CN115415801A - Robot supporting device and machining method for weak-rigidity annular wheel curved surface thin-wall workpiece - Google Patents
Robot supporting device and machining method for weak-rigidity annular wheel curved surface thin-wall workpiece Download PDFInfo
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- 238000003672 processing method Methods 0.000 claims abstract description 3
- 238000003801 milling Methods 0.000 claims description 27
- 238000007514 turning Methods 0.000 claims description 16
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Abstract
The invention discloses a robot supporting device and a processing method for a thin-walled workpiece with a weak rigidity annular wheel curved surface. The device comprises a machine tool, an external shaft, a follow-up motion device, an end effector, a workpiece, a force sensor, a tool quick-change disk and a robot quick-change disk; the end effector comprises a first connecting rod, a second curved rod, an ellipsoid roller, a cylinder, a first rotating pair, a second rotating pair, a third rotating pair, a swinging block and a coded disc, wherein the second curved rod and the ellipsoid roller form the rotating pair, and the supporting force of the ellipsoid roller and the machining cutting force of a cutter form opposite punching in and out of a thin-wall curved surface of a workpiece space wheel to maintain the stability of a workpiece. The invention adopts the angle sensor to realize the deformation detection of the workpiece during processing on the basis of supporting and vibration suppression, provides a basis for selecting the cutting amount in the next procedure, simultaneously realizes the residual stress release deformation detection after processing, and provides data for predicting the final deformation shape of the workpiece.
Description
Technical Field
The invention relates to the field of efficient and high-precision machining of weak-rigidity thin-wall components, in particular to a supporting device and a method for machining a thin-wall workpiece, and particularly relates to a robot supporting device for a weak-rigidity annular wheel-rotating curved surface thin-wall workpiece.
Background
With the development of industrialization, automation and high and new technology, the thin-wall parts are more and more required, the required precision is high, the thin-wall parts are unstable, have small rigidity and are easy to deform, and are easy to damage in the processing process, and particularly, the parts required in the product have small structural size, light weight and high precision, so that the processing and the manufacturing are more difficult, and especially, the milling processing of the rotary thin-wall parts is very difficult; the existing thin-wall part with a rotary curved surface is usually manufactured by adopting a multi-stage drawing die or spinning machining in the mass production, and the single part is processed by a small batch of parts, and generally, due to various structural types, the problems of complex process, time and labor waste, high production cost, easy deformation, large deformation and low yield exist. The machining precision of the annular thin-wall parts is higher and higher. Most of annular thin-wall parts are complex in structure and multiple in surface characteristics, and are difficult to machine by turning. Due to low rigidity, the workpiece is easy to generate the phenomena of flutter, rebound and the like under the action of cutting force in the milling process, and the surface quality is reduced. Such phenomena reduce the efficiency of high-speed cutting. Therefore, in the processing process of the annular thin-wall part, an auxiliary supporting device is required to be added, so that the local rigidity and the damping are increased, and the processing vibration is inhibited. The clamping efficiency of the manual auxiliary supporting device is low, deformation and stress release are not considered, and deformation monitoring is lacked. Automatic auxiliary stay device, generally need external many data lines, power cord and gas line, its data processing analysis relies on external treater, and the integrated level is not high.
