CN116100067A - Intersection point Kong Xikong actuator suitable for industrial robot and hole milling method thereof - Google Patents
Intersection point Kong Xikong actuator suitable for industrial robot and hole milling method thereof Download PDFInfo
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- CN116100067A CN116100067A CN202310057858.0A CN202310057858A CN116100067A CN 116100067 A CN116100067 A CN 116100067A CN 202310057858 A CN202310057858 A CN 202310057858A CN 116100067 A CN116100067 A CN 116100067A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C9/00—Details or accessories so far as specially adapted to milling machines or cutter
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- 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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/28—Electric drives
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses an intersection point Kong Xikong actuator suitable for an industrial robot and a hole milling method thereof, wherein the intersection point Kong Xikong actuator suitable for the industrial robot comprises a feeding mechanism, a revolution mechanism, a rotation mechanism and an eccentric adjusting mechanism. The intersection Kong Xikong actuator suitable for the industrial robot realizes the precise adjustment of the eccentricity required by the large-diameter intersection hole by utilizing the larger eccentric amount of the rotation mechanism of the eccentric adjustment mechanism, the revolution mechanism drives the rotation execution unit to revolve, the feeding mechanism drives the revolution mechanism, the rotation mechanism and the eccentric adjustment mechanism to feed or retract a cutter, and the rough machining and the finish machining of the large-diameter intersection hole are separated, so that the machining precision of the large-diameter intersection hole is guaranteed; the eccentric adjusting mechanism is utilized to provide reliable cutting support for the rotation mechanism, the eccentric driving motor is prevented from rotating along with the revolution mechanism, cutting vibration during hole making is restrained, and quality and efficiency of the industrial robot for processing large-diameter intersection point holes are improved.
Description
Technical Field
The invention relates to a hole milling actuator, in particular to an intersection point Kong Xikong actuator suitable for an industrial robot and a hole milling method thereof.
Background
In the modern aircraft manufacturing and assembling process, the requirement for machining the large-diameter intersection point holes is large. The processing difficulty of the large-diameter intersection point hole is that the large hole diameter causes large hole making force Shi Qiexiao and serious cutter abrasion, so that the quality and efficiency of hole processing are difficult to be reliably ensured, and the processing difficulty is particularly high for difficult-to-process material components such as titanium alloy, composite materials, high-strength steel and the like. Therefore, the processing of large-diameter intersection holes becomes a research hotspot in the field of aviation manufacturing assembly.
Chinese patent 201210079012.9 discloses a finish boring method for an intersection hole of an aircraft landing gear, which utilizes an industrial robot to carry a boring terminal executor to realize that the finish machining surface roughness of the intersection hole can reach Ra0.8 and the roundness is 0.003mm, but the finish machining method at the early stage is not involved. The large cutting forces of large diameter intersection holes are a challenge for low load bearing, weak stiffness industrial robot bodies.
Along with the development of spiral hole milling technology, the method is gradually applied to high-precision machining of the hole of the material component with the air traffic accident due to small cutting force, small cutter abrasion, high hole making precision and high machining efficiency. Chinese patent 202010313972.1 discloses a large diameter intersection Kong Bianxie type spiral milling hole unit, which realizes larger eccentric adjustment during intersection hole processing through an eccentric main shaft, provides a good hole making scheme for a non-open assembly space, but the larger cutting force of the intersection hole is a challenge to the long-time hand-held operator, and meanwhile, needs larger power and structural rigidity of equipment. However, according to research, the existing spiral hole milling device mostly adopts a driving device of an eccentric adjusting mechanism to rotate along with a revolution mechanism, which is obviously very unfavorable for suppressing cutting vibration when spiral milling holes with large-diameter intersection points; most of the existing spiral hole milling devices adopt eccentric adjusting mechanisms with smaller eccentric adjustment, and are difficult to directly use for eccentric adjustment of large-diameter intersection holes.
It can be seen that there is a need to develop a spiral hole milling process device based on an industrial robot carrier, especially a novel spiral hole milling end effector matched with an industrial robot, for large-diameter intersection holes.
Disclosure of Invention
The invention aims to: the intersection point Kong Xikong actuator suitable for the industrial robot and the hole milling method thereof can realize eccentric adjustment required by processing of large-diameter intersection point holes, are beneficial to suppressing cutting vibration, and remarkably improve the quality and efficiency of processing the large-diameter intersection point holes by the industrial robot.
