the missile body and a central control turntable component rotating around the X axis. The X-axis guide rail assembly limits the degree of freedom by two smooth guide rails, and a lead screw is connected with a stepping motor to realize the movement of a cutter along the X axis; the Z-axis cutter assembly fixes the electric drill through a mechanism supporting plate, and the electric drill is controlled by a stepping motor; the central control turntable assembly rotating around the X axis is characterized in that the dividing plate is fixed by the turntable mounting plate on one side, and the tail cabin is fixed by the tail cabin positioning seat on the other side, so that the rotating positioning of the missile body is realized.
2. Electric structure scheme
Type selection of a stepping motor:
the X-axis drive adopts a 57-type stepping motor with the torque of 20 kilograms centimeters. After the moving moment is amplified by the screw nut transmission pair, the moment requirement of X-axis driving is met. After the basic step angle of the stepping motor plus the subdivision of the driver, the steps can be divided into 2000 steps, that is, 2000 pulses rotate one turn. With a precise ball screw with a thread pitch of 5 mm, one pulse can drive the screw nut pair to move by 2.5 microns, and the precision is very high.
The Y-axis drives a crossed roller bearing turret selected from a model 60 stepper motor. The driving moment of the stepping motor reaches 25 kilograms centimeters. The crossed roller bearing can realize the gapless rotation of the rotary table and also can greatly improve the radial bearing capacity of the rotary table. In the rotary table selected in the project, the basic step angle of the stepping motor and the subdivision of the driver can be divided into 1000 steps, namely 1000 pulses rotate for one circle. The reduction ratio of the turntable is 1:18, that is, 18000 pulses rotate one turn. One pulse can drive the rotary table to rotate by 0.02 degrees, the precision is very high, the radial bearing capacity reaches 50 kilograms, and the requirement of the project is completely met.
The Z-axis drive adopts a 42-type stepping motor with the torque of 10 kilograms centimeters. After the basic step angle of the stepping motor and the subdivision of the driver, the stepping motor is also divided into 1000 steps, that is, 1000 pulses rotate one turn. The precise ball screw with the thread pitch of 2 mm is matched, one pulse can drive the screw nut pair to move for 2 microns, and the positioning precision is very high.
Step motor motion controller:
and selecting a three-axis controlled motion controller according to the basic design structure of the processing platform. Meanwhile, considering that the middle cabin shell needs to be processed with a special-shaped opening, the controller needs to support a linear interpolation function and a circular interpolation function in the driving chip. In addition, the controller can be communicated with the computer, so that the processing program can be conveniently edited on the computer and then downloaded, and various settings of the controller can be conveniently downloaded on the computer.
The model selection is carried out on the market according to the model selection principle, and a triaxial stepping motor motion controller which can meet the requirement of the project is finally determined through comparison and test for a long time.
Controlling a drilling machine:
the drilling machine selects a type with higher power, so that a high-power relay with a contact current of 15A is connected into the control to be used as intermediate equipment. The motion controller controls the on-off of the magnet of the relay, so that the connection and disconnection of the contact are controlled, and the starting and stopping of the drilling machine are controlled.
The electrical design principle is shown in fig. 5.
3. Processing program scheme
According to the requirements of main technical indexes, the editing of the processing program is obtained by inputting. I.e. people with experience in programming numerous actuators can be mastered with simple training. In the process of editing the processing program, two types of moving distance and rotating angle are frequently input. For these two types of inputs, the project team and the motion controller manufacturer cooperate sufficiently to solidify the programming style in the simplest and most efficient command and input format to ultimately form the input, i.e., the resulting process editing pattern. For example, if the X-axis is required to move 20mm forward relative to the origin at a speed of 2000 mm per minute, the relative motion command may be selected, and the X-axis column may be filled with 20 and the speed column may be filled with 2000, to complete the editing of the motion control. Other commands are similar. If the X-axis is moving another 20mm forward from the coordinates 20, then the relative motion command can be selected, the 20 input and velocity values, and the X-axis will move another 20mm forward. An absolute motion command, input 40 and speed, can also be selected, and the X-axis will move to coordinate 40, and also another 20mm from coordinate 20. The advantage of editing in this way is that the input is obtained without conversion and without formula editing. For oblique line machining, only the coordinates of the starting point and the end point need to be input, and a speed is input, so that the controller automatically distributes the appropriate speed to a certain two axes according to the coordinates, and the oblique line is finally machined. For circular arc machining, only the circular arc starting point, the circular arc end point coordinate, the circular arc radius and the feed speed are needed to be input, a positive value is input along the circular radius, and a negative value is input along the reverse circular radius.