The key problem to be solved by the automatic auxiliary supporting device of the thin-wall annular part is to inhibit machining vibration and obtain deformation measurement data. The vibration suppression function of the conventional auxiliary support is mainly realized by a cylinder or a motor. The vibration suppression of the motor has the main advantages that the displacement precision of the motor is high, and the precise workpiece deformation control can be realized. Grating rulers or other displacement sensors are integrated in the high-precision motor module, and deformation data can be directly obtained. But compare in the cylinder, the effect of shaking of suppressing of motor is poor, and is with high costs to in actual course of working, need consider the waterproof problem of motor, compare the cylinder of same holding power, the volume of motor is bigger, often can appear the problem that the reservation space undersize, can't install. However, in any way, due to the use of different types of sensors and controllers, the wiring is complicated during use, and the method is not suitable for actual processing. The use of the automatic auxiliary supporting device depends on an external processor or a numerical control system of a machine tool, and the independence is not high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a robot supporting device for a thin-wall workpiece with a weak rigidity annular wheel camber. The blank of the workpiece 5 is rough-machined and cast, and has good machining rigidity when the wall thickness of the workpiece 5 is 10mm, but when the wall thickness of a finished product of the workpiece 5 is 1.5mm or less, the thin-wall workpiece 5 and the cutter 104 are separated due to vibration in the wall thickness direction in the machining process of the workpiece 5, so that impact vibration is generated between the thin-wall workpiece 5 and the milling cutter, further cutting chatter marks are generated on the machining surface of the thin-wall workpiece, and the surface quality of the thin-wall workpiece is seriously influenced. Therefore, the auxiliary supporting device of the present invention is required to assist the processing.
The robot supporting device for the weak-rigidity annular wheel curved surface thin-wall workpiece comprises a machine tool 1, an external shaft 2, a follow-up motion device 3, an end effector 4, a workpiece 5, a force sensor 6, a tool quick-change disc 7 and a robot quick-change disc 8;
the machine tool 1 and the external shaft 2 are horizontally arranged on the ground;
the machine tool 1 comprises a machine body 101, a turning power head 102, a milling power head 103 and a cutter 104, wherein a workpiece 5 is arranged on the turning power head 102 through a clamp cantilever, the turning power head 102 is provided with an axial rotation kinematic pair, the milling power head 103 is provided with a 5-axis linkage kinematic pair, and the milling power head 103 can drive the cutter 104 to rotate at a high speed to perform milling movement;
the follow-up moving device 3 is arranged on the external shaft 2, the moving end of the follow-up moving device 3 is connected with the robot quick-change disc 8, the tool quick-change disc 7, the force sensor 6 and the end effector 4 in series in sequence,
the end effector 4 comprises a first connecting rod 401, a second crank lever 402, an ellipsoidal roller 403, an air cylinder 404, a first rotating pair 405, a second rotating pair 406, a third rotating pair 407, a swinging block 408 and a code wheel 409, wherein the air cylinder 404 is connected with an external servo air pressure control system,
the tail end of the first connecting rod 401 is matched and fixedly installed with the force sensor 6, the first connecting rod 401 is connected with the middle part of a swinging block 408 through a third revolute pair 407 shaft, the swinging block 408 is fixedly connected with a second crank rod 402, an air cylinder 404 is installed on the first connecting rod 401, the tail part of the swinging block 408 forms a revolute pair with the air cylinder head of the air cylinder 404 through a second revolute pair 406, the cylinder body tail part of the air cylinder 404 forms a revolute pair with the first connecting rod 401 through a first revolute pair 405, a code disc 409 is installed on the first connecting rod 401, a measuring shaft of the code disc 409 is connected with the swinging block 408, the rotation angles of the third revolute pair 407 and the first connecting rod 401 can be sensed, the displacement of the ellipsoidal roller 403 can be measured, the rotation axes of the first revolute pair 405 and the third revolute pair 407 and the last shaft of the follow-up motion device 3 are in a penetrating relationship, the axes of the second crank rod 402 and the revolute pair 403 are coaxial with the tail end of the second crank rod 402, the end part of the second crank rod 402 and the revolute pair 406 are orthogonal to the axes of the first revolute pair 405, the third crank 406,
the second curved rod 402 and the ellipsoid roller 403 form a rotation pair, and the supporting force of the ellipsoid roller 403 and the machining cutting force of the cutter 104 form opposite impact inside and outside the thin-wall curved surface of the spatial rotation of the workpiece 5 to maintain the stability of the workpiece.
Preferably, the code wheel 409 is a digital encoder for measuring angular displacement, has the advantages of strong resolving power, high measuring precision, reliable work and the like, and is the most commonly used displacement sensor for measuring the rotating angle position of a shaft.