The technical scheme is as follows: the intersection point Kong Xikong actuator suitable for the industrial robot comprises a feeding mechanism, a revolution mechanism, a rotation mechanism and an eccentric adjusting mechanism; the rotation mechanism comprises a rotation driving unit and a rotation executing unit;
the revolution mechanism is arranged on the feeding mechanism, and the feeding mechanism is used for driving the revolution mechanism, the rotation mechanism and the eccentric adjusting mechanism to longitudinally move so as to realize feeding; the revolution mechanism is used for driving the rotation execution unit to revolve; the front end of the autorotation executing unit is used for installing a cutter; the rotation driving unit is arranged on the feeding mechanism and used for driving the rotation executing unit to rotate; the eccentric adjusting mechanism is arranged on the revolution mechanism and is used for driving the rotation executing unit to radially deviate relative to the revolution mechanism so as to realize the adjustment of the eccentric distance.
Further, the feeding mechanism comprises a base, a feeding driving motor and a sliding seat; the machine base is used for being connected with the tail end of the industrial robot; the sliding seat is longitudinally and slidably arranged on the machine base; a feeding driving screw rod for driving the sliding seat to longitudinally move is longitudinally arranged on the machine base in a rotating manner; the feed driving motor is used for driving the feed driving screw rod to rotate; a front side supporting seat, a middle supporting seat and a rear side supporting seat are vertically fixed on the sliding seat from front to back in sequence.
Further, the revolution mechanism comprises a revolution driving motor and a revolution cylinder; the revolution cylinder body is rotatably arranged on the front side supporting seat and the middle supporting seat in a penetrating manner; the revolution driving motor is used for driving the revolution cylinder to rotate through the first synchronous belt transmission mechanism.
Further, the eccentric adjusting mechanism comprises two composite bearing seats, two groups of screw rod driving mechanisms and two groups of first connecting rod sliding block mechanisms; the two composite bearing seats are both sleeved on the revolution cylinder in a sliding manner; the two groups of screw rod driving mechanisms are used for driving the two composite bearing seats to slide relatively; the two groups of first link slider mechanisms are respectively used for hinged connection of the rotation executing unit and the two composite bearing seats, and the two groups of first link slider mechanisms are limited by the axial direction of the revolution cylinder body.
Further, the composite bearing seat comprises a sliding shell, a rotary inner ring and a plurality of rolling bearings; the rotary inner ring is sleeved on the revolution cylinder body, and the rotary inner ring and the revolution cylinder body synchronously rotate; the slip housing is coaxially rotatably mounted on the rotating inner race by a plurality of rolling bearings.
Further, the screw driving mechanism comprises an eccentric driving motor and an eccentric driving screw rod; the screw threads on the front side and the rear side of the eccentric driving screw rod are opposite in rotation direction and equal in screw pitch, and are used for driving the two composite bearing seats to move relatively; the eccentric driving motors of the two screw driving mechanisms are used for driving the two eccentric driving screw rods to synchronously rotate.
Further, the first link slider mechanism includes a first link and a first slider; avoidance holes are formed in the upper side and the lower side of the revolution cylinder; the front side surface and the rear side surface of the revolution cylinder body are provided with adjusting sliding grooves which are intersected with the rotation center line, and the two adjusting sliding grooves are parallel; a mounting through hole communicated with the two adjusting sliding grooves is arranged in the revolution cylinder; the first sliding blocks of the two first connecting rod sliding block mechanisms are respectively and slidably arranged in the two adjusting sliding grooves; one end of the first connecting rod is hinged to the first sliding block, and the other end of the first connecting rod passes through the mounting through hole and the avoidance hole and is hinged to the upper inner wall of the corresponding side composite bearing seat; the rotation execution unit is installed on two first sliders in a penetrating way, and the middle part of the rotation execution unit is provided with a through hole in a penetrating way.
Further, the rotation driving unit comprises a rotation driving motor and a universal joint type connecting module; the rotation executing unit comprises a rotation shell and a rotation main shaft; the front end of the rotation main shaft is used for installing a cutter, and the middle part of the rotation main shaft is rotatably installed in the rotation shell; the autorotation shell is penetratingly fixed on the two first sliding blocks; the rotation driving motor drives the rotation main shaft to rotate through the universal joint type connecting module.
