CN115026597A - End effector for laser-assisted hole making based on ROS operating system - Google Patents
End effector for laser-assisted hole making based on ROS operating system Download PDFInfo
- Publication number
- CN115026597A CN115026597A CN202210831899.6A CN202210831899A CN115026597A CN 115026597 A CN115026597 A CN 115026597A CN 202210831899 A CN202210831899 A CN 202210831899A CN 115026597 A CN115026597 A CN 115026597A
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- laser
- offset
- end effector
- main shaft
- hollow
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- 239000012636 effector Substances 0.000 title claims abstract description 31
- 238000005553 drilling Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 20
- 230000008878 coupling Effects 0.000 claims description 21
- 238000010168 coupling process Methods 0.000 claims description 21
- 238000005859 coupling reaction Methods 0.000 claims description 21
- 238000003754 machining Methods 0.000 claims description 12
- 239000013307 optical fiber Substances 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 2
- 238000004088 simulation Methods 0.000 claims description 2
- 238000005299 abrasion Methods 0.000 abstract description 5
- 238000010438 heat treatment Methods 0.000 abstract description 3
- 230000003746 surface roughness Effects 0.000 abstract description 2
- 238000005520 cutting process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P25/00—Auxiliary treatment of workpieces, before or during machining operations, to facilitate the action of the tool or the attainment of a desired final condition of the work, e.g. relief of internal stress
- B23P25/003—Auxiliary treatment of workpieces, before or during machining operations, to facilitate the action of the tool or the attainment of a desired final condition of the work, e.g. relief of internal stress immediately preceding a cutting tool
- B23P25/006—Heating the workpiece by laser during machining
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B51/00—Tools for drilling machines
- B23B51/02—Twist drills
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses an end effector for laser-assisted hole making based on an ROS operating system and a using method thereof, wherein the device comprises the end effector for laser-assisted hole making; the mechanical arm based on the ROS operating system is used for moving the end effector to an appointed pose space, the end effector for laser-assisted hole making is used for processing a plate to be processed, and the plate to be processed is fixed in an appointed working area through the plate clamping device. Through the laser auxiliary heating method, the surface of the drilling area of the plate to be processed is rapidly heated and softened, the drilling resistance and the abrasion of a drill bit are reduced, and the processing precision, the processing efficiency and the surface roughness are greatly improved.
Description
Technical Field
The invention relates to an end effector for laser-assisted hole making based on an ROS operating system and a using method thereof.
Background
In the field of aerospace, the drilling processing of aircraft skin is of great importance to the influence of aircraft performance, and the problems of drilling precision and quality are urgently solved. The conventional drilling technique is drilling using a drill bit. The laser hole making technology is that a high-power laser beam is focused on the surface of a workpiece in front of a cutting edge, the surface of a plate to be processed is softened by using the high energy of the laser, and the cutting resistance is reduced, so that the processing quality is improved, the abrasion of a cutter is reduced, and the cost is saved.
However, the drilling of the holes by the conventional drill generates strong vibration, so that the plate is subjected to stress deformation, and the accuracy and quality of the holes are affected. And the abrasion to the cutter is serious, the service life of the cutter is influenced, and the processing cost is increased. For the laser-assisted heating hole making, the laser can only irradiate the surface of the plate, so that the processing process cannot be influenced all the time, and the improvement on the hole making precision is limited. Therefore, a processing device for forming holes in the skin of the airplane needs to be designed so as to improve the hole forming precision and quality.
Disclosure of Invention
The purpose of the invention is: aiming at a processing device for drilling holes on an aircraft skin, the processing device can improve the accuracy and quality of drilling holes.
In order to realize the purpose, the invention adopts the following technical scheme:
the invention provides an end effector for laser-assisted hole making based on an ROS operating system and a use method thereof, and a bias hollow twist drill is designed, so that a laser beam can be always applied to the whole drilling process. An end effector comprising laser assisted drilling; the mechanical arm based on the ROS operating system is used for moving the end effector to an appointed pose space, the end effector for laser-assisted hole making is used for processing a plate to be processed, and the plate to be processed is fixed in an appointed working area through the plate clamping device. Through the laser auxiliary heating method, the surface of the drilling area of the plate to be processed is rapidly heated and softened, the drilling resistance and the abrasion of a drill bit are reduced, and the processing precision, the processing efficiency and the surface roughness are greatly improved.
Preferably, the laser-assisted emptying end effector is characterized in that: the machining device comprises a mechanical arm based on an ROS operating system, an end effector for laser-assisted hole making, and a plate to be machined; the plate to be processed is fixed in a working area through a clamp, the end effector of the laser auxiliary hole making is used for drilling the plate to be processed, and the mechanical arm based on the ROS operating system is used for moving the end effector of the laser auxiliary hole making to drill to an appointed pose space.