Preferably, the ellipsoidal roller 403 of the end effector 4 has the shape of a spatial ellipsoid. Because the workpiece 5 is a space rotation thin-wall curved surface, the ellipsoid roller 403 in the shape of a space ellipsoid is convenient for realizing that the equator circular line of the ellipsoid roller 403 is in contact with the inner rotation circular line of the space rotation thin-wall curved surface of the workpiece 5, the ellipsoid roller is easy to protrude into the concave space and the convex space, and the cutting force is coplanar with the equator plane of the ellipsoid roller 403.
Preferably, the number of the end effectors 4 is not less than 1. If one end effector 4 can only complete the auxiliary support of the part of the curved surface of the workpiece 5, the technical scheme is that a plurality of end effectors 4 are used for realizing the auxiliary support through a robot quick-change device. Since the length and shape of the second bell crank 402 are different between each end effector 4, the second bell crank 402 of the end effector 4 has a working capacity to lift the end effector 4 in a limited working space. The specific functional principle is shown in fig. 5: the equator circular line of the ellipsoid roller 403 is in contact with the inner rotary circular line of the thin-walled curved surface of the workpiece 5 which is a space wheel, and protrudes into the concave space and the convex space, and the cutting force is coplanar with the equator plane of the ellipsoid roller 403. Furthermore, the ratio of the size of the ellipsoidal roller 403 to the length of the end effector 4 depends on the limited working space inside the workpiece 5, and obviously, a simple straight rod cannot complete the work inside the thin-walled workpiece with weak rigidity and circular wheel curvature, and therefore, the middle bending form of the second curved rod 402 can meet the process requirements of auxiliary support for machining.
Preferably, the force sensor 6 is a multi-dimensional force sensor having a function of sensing vibration in the wall thickness direction during machining on line. The multi-dimensional force sensor is a force sensor capable of measuring force and moment components in more than two directions simultaneously, and the force and the moment can be respectively decomposed into three components in a Cartesian coordinate system, so that the most complete form of the multi-dimensional force sensor is a six-dimensional force/moment sensor, namely, a sensor capable of measuring three force components and three moment components simultaneously, and the widely used multi-dimensional force sensor is the sensor.
The processing method of the thin-walled workpiece with the weak rigidity annular wheel camber uses the robot supporting device of the thin-walled workpiece with the weak rigidity annular wheel camber and comprises the following steps:
1. installing a workpiece: a blank material of the workpiece 5 is arranged on the turning power head 102 through a clamp cantilever;
2. setting parameters: adjusting parameters of a boring system and a supporting system;
3. boring: the inner curved surface of the workpiece 5 is finished;
4. setting parameters: adjusting parameters of a milling system and a supporting system;
5. milling: and (3) five-axis composite machining, wherein in the process of machining the external curved surface of the workpiece 5, the inside of the workpiece is supported by a supporting device in real time on line.
Advantageous effects
1. The invention provides auxiliary support for the annular workpiece in the machining process, improves the local rigidity and damping of the workpiece, further ensures the machining quality of the workpiece, and can measure and obtain deformation data.
2. The invention adopts the angle sensor to realize the deformation detection of the workpiece during processing on the basis of supporting and vibration suppression, provides a basis for the selection of the cutting amount in the next procedure, simultaneously realizes the residual stress release deformation detection after processing, and provides data for the prediction of the final shape of the workpiece deformation.
3. The invention uses the end effectors with different specifications, realizes the processing of workpieces with a plurality of processes on the same tool, improves the processing efficiency and reduces the tool cost.
4. The invention adjusts the air pressure through the air cylinder, directly controls the supporting force and has simple control mode.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
Fig. 1 is a plan view of a thin-walled workpiece support device in an operating state.
Fig. 2 is a front partial view of a thin-walled workpiece support device in an operating state.
FIG. 3 is a schematic side view of a thin-walled workpiece support apparatus in a partially operative condition.
Fig. 4 is a sectional view of another working state of the supporting device for the thin-walled workpiece.
Fig. 5 is a schematic view illustrating a limited operation space of the crank arm inside the workpiece to expand the supporting range.