Further, the eccentric adjusting mechanism further comprises two groups of second connecting rod sliding block mechanisms; the second connecting rod sliding block mechanism comprises a second connecting rod and a second sliding block; the second sliding blocks of the two second connecting rod sliding block mechanisms are respectively and slidably arranged on the two first sliding blocks; one end of the second connecting rod is hinged on the second sliding block, the other end of the second connecting rod passes through the installation through hole and the other avoidance hole and then is hinged on the inner wall of the lower side of the composite bearing seat, and the second connecting rods of the two second connecting rod sliding block mechanisms are crossed.
The invention also provides a hole milling method suitable for the intersection point Kong Xikong actuator of the industrial robot, which comprises the following steps:
step 1, zeroing before processing a large-diameter intersection point hole, and adjusting an eccentric adjusting mechanism to an initial position to enable a rotation mechanism to be collinear with a rotation axis of a revolution cylinder body, wherein the eccentric amount of the rotation mechanism is zero at the moment, namely the revolution radius of a cutter is zero;
step 2, performing eccentric adjustment of the rotation mechanism during rough machining by using an eccentric adjustment mechanism, and then finishing rough machining of the large-diameter intersection point hole, wherein the specific implementation steps are as follows:
A. first according to the diameter D of the processing hole H Diameter d of cutter t And a finishing allowance of 0.2mm is reserved, and the eccentric amount e of the rotation mechanism during rough machining is calculated c I.e. e c ＝(D H -d t ) 2-0.1; calculating a control angle theta corresponding to the eccentric adjusting mechanism by combining the structural parameters and the position relation of the eccentric adjusting mechanism c ；
B. According to the control angle theta c The rotation mechanism is adjusted to a required position by the eccentric adjusting mechanism, and rough machining eccentric adjustment is completed;
C. firstly starting the rotation driving unit and the revolution mechanism, then starting the feeding mechanism to feed until the depth required by the large-diameter intersection point hole is reached, and finishing rough machining and feed machining of the large-diameter intersection point hole;
D. when the cutter is retracted, the rotation driving unit and the revolution mechanism are stopped firstly, then the rotation mechanism is adjusted to an initial position by the eccentric adjusting mechanism, and finally the feeding mechanism is started to retract reversely, so that rough machining of the large-diameter intersection point hole is completed;
and step 3, finishing eccentric adjustment of the rotation mechanism during finish machining by an eccentric adjustment mechanism, and finishing finish machining of the large-diameter intersection point hole, wherein the specific implementation steps are as follows:
E. first according to the diameter D of the processing hole H Diameter d of tool t Calculating the eccentric amount e required by the rotation mechanism J I.e. e J ＝(D H -d t )
2; calculating a control angle theta corresponding to the eccentric adjusting mechanism by combining the structural parameters and the position relation of the eccentric adjusting mechanism J ；
F. According to the control angle theta of the eccentric driving motor J The eccentric adjusting mechanism adjusts the eccentric position required by the autorotation mechanism to finish the finish machining eccentric adjustment;
G. firstly starting the rotation driving unit and the revolution mechanism, then starting the feeding mechanism to feed until the depth required by the large-diameter intersection point hole is reached, and finishing the finish machining and feeding of the large-diameter intersection point hole;
H. when the cutter is retracted, the rotation driving unit and the revolution mechanism are stopped firstly, then the rotation mechanism is adjusted to an initial position by the eccentric adjusting mechanism, and finally the feeding mechanism is started to retract reversely, so that the finish machining operation of retracting the large-diameter intersection point hole is completed;
step 4, repeatedly executing the step 2 and the step 3 until the robot finishes machining all intersection point holes of the wheel; after the machining is finished, the rotation mechanism is adjusted back to the initial state by the eccentric adjusting mechanism, so that the eccentric adjustment can be conveniently performed when the subsequent industrial robot machines the large-diameter intersection point hole.