Preferably, the laser-assisted emptying end effector is characterized in that: the laser-assisted hole making end effector comprises a bias hollow main shaft, the bias hollow main shaft is connected with a bearing support through a bearing, the bearing support is connected with a platform through a bolt, the bias hollow main shaft is connected with a bias hollow twist drill, main shaft feeding in the drilling process is realized through a roller screw, the bias hollow main shaft is connected with a refractor, the refractor is fixed on a refractor support, the refractor support is connected with the bias hollow main shaft through a bolt, and a laser coupling device is connected with the bias hollow main shaft.
Preferably, the offset hollow twist drill is characterized in that compared with a common drill, the offset hollow twist drill is provided with a through hole, and the through hole is offset, so that a laser beam can irradiate on a plate to be processed and complete a drilling task. And a layer of optical fiber is embedded in the offset hole, so that the energy of the laser beam is transmitted to the tool nose of the offset hollow twist drill.
The refractor is characterized in that: the refractor can enable a light source emitted by the optical fiber to enter the laser coupling device all the time through refraction.
Further, the laser coupling device is characterized in that: one end of the laser coupling device injects laser, and the other end of the laser coupling device emits laser, so that the laser is coupled in the device.
Further, the aforementioned biasing is characterized by: the bias hollow spindle and the bias hollow twist drill are both bias hollow, and bias holes are coaxial all the time in the working process, so that the laser beams are ensured to irradiate on the plate to be processed.
Preferably, the optical fiber is characterized in that: the optical fiber is in a fixed state, is always coaxial with the main shaft, is refracted by the refractor and irradiates into the laser coupling device, and is irradiated into the offset hollow main shaft through coupling.
The device comprises the following specific implementation steps:
1) selecting the power of laser, the feeding speed of a cutter, the rotating speed of a main shaft and the technological parameters of the cutter according to the simulation result;
2) fixing a plate to be processed in a designated processing area through a clamp;
3) according to the simulated process parameters, the specific position of the laser focusing head relative to the cutter and the size of a light spot are adjusted by the adjusting device, so that the light spot irradiates on a reasonable position of the material to be processed;
4) planning a machining track of the mechanical arm based on the ROS operating system according to machining requirements;
5) starting a device and a laser switch, wherein laser beams are emitted by a laser and coupled by a laser coupling device, then are transmitted into a bias hollow spindle, then are transmitted into a bias hollow twist drill, and finally are transmitted to the surface of a workpiece to be processed, and holes are formed by a mechanical arm according to a pre-planned processing route;
6) after the machining process is finished, the mechanical arm drives the cutter to retract;
7) and closing the device and the laser switch to complete a complete cutting process.
Compared with the prior art, the invention has the following technical effects:
(1) the invention combines the traditional drilling technology with laser, is assisted by the laser, heats and softens the plate, reduces the hardness of the workpiece, improves the processing quality, reduces the abrasion of the cutter and reduces the processing cost.
(2) The invention adopts the hollow main shaft and the hollow twist drill to ensure that the laser beam is used for the whole processing process of drilling and cutting, and the laser beam always acts on a plate to be processed.
(3) The eccentric device is used for enabling the laser beam to reach the processing area of the plate from the through hole of the cutter, and the phenomenon that the middle of the plate cannot be processed in the processing process can be avoided by using the eccentric hole.
Drawings
FIG. 1 is a schematic structural view of an end effector for laser-assisted drilling;
FIG. 2 is an assembly view of an end effector for laser assisted hole making;
FIG. 3 is a schematic view of a plate for a substitute process;
FIG. 4 is a schematic diagram of an optical path;
FIG. 5 is a partial view;
wherein: the laser-assisted hole making device comprises an end effector (1) for laser-assisted hole making, a bias hollow main shaft (101), a bearing (102), a bearing support (103), a platform (104), a bias hollow twist drill (105), a roller screw (106), a refractor (107), a refractor support (108), a laser coupling device (109), an optical fiber (110), a plate (2) and a clamp (3).
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
referring to fig. 1 to 5, an end effector for laser assisted hole drilling based on ROS operating system is characterized in that: an end effector (1) for laser-assisted drilling; the plate (2) to be machined is fixed in a working area through a clamp (3), the end effector (1) for laser-assisted hole machining is used for drilling the plate (2) to be machined, and the mechanical arm based on the ROS operating system is used for moving the end effector (1) for laser-assisted hole machining to an appointed pose space for drilling;
referring to fig. 1 to 5, the laser-assisted drilling end effector (1) comprises a bias hollow spindle (101), the bias hollow spindle (101) is connected with a bearing support (103) through a bearing (102), the bearing support (103) is connected with a platform (104) through a bolt, the bias hollow spindle (101) is connected with a bias hollow twist drill (105), spindle feeding in a drilling process is realized through a roller screw (106), the bias hollow spindle (101) is connected with a refractor (107), the refractor (107) is fixed on a refractor bracket (108), the refractor bracket (108) is connected with the bias hollow spindle (101) through a bolt, and a laser coupling device (109) is connected with the bias hollow spindle (101);
referring to fig. 1 and 2, compared to a conventional drill, the offset hollow twist drill (105) has a through hole formed therein, and the through hole is offset so that a laser beam can irradiate the plate (2) to be processed and drill the hole. Moreover, a layer of optical fiber is embedded in the offset hole to ensure that the energy of the laser beam is transmitted to the tool nose of the offset hollow twist drill (105);
referring to fig. 4 and 5, the refractor (108) can refract the light emitted from the optical fiber (110) to enter the laser coupling device (109).