Detailed Description
The present invention will now be described in more detail with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art may modify the invention herein described while still achieving the beneficial results of the present invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
Example 1
As shown in fig. 1 to 4, the robot supporting device for the weak-rigidity annular wheel camber thin-wall workpiece comprises a machine tool 1, an external shaft 2, a follow-up motion device 3, an end effector 4, a workpiece 5, a force sensor 6, a tool quick-change disk 7 and a robot quick-change disk 8.
The machine tool 1 and the outer shaft 2 are mounted horizontally on the ground. The machine tool 1 is preferably a turning and milling combined type machine tool. The composite machining is realized by a plurality of different machining processes on one machine tool, wherein the most difficult process is the turning and milling composite machining, and the turning and milling composite machining center is equivalent to the combination of a numerical control lathe and a machining center.
The machine tool 1 comprises a bed 101, a turning power head 102, a milling power head 103 and a tool 104. The axis of rotation of turning power head 102 is the C-axis shown in fig. 1. The milling power head 103 can perform servo feed motion relative to the workpiece 5 in a linear motion X direction, a linear motion Y direction, a linear motion Z direction and a rotary B axis. The C axis, the X direction, the Y direction, the Z direction and the B axis are in 5-axis linkage motion. The milling power head 103 drives the cutter 104 to rotate at a high speed to perform milling movement.
The workpiece 5 is mounted on the turning power head 102 by a clamp cantilever. The workpiece 5 is a blank and is processed into a weak-rigidity annular wheel curved surface thin-wall workpiece by using the auxiliary supporting device of the embodiment.
The follow-up motion device 3 is installed on the outer shaft 2, and the motion end of the follow-up motion device 3 is connected with the robot quick-change disc 8, the tool quick-change disc 7, the force sensor 6 and the end effector 4 in series in sequence. The follow-up motion device 3 comprises a controller, a PLC, an industrial personal computer and other common programming software. The follow-up locomotory apparatus 3 is an outsourced mature part, preferably a six-degree-of-freedom industrial robot.
The end effector 4 comprises a first connecting rod 401, a second crank lever 402, an ellipsoidal roller 403, an air cylinder 404, a first rotating pair 405, a second rotating pair 406, a third rotating pair 407, a swinging block 408 and a code disc 409, wherein the air cylinder 404 is connected with an external servo air pressure control system. The tail end of the first connecting rod 401 is matched and fixedly installed with the force sensor 6, the first connecting rod 401 is connected with the middle part of a swinging block 408 through a third revolute pair 407 shaft, the swinging block 408 is fixedly connected with the second crank rod 402, an air cylinder 404 is installed on the first connecting rod 401, the tail part of the swinging block 408 forms a revolute pair with an air cylinder head of the air cylinder 404 through a second revolute pair 406, a cylinder body tail part of the air cylinder 404 forms a revolute pair with the first connecting rod 401 through a first revolute pair 405, a code disc 409 is installed on the first connecting rod 401, a measuring shaft of the code disc 409 is connected with the swinging block 408, the rotation angles of the third revolute pair 407 and the first connecting rod 401 can be sensed, the displacement of the ellipsoidal roller 403 is measured, the rotation axes of the first revolute pair 405 and the third revolute pair 407 and the last shaft of the servo motor 3 are in a penetrating relationship, when the servo motor 3 is a six-degree-of-freedom industrial robot, namely, the sixth shaft of the second crank rod 402 and the revolute pair 403 are in a coaxial relationship with the tail end axis 402 and the head end of the second crank rod, the second crank rod 403 and the second crank rod 406 are not orthogonal to the axial line of the second crank rod 406,
the second curved rod 402 and the ellipsoid roller 403 form a rotation pair, and the supporting force of the ellipsoid roller 403 and the machining cutting force of the cutter 104 form opposite impact inside and outside the thin-wall curved surface of the spatial rotation of the workpiece 5 to maintain the stability of the workpiece.