Compared with the prior art, the invention has the beneficial effects that: the eccentric adjustment mechanism can be used for greatly adjusting the eccentric amount of the rotation mechanism, so that the eccentric distance required by the large-diameter intersection point hole is accurately adjusted, the revolution mechanism drives the rotation execution unit to revolve, the feeding mechanism drives the revolution mechanism, the rotation mechanism and the eccentric adjustment mechanism to feed or retract a cutter, the rough machining and the finish machining of the large-diameter intersection point hole are separated, and the machining precision of the large-diameter intersection point hole is guaranteed; the two groups of first connecting rod slide block mechanisms and the two groups of second connecting rod slide block mechanisms of the eccentric adjusting mechanism are utilized to provide reliable cutting support for the rotation mechanism, prevent the eccentric driving motor from rotating along with the revolution mechanism, help to restrain cutting vibration during hole making, and can obviously improve the quality and efficiency of processing large-diameter intersection point holes by the industrial robot.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a right side view of the present invention;
FIG. 3 is an assembled perspective view of the feed mechanism of the present invention;
fig. 4 is an assembled perspective view of the revolution mechanism of the present invention;
FIG. 5 is an assembled perspective view of the rotation mechanism and the eccentric adjustment mechanism of the present invention;
fig. 6 is a perspective view of a component of the revolution cylinder of the present invention;
FIG. 7 is a perspective view of the components of the rotating inner ring of the present invention;
FIG. 8 is an assembled perspective view of the rolling bearing and stub shaft of the present invention;
in the figure: 1000. a feeding mechanism; 1100. a base; 1200. a slide; 1210. a front side support base; 1220. a middle supporting seat; 1230. a rear support base; 1300. a feed drive motor; 1500. a feed driving seat; 1400. feeding a driving screw rod;
2000. a revolution mechanism; 2100. a revolution driving motor; 2200. a revolution cylinder; 2201. avoidance holes; 2202. mounting through holes; 2203. adjusting the chute; 2300. revolution transmission shafts; 2500. rotating the limit convex strips;
3000. a rotation mechanism; 3100. a rotation driving motor; 3200. a universal joint type connecting module; 3210. a first transitional stub shaft; 3230. a first transmission rod; 3240. a second transmission rod; 3260. a universal joint; 3300. a main shaft rotates; 3500. double row rolling bearing;
4000. an eccentric adjustment mechanism; 4110. an eccentric driving motor; 4120. eccentric driving screw rod; 4210. a slip housing; 4220. rotating the inner ring; 4221. an annular groove; 4222. an inner lug base; 4223. a rotary limit groove; 4230. a rolling bearing; 4240. a short shaft; 4250. a sliding driving seat; 4310. a first link; 4320. a first slider; 4330. a second link; 4340. and a second slider.
Detailed Description
The technical scheme of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1:
as shown in fig. 1 to 8, an intersection Kong Xikong actuator for an industrial robot according to the present disclosure includes: a feeding mechanism 1000, a revolution mechanism 2000, a rotation mechanism 3000, and an eccentric adjustment mechanism 4000; the rotation mechanism 3000 includes a rotation driving unit and a rotation executing unit;
the revolution mechanism 2000 is installed on the feeding mechanism 1000, and the feeding mechanism 1000 drives the revolution mechanism 2000, the rotation mechanism 3000 and the eccentric adjustment mechanism 4000 to longitudinally move so as to realize feeding; the revolution mechanism 2000 is used for driving the rotation executing unit to revolve; a cutter is arranged at the front end of the autorotation executing unit; the rotation driving unit is installed on the feeding mechanism 1000 and is used for driving the rotation executing unit to rotate; the eccentric adjustment mechanism 4000 is mounted on the revolution mechanism 2000, and is used for driving the rotation execution unit to radially deviate relative to the revolution mechanism 2000, so as to realize adjustment of the eccentricity.
The eccentric adjustment mechanism 4000 can be used for greatly adjusting the eccentric amount of the rotation mechanism 3000, so that the precise adjustment of the eccentric distance required by the large-diameter intersection point hole is realized, the revolution mechanism 2000 drives the rotation execution unit to revolve, the feeding mechanism 1000 drives the revolution mechanism 2000, the rotation mechanism 3000 and the eccentric adjustment mechanism 4000 to feed or retract a cutter, and the rough machining and the finish machining of the large-diameter intersection point hole are separated, so that the machining precision of the large-diameter intersection point hole is guaranteed; the feeding mechanism 1000 provides reliable cutting support for the revolution mechanism 2000, the rotation mechanism 3000 and the eccentric adjusting mechanism 4000, is helpful to restrain cutting vibration during hole making, and can remarkably improve the quality and efficiency of the industrial robot for processing large-diameter intersection point holes.
Further, the feeding mechanism 1000 includes a base 1100, a feeding driving motor 1300, and a slider 1200; the machine seat 1100 is U-shaped and is used for being connected with the tail end of the industrial robot; the sliding base 1200 is longitudinally slidably installed on the upper edges of the left and right sides of the stand 1100; a feed drive seat 1500 is provided on the lower side of the slider 1200; a feed driving screw 1400 screwed on the feed driving seat 1500 is longitudinally rotatably installed in the machine base 1100; the feed driving motor 1300 is used for driving the feed driving screw 1400 to rotate; a front support 1210, a middle support 1220 and a rear support 1230 are vertically fixed on the upper side of the slide 1200 in this order from front to rear, and the front support 1210, the middle support 1220 and the rear support 1230 are parallel to each other.