For verifying the reliability of numerical control punching equipment, 2 unmanned aerial vehicle products are selected for use and the body punching data is compared. Through the inspection of related personnel, the precision of the numerical control punching device basically meets the requirement, the numerical control punching device has certain reliability, and a recording table of the inspection process is shown in figure 6.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle fuselage numerical control processing technology equipment, its characterized in that, includes the processing platform base and installs the triaxial numerical control processing platform above that, and triaxial numerical control processing platform includes lateral shifting's X axle, perpendicular to X axle direction and at the Y axle of vertical face internal rotation and perpendicular to X axle and the Z axle that reciprocates at vertical face, installation cutter motor on the Z axle.
2. The unmanned aerial vehicle fuselage numerical control processing equipment of claim 1, characterized in that the drive of X axle, Y axle and Z axle all adopts step motor.
3. The unmanned aerial vehicle fuselage numerical control machining process equipment of claim 2, characterized in that the machining platform base is a transfer vehicle.
4. The unmanned aerial vehicle fuselage numerical control machining process equipment of claim 3, wherein the three-axis numerical control machining platform comprises an X-axis guide rail assembly parallel to the missile body, a Z-axis cutter assembly perpendicular to the missile body, and a central control turntable assembly rotating around an X axis.
5. The unmanned aerial vehicle fuselage numerical control processing equipment of claim 4, wherein the X-axis guide rail assembly comprises two smooth guide rails to limit freedom, and one lead screw is connected with a stepping motor to realize the movement of the cutter along the X axis; the Z-axis cutter assembly comprises a mechanism supporting plate for fixing an electric drill, and the electric drill is controlled by a stepping motor; the center control turntable assembly is characterized in that the indexing disc is fixed by the turntable mounting plate on one side, and the tail cabin is fixed by the tail cabin positioning seat on the other side, so that the rotating positioning of the missile body is realized.
6. The numerical control processing equipment for the unmanned aerial vehicle body as claimed in claim 5, wherein a stepping motor is adopted in combination with a precision ball screw as a driving form when the X-axis moves transversely.
7. The numerical control processing equipment for the unmanned aerial vehicle body as claimed in claim 6, wherein when the Y axis rotates vertically, a hollow stepping motor is adopted to decelerate the turntable, and a fixed base is matched to serve as the Y axis.
8. The numerical control processing equipment for the unmanned aerial vehicle body as claimed in claim 7, wherein when the Z-axis moves vertically up and down, a stepping motor is adopted in combination with a small-diameter precision ball screw, a base of a cutter motor is fixedly mounted on a screw transmission nut of the Z-axis, and the base is limited by two vertical and mutually parallel optical axis guide rails.
9. The unmanned aerial vehicle fuselage numerical control processing equipment of claim 8, wherein the X-axis drive is selected from a 57-type stepping motor, the Y-axis drive is selected from a crossed roller bearing turntable with a 60-type stepping motor, and the Z-axis drive is selected from a 42-type stepping motor.
10. The unmanned aerial vehicle fuselage numerical control processing equipment of claim 9, further comprising: and the drilling machine controls the on-off of the magnet of the relay through the motion controller, further controls the connection and disconnection of the contact, and controls the starting and stopping of the drilling machine.
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