The code wheel 409 is preferably a digital encoder that measures angular displacement. The ellipsoidal roller 403 of the end effector 4 is preferably shaped as a spatial ellipsoid. The force sensor 6 is preferably a multi-dimensional force sensor. The cutter 104 is preferably a ball nose or ball nose mill. Ball nose cutters are known for their hemispherical cutting end, which are typically used to reduce stress concentrations during operation and are typically adapted to machine three-dimensional curved shapes of workpieces. The ball end milling cutter is a cutter with a cutting edge which is assembled on a milling machine like a ball head and used for milling various curved surfaces and arc grooves.
The robot quick-change device comprises a tool quick-change disc 7, a robot quick-change disc 8 and a related common automation device, and is a flexible connecting tool used in an end effector for the industrial robot industry. The robot tool quick-change disk 8 is a flexible connecting tool used in an end effector in the industrial robot industry, can enable the robot to fully exert performance, complete various operations and improve the cost performance of the robot. The industrial robot Tool quick-change disc 8 is divided into a robot side Master side and a Tool side, is arranged on an arm at the front end of a robot, is arranged on an executing Tool at the Tool side, is provided with soldering pliers, grippers and the like, and can quickly realize the communication of electricity, gas and liquid between the robot side and the executing Tool. One robot side can be used with the cooperation of a plurality of instrument sides according to user's actual conditions, increases the flexible manufacturing of robot production line, increases robot production line's efficiency and reduction in production cost. The tool quick-change device enables different media, such as gas, electrical signals, liquid, video, ultrasound, etc., to be communicated from the robot arm to the end effector.
In practice, the method for processing the workpiece 5 by using the robot supporting device for the weak-rigidity annular wheel camber thin-wall workpiece comprises the following steps:
1. installing a workpiece: a blank material of the workpiece 5 is arranged on the turning power head 102 through a clamp cantilever;
2. setting parameters: adjusting parameters of a boring system and a supporting system;
3. boring: the inner curved surface of the workpiece 5 is finished;
4. setting parameters: adjusting parameters of a milling system and a supporting system;
5. milling: and (3) five-axis composite machining, wherein in the process of machining the external curved surface of the workpiece 5, the inside of the workpiece is supported by a supporting device in real time on line.
In practice, when it is desired to implement by means of a robot quick-change device with a plurality of end-effectors 4, as shown in fig. 2 and 4, the second curved lever 402 may be switched from a bent-up posture to a bent-down posture. The switching has the beneficial effect that the end effector 4 can conveniently expand the operation range which is in line with the supporting process in the limited operation space of the thin-wall revolution curved surface of the workpiece 5. The specific implementation steps are as follows:
1) The follow-up locomotory apparatus 3 draws the end effector 4 out of the thin-wall revolution surface of the workpiece 5;
2) The end effector 4 moves, causing the second bell crank 402, the ellipsoidal roller 403 and the swing block 408 to move integrally to the hanging third revolute pair 407. The whole center of the second curved bar 402, the ellipsoidal roller 403 and the swinging block 408 is positioned right below the third revolute pair 407;
3) The cylinder 404 releases the servo air pressure;
4) The servo-mover 3 rotates the end effector 4 around the axis of the third revolute pair 407 of the space, and the second revolute pair 406 moves from one side of the line connecting the first revolute pair 405 and the third revolute pair 407 to the other side in the figure;
5) The follow-up mover 3 enables the end effector 4 to enter a proper position inside the thin-wall revolution curved surface of the workpiece 5 to continue working.