The feeding driving motor 1300 is utilized to drive the feeding driving screw 1400 to rotate, the feeding driving seat 1500 drives the sliding seat 1200 to move back and forth, so that the front side supporting seat 1210, the middle supporting seat 1220 and the rear side supporting seat 1230 can drive the revolution mechanism 2000, the rotation mechanism 3000 and the eccentric adjusting mechanism 4000 to perform stable feeding or retracting, which is beneficial to reducing cutting vibration.
Further, the revolution mechanism 2000 includes a revolution driving motor 2100, a revolution cylinder 2200, and a revolution driving shaft 2300;
front and rear ends of the revolution cylinder 2200 are rotatably installed on the front support seat 1210 and the middle support seat 1220, respectively, in a penetrating manner; the revolution transmission shaft 2300 is rotatably and longitudinally connected between the front support seat 1210 and the middle support seat 1220; the revolution driving motor 2100 is for driving the revolution driving shaft 2300 to rotate; the revolution transmission shaft 2300 is coupled to the revolution cylinder 2200 through a first synchronous belt transmission mechanism.
The revolution driving motor 2100 is utilized to drive the revolution driving shaft 2300 to rotate, the revolution driving shaft 2300 drives the revolution cylinder 2200 to rotate through the first synchronous belt driving mechanism, and therefore the revolution mechanism 2000 drives the rotation executing unit to revolve, and the aperture requirement of processing the large-diameter intersection point hole is met.
Further, the eccentric adjusting mechanism 4000 comprises two composite bearing seats, two groups of screw driving mechanisms and two groups of first link slider mechanisms; the two composite bearing seats are both sleeved on the revolution cylinder 2200 in a sliding manner; the two groups of screw rod driving mechanisms are used for driving the two composite bearing seats to slide relatively; the two groups of first link slider mechanisms are respectively used for being hinged to the front side and the front side of the rotation executing unit and the rear side of the rotation executing unit, and are limited by the axial direction of the revolution cylinder 2200.
The two composite bearing seats, the two groups of screw rod driving mechanisms and the two groups of first link slider mechanisms are utilized to be matched, and the distance between the two composite bearing seats is adjusted through the two groups of screw rod driving mechanisms, so that the two groups of first link slider mechanisms pull the rotation executing unit and drive the rotation executing unit to radially move under the axial limit of the revolution cylinder 2200, the eccentricity is adjusted, and meanwhile, the two groups of screw rod driving mechanisms do not need to revolve together with the revolution cylinder 2200, and the cutting stability of the large-diameter intersection point hole is guaranteed.
Further, the composite bearing housing includes a slip housing 4210, a rotating inner race 4220, and a plurality of rolling bearings 4230; the rotary inner ring 4220 is sleeved on the revolution cylinder 2200; an annular groove 4221 is provided on the outer circumferential surface of the rotary inner ring 4220; a plurality of short shafts 4240 are arranged on the inner circumferential surface of the sliding housing 4210 at intervals; the inner rings of the rolling bearings 4230 are respectively arranged on the end parts of the short shafts 4240, and the outer rings are in rolling tangency with the front side wall and the rear side wall of the annular groove 4221; a rotation limiting convex strip 2500 is arranged on the left and right sides of the outer circumferential surface of the revolution cylinder 2200; a rotation limiting groove 4223 longitudinally slidably engaged with the rotation limiting protruding strip 2500 is provided on the inner wall of the rotation inner ring 4220.
The friction between the rotating inner ring 4220 and the sliding housing 4210 is reduced by using a plurality of rolling bearings 4230, so that the revolution cylinder 2200 rotates more stably; by utilizing the cooperation between the rotation limit convex strips 2500 and the rotation limit grooves 4223, the synchronous rotation of the rotation inner ring 4220 and the revolution cylinder 2200 is ensured, the stability of rotation cutting is ensured, and meanwhile, a screw rod driving mechanism is not required to rotate along with the revolution cylinder 2200, so that the cutting vibration during hole making is restrained.