Referring to fig. 4 and 5, one end of the laser coupling device (109) emits laser light, and the other end emits laser light, so that the laser light is coupled in the device.
Referring to fig. 4 and 5, the offset hollow twist drill (105) of the offset hollow spindle (101) has offset through holes, and the offset holes are always coaxial during the working process, so as to ensure that the laser beam can irradiate on the plate (2) to be processed.
Referring to fig. 4 and 5, the optical fiber (110) is in a fixed state, is always coaxial with the main axis, refracts and irradiates into the laser coupling device (109) through the refractor (112), and irradiates into the offset hollow main axis (101) through coupling.
Claims (7)
1. An end effector of supplementary system hole of laser based on ROS operating system which characterized in that: an end effector (1) for laser-assisted drilling; plate (2) of waiting to process are fixed at work area through anchor clamps (3), the supplementary system hole of laser end effector (1) is used for treating processing panel (2) and carries out drilling processing, the arm based on ROS operating system is used for removing the supplementary system hole of laser end effector (1) and drills to appointed position appearance space.
2. The laser assisted via end effector of claim 1, wherein: the end effector (1) for laser-assisted hole making comprises a bias hollow main shaft (101), the bias hollow main shaft (101) is connected with a bearing support (103) through a bearing (102), the bearing support (103) is connected with a platform (104) through a bolt, the bias hollow main shaft (101) is connected with a bias hollow twist drill (105), main shaft feeding in the drilling process is achieved through a roller lead screw (106), the bias hollow main shaft (101) is connected with a refractor (107), the refractor (107) is fixed on a refractor support (108), the refractor support (108) is connected with the bias hollow main shaft (101) through a bolt, and a laser coupling device (109) is connected with the bias hollow main shaft (101).
3. The offset hollow twist drill (105) according to claim 2, wherein: compared with a common drill, the offset hollow twist drill (105) is provided with a through hole, and the through hole is offset, so that a laser beam can irradiate the plate (2) to be processed and complete a drilling task. And a layer of optical fiber is embedded in the offset hole to ensure that the energy of the laser beam is transmitted to the tool tip of the offset hollow twist drill (105).
4. The refractor (108) of claim 2, wherein: the refractor (108) can enable the light source emitted by the optical fiber (110) to enter the laser coupling device (109) all the time through refraction.
5. The laser coupling device (109) according to claim 4, wherein: one end of the laser coupling device (109) emits laser, and the other end emits laser, so that the laser is coupled in the device.
6. The bias according to claim 2, wherein: the offset hollow spindle (101) and the offset hollow twist drill (105) are provided with offset through holes, and the offset holes are always coaxial in the working process, so that the laser beams can irradiate on the plate (2) to be processed.
7. The optical fiber (110) of claim 4, wherein: the optical fiber (110) is in a fixed state, is coaxial with the main shaft all the time, is refracted and irradiated into the laser coupling device (109) through the refractor (112), and is irradiated into the offset hollow main shaft (101) through coupling.
The device comprises the following specific implementation steps:
-selecting laser power, tool feed speed, spindle speed, tool process parameters according to the simulation result;
-fixing the plate to be machined in a designated machining area by means of a clamp;
according to the simulated technological parameters, the specific position of the laser focusing head relative to the cutter and the size of the light spot are adjusted through an adjusting device, so that the laser focusing head irradiates a reasonable position of a material to be processed;
planning a machining trajectory of the mechanical arm based on the ROS operating system according to machining requirements;
the laser beam is emitted by the laser, coupled by the laser coupling device, transmitted into the offset hollow spindle, transmitted into the offset hollow twist drill, and transmitted to the surface of a workpiece to be machined, and drilled by the mechanical arm according to a pre-planned machining route;
after the machining process is finished, the mechanical arm drives the cutter to retract;
the device, the laser switch, is turned off, completing a complete machining process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210831899.6A CN115026597A (en) | 2022-07-15 | 2022-07-15 | End effector for laser-assisted hole making based on ROS operating system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210831899.6A CN115026597A (en) | 2022-07-15 | 2022-07-15 | End effector for laser-assisted hole making based on ROS operating system |
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| Publication Number | Publication Date |
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| CN115026597A true CN115026597A (en) | 2022-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210831899.6A Pending CN115026597A (en) | 2022-07-15 | 2022-07-15 | End effector for laser-assisted hole making based on ROS operating system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115592423A (en) * | 2022-12-01 | 2023-01-13 | 太原理工大学（Cn） | Processing device for laser-assisted drilling |
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