The invention adopts the angle sensor to realize the deformation detection of the workpiece during processing on the basis of supporting and vibration suppression, provides a basis for selecting the cutting amount in the next procedure, simultaneously realizes the residual stress release deformation detection after processing, and provides data for predicting the final deformation shape of the workpiece. In addition, the invention provides auxiliary support for the annular workpiece in the machining process, improves the local rigidity and damping of the workpiece, further ensures the machining quality of the workpiece, and can measure and obtain deformation data.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The robot supporting device for the weak-rigidity annular wheel curved surface thin-wall workpiece is characterized by comprising a machine tool, an external shaft, a follow-up motion device, an end effector, a workpiece, a force sensor, a tool quick-change disk and a robot quick-change disk;
the machine tool and the external shaft are horizontally arranged on the ground;
the machine tool comprises a lathe body, a turning power head, a milling power head and a cutter, wherein a workpiece is arranged on the turning power head through a clamp cantilever, the turning power head is provided with an axis rotation kinematic pair, the milling power head is provided with a 5-axis linkage kinematic pair, and the milling power head can drive the cutter to rotate at a high speed to perform milling motion;
the follow-up locomotory apparatus is arranged on the external shaft, the moving end of the follow-up locomotory apparatus is connected with the robot quick-change disk, the tool quick-change disk, the force sensor and the end effector in series in sequence,
the end effector comprises a first connecting rod, a second curved rod, an ellipsoid roller, a cylinder, a first rotating pair, a second rotating pair, a third rotating pair, a swinging block and a code disc, the cylinder is connected with an external servo air pressure control system,
the tail end of a first connecting rod is matched and fixedly installed with a force sensor, the first connecting rod is connected with the middle part of a swinging block through a third rotation auxiliary shaft, the swinging block is fixedly connected with a second curved rod, a cylinder is installed on the first connecting rod, the tail part of the swinging block forms a rotation pair with a cylinder rod head of the cylinder through a second rotation pair, the tail part of a cylinder body of the cylinder forms a rotation pair with the first connecting rod through the first rotation pair, a code disc is installed on the first connecting rod, a measuring shaft of the code disc is connected with the swinging block and can sense the rotation angles of the third rotation pair and the first connecting rod and measure the displacement of an ellipsoid roller, the first rotation pair, the third rotation pair and the rotation axis of the last shaft of a follow-up motion device are in a penetrating relationship, the axis of the second curved rod and the rotation pair of the ellipsoid roller is coaxial with the tail end of the second curved rod, the end part of the second curved rod is orthogonal to the axis of the ellipsoid roller rotation pair, the first rotation pair, the second rotation pair and the third rotation pair,
the second curved rod and the ellipsoid roller form a revolute pair, and the supporting force of the ellipsoid roller and the machining cutting force of the cutter form opposite impact inside and outside the thin-wall curved surface of the workpiece space wheel to maintain the stability of the workpiece.
2. The weak rigidity toroidal curved surface thin wall work piece robot support of claim 1, wherein the code wheel is a digital encoder for measuring angular displacement.
3. A robot support for a weakly rigid toroidal curved thin-walled workpiece as claimed in claim 1, wherein the ellipsoidal roller shape of the end effector is a spatial ellipsoid shape.
4. The weak rigidity toroidal curved surface of revolution thin-walled workpiece robot support of claim 1, wherein the number of end effectors is not less than 1.
5. A robot support for a thin-walled workpiece having a weakly rigid toroidal curved surface as claimed in claim 1, wherein the force sensor is a multi-dimensional force sensor.
6. The processing method of the weak-rigidity annular wheel curved surface thin-wall workpiece is characterized in that the robot supporting device of the weak-rigidity annular wheel curved surface thin-wall workpiece is used, and comprises the following steps:
1. installing a workpiece: a blank material of a workpiece is arranged on a turning power head through a clamp cantilever;
2. setting parameters: adjusting parameters of a boring system and a supporting system;
3. boring: finishing the inner curved surface of the workpiece;
4. setting parameters: adjusting parameters of a milling system and a supporting system;
5. milling: and (3) five-axis composite machining, wherein in the process of machining the external curved surface of the workpiece, the inside of the workpiece is supported by a supporting device in real time on line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211271153.0A CN115415801B (en) | 2022-10-17 | 2022-10-17 | Robot supporting device for weak-rigidity annular rotary curved surface thin-wall workpiece and machining method |
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| CN202211271153.0A CN115415801B (en) | 2022-10-17 | 2022-10-17 | Robot supporting device for weak-rigidity annular rotary curved surface thin-wall workpiece and machining method |
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| CN115415801A true CN115415801A (en) | 2022-12-02 |
| CN115415801B CN115415801B (en) | 2023-10-24 |
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