Further, the screw driving mechanism includes an eccentric driving motor 4110 and an eccentric driving screw 4120; two ends of the eccentric driving screw rod 4120 are respectively rotatably installed on the front side supporting seat 1210 and the middle supporting seat 1220, and the eccentric driving screw rods 4120 of the two screw rod driving mechanisms are respectively positioned on the upper side and the lower side of the two sliding shells 4210; the screw threads on the front side and the rear side of the eccentric driving screw rod 4120 are opposite in rotation direction and equal in screw pitch; a slide driving seat 4250 is integrally provided on both upper and lower sides of the two slide housings 4210; the four sliding driving seats 4250 are respectively screwed on the corresponding sides of the corresponding eccentric driving screw rods 4120 in a penetrating way; the two eccentric driving motors 4110 are used to synchronously drive the two eccentric driving screws 4120 to rotate.
When the two eccentric driving screws 4110 synchronously drive the two eccentric driving screws 4120 to rotate by utilizing opposite screw threads on the front side and the rear side of the eccentric driving screws 4120, the front sliding housing 4210 and the rear sliding housing 4210 can relatively move under the drive of the sliding driving seat 4250, namely are close to or far away from each other, so that the two groups of first link slider mechanisms are synchronously pulled, the radial adjustment of the autorotation executing unit is realized, and the eccentric distance of a cutter is adjusted.
Further, the first link slider mechanism includes a first link 4310 and a first slider 4320; avoidance holes 2201 are longitudinally formed in the upper side and the lower side of the circumferential side surface of the revolution cylinder 2200; an adjusting chute 2203 intersecting the rotation center line is provided on both front and rear sides of the revolution cylinder 2200, and the two adjusting chutes 2203 are parallel; a mounting through hole 2202 communicated with two adjusting slide grooves 2203 is axially arranged in the revolution cylinder 2200; an inner lug boss 4222 is integrally provided on both upper and lower sides of the inner circumferential surfaces of the two inner rotating rings 4220; the first sliders 4320 of the two first link slider mechanisms are respectively slidably installed in the two adjusting slide grooves 2203; one end of the first connecting rod 4310 is hinged on the first sliding block 4320, and the other end passes through the installation through hole 2202 and the upper avoiding hole 2201 and then is hinged on the inner lug seat 4222 above the corresponding side; the rotation executing unit is penetratingly installed on the two first sliders 4320, and the middle portion is penetratingly installed with the through hole 2202.
The first sliding block 4320 is pulled by the first connecting rod 4310 to move along the adjusting chute 2203, so that the first sliding block 4320 drives the autorotation executing unit to radially move, and the eccentricity adjustment is realized; by utilizing the cooperation among the second connecting rod 4330, the second sliding block 4340 and the first sliding block 4320, the stability of the first sliding block 4320 is improved, and the accuracy of the eccentricity adjustment is improved; by utilizing the avoiding holes 2201 and the mounting through holes 2202 to avoid, the first connecting rod 4310, the second connecting rod 4330 and the four inner lug seats 4222 can move longitudinally freely in a certain range, and the eccentricity is regulated freely.
Further, the rotation driving unit includes a rotation driving motor 3100 and a universal joint type connecting module 3200; the universal joint connection module 3200 includes a first transitional stub shaft 3210, a first transmission rod 3230, a second transmission rod 3240, and two universal joints 3260; the rotation executing unit includes a rotation housing 3600 and a rotation spindle 3300;
the middle part of the rotation main shaft 3300 is coaxially and rotatably arranged in the rotation shell 3600 through two double-row rolling bearings 3500; the cutter is arranged on the front end of the rotation main shaft 3300; two ends of the rotation shell 3600 are fixed on the two first sliding blocks 4320 in a penetrating way; the rear end of the first transition short shaft 3210 is rotatably mounted on the rear support 1230, and the front end of the first transition short shaft is hinged with the rear end of the first transmission rod 3230 through a universal joint 3260; the first transmission rod 3230 is synchronously and rotatably inserted on the rear end of the second transmission rod 3240 through a key groove sliding pair; the front end of the second transmission rod 3240 is connected with the rear end of the rotation main shaft 3300 through another universal joint 3260; the self-rotation driving motor 3100 is installed on the rear support seat 1230, and an output shaft of the self-rotation driving motor 3100 drives the first transition short shaft 3210 to rotate through the second synchronous belt transmission mechanism.
The rotation driving motor 3100 is utilized to drive the universal joint type connecting module 3200 to rotate through the second synchronous belt transmission mechanism, so that the rotation main shaft 3300 drives the cutter to rotate, and the milling requirement is met; the self-rotating main shaft 3300 can be radially offset under the drive of the eccentric adjusting mechanism 4000 to adjust the eccentricity by utilizing the matching between the self-rotating shell 3600 and the self-rotating main shaft 3300 without influencing the rotation of the self-rotating main shaft 3300, and meanwhile, the friction between the self-rotating shell 3600 and the self-rotating main shaft 3300 is reduced by utilizing the double-row rolling bearing 3500, so that the rotation stability of the self-rotating main shaft 3300 is improved; by utilizing the cooperation among the first transition short shaft 3210, the first transmission rod 3230, the second transmission rod 3240 and the two universal joints 3260, universal transmission connection is formed between the first transition short shaft 3210 and the rotation main shaft 3300, rotation driving motor 3100 is ensured to be capable of driving rotation main shaft 3300 at any position to rotate, meanwhile, rotation driving device does not need to revolve along with revolution cylinder 2200, cutting stability of a large-diameter intersection point hole is further ensured, and machining precision of the intersection point hole is further improved.
Further, the eccentric adjustment mechanism 4000 further comprises two groups of second link slider mechanisms; the second link slider mechanism includes a second link 4330 and a second slider 4340;
a stabilizing chute is vertically arranged at the lower side of the opposite side surfaces of the two first sliding blocks 4320; the second sliders 4340 of the two groups of second connecting rod slider mechanisms are respectively and slidably arranged on the two stable sliding grooves; one end of the second connecting rod 4330 is hinged on the second sliding block 4340, the other end passes through the installation through hole 2202 and the lower avoidance hole 2201 and then is hinged on the lower inner lug seat 4222, and the second connecting rods 4330 of the two groups of second connecting rod sliding block mechanisms are crossed.
By using the mounting mode of the second link 4330 and the second slider 4340, the movement amount of the first slider 4320 is adjusted without affecting the first link slider mechanism, and the shake of the first slider 4320 is reduced, and the movement stability is improved.
The invention also provides a hole milling method suitable for the intersection point Kong Xikong actuator of the industrial robot, which comprises the following steps:
step 1, zeroing before processing a large-diameter intersection point hole, and adjusting an eccentric adjusting mechanism 4000 to an initial position to enable a rotation mechanism 3000 to be collinear with the rotation axis of a revolution cylinder 2200, wherein the eccentric amount of the rotation mechanism 3000 is zero at the moment, namely the revolution radius of a cutter is zero;
step 2, the eccentric adjusting mechanism 4000 performs eccentric adjustment of the rotation mechanism 3000 during rough machining, and then the rough machining of the large-diameter intersection point hole is completed, and the specific implementation steps are as follows:
A. first according to the diameter D of the processing hole H Diameter d of cutter t And a finishing allowance of 0.2mm is left, and the rough machining is calculatedEccentric amount e of rotation mechanism 3000 c I.e. e c ＝(D H -d t ) 2-0.1; by combining structural parameters and positional relationship of the rotating inner ring 4220, the first connecting rod sliding block mechanism and the second connecting rod sliding block mechanism, a control angle theta corresponding to the eccentric driving motor 4110 of the two screw driving mechanisms is calculated c ；
B. According to the control angle theta of the eccentric driving motor 4110 c Two lead screw driving mechanisms control the two composite bearing seats to move relatively, and the rotation mechanism 3000 is adjusted to a required position through two groups of first connecting rod sliding block mechanisms and two groups of second connecting rod sliding block mechanisms, so that rough machining eccentric adjustment is completed;
C. firstly starting a rotation driving motor 3100 and a revolution driving motor 2100, and then starting a feeding driving motor 1300 to feed until the depth required by the large-diameter intersection point hole is reached, so as to finish rough machining and feed machining of the large-diameter intersection point hole;
D. when the cutter is retracted, the rotation driving motor 3100 and the revolution driving motor 2100 are stopped firstly, then the rotation mechanism 3000 is adjusted to an initial position by the eccentric adjusting mechanism 4000, and finally the feeding driving motor 1300 is started to retract reversely, so that rough machining of the large-diameter intersection point hole is completed;
and 3, after finishing eccentric adjustment of the rotation mechanism 3000 in finish machining by the eccentric adjustment mechanism 4000, finishing finish machining of the large-diameter intersection point hole, wherein the specific implementation steps are as follows:
E. first according to the diameter D of the processing hole H Diameter d of tool t Calculate the eccentric amount e required by the rotation mechanism 3000 J I.e. e J ＝(D H -d t ) 2; by combining the structural parameters and the positional relationship of the rotating inner ring 4220, the first connecting rod sliding block mechanism and the second connecting rod sliding block mechanism, the control angle theta corresponding to the eccentric driving motor 4110 of the two screw driving mechanisms is calculated J ；
F. According to the control angle theta of the eccentric driving motor 4110 J The two screw driving mechanisms control the left and right composite bearing seats to move relatively, and the rotation mechanism 3000 is regulated to the required eccentric position via two first link slide mechanisms and two second link slide mechanisms to complete the precise rotationMachining eccentric adjustment;
G. firstly starting a rotation driving motor 3100 and a revolution driving motor 2100, and then starting a feeding driving motor 1300 to feed until the depth required by the large-diameter intersection point hole is reached, so as to finish the finish machining and feeding of the large-diameter intersection point hole;
H. when the cutter is retracted, the rotation driving motor 3100 and the revolution driving motor 2100 are stopped firstly, then the rotation mechanism 3000 is adjusted to an initial position by the eccentric adjusting mechanism 4000, and finally the feeding driving motor 1300 is started to retract reversely, so that rough machining of the large-diameter intersection point hole is completed;
step 4, repeatedly executing the step 2 and the step 3 until the robot finishes machining all intersection point holes of the wheel; after the machining is completed, the rotation mechanism 3000 is adjusted back to the initial state by the eccentric adjustment mechanism 4000, so that the subsequent industrial robot can perform eccentric adjustment when machining the large-diameter intersection point hole.
In the intersection Kong Xikong actuator suitable for an industrial robot, the conventional stepping motor is adopted as the feed driving motor 1300, the rotation driving motor 3100, the revolution driving motor 2100 and the eccentric driving motor 4110.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An intersection Kong Xikong actuator suitable for an industrial robot, characterized in that: comprises a feeding mechanism (1000), a revolution mechanism (2000), a rotation mechanism (3000) and an eccentric adjusting mechanism (4000); the rotation mechanism (3000) comprises a rotation driving unit and a rotation executing unit;
the revolution mechanism (2000) is arranged on the feeding mechanism (1000), and the feeding mechanism (1000) is used for driving the revolution mechanism (2000), the rotation mechanism (3000) and the eccentric adjusting mechanism (4000) to longitudinally move so as to realize feeding; the revolution mechanism (2000) is used for driving the rotation execution unit to revolve; the front end of the autorotation executing unit is used for installing a cutter; the rotation driving unit is arranged on the feeding mechanism (1000) and is used for driving the rotation executing unit to rotate; the eccentric adjusting mechanism (4000) is arranged on the revolution mechanism (2000) and is used for driving the rotation executing unit to radially deviate relative to the revolution mechanism (2000) so as to realize the adjustment of the eccentricity.
2. The intersection Kong Xikong actuator suitable for an industrial robot as claimed in claim 1, wherein: the feeding mechanism (1000) comprises a base (1100), a feeding driving motor (1300) and a sliding seat (1200); the machine base (1100) is used for being connected with the tail end of the industrial robot; the sliding seat (1200) is longitudinally and slidably arranged on the stand (1100); a feed driving screw (1400) for driving the sliding seat (1200) to longitudinally move is longitudinally arranged on the machine base (1100) in a rotating manner; the feed driving motor (1300) is used for driving the feed driving screw rod (1400) to rotate; a front side supporting seat (1210), a middle supporting seat (1220) and a rear side supporting seat (1230) are vertically fixed on the sliding seat (1200) from front to back in sequence.
3. The intersection Kong Xikong actuator suitable for an industrial robot as claimed in claim 2, wherein: the revolution mechanism (2000) comprises a revolution driving motor (2100) and a revolution cylinder (2200); the revolution cylinder body (2200) is rotatably installed on the front side supporting seat (1210) and the middle supporting seat (1220) in a penetrating way; the revolution driving motor (2100) is used for driving the revolution cylinder (2200) to rotate through the first synchronous belt transmission mechanism.
4. A cross point Kong Xikong actuator for an industrial robot as claimed in claim 3, wherein: the eccentric adjusting mechanism (4000) comprises two composite bearing seats, two groups of screw rod driving mechanisms and two groups of first connecting rod sliding block mechanisms; the two composite bearing seats are both sleeved on the revolution cylinder body (2200) in a sliding manner; the two groups of screw rod driving mechanisms are used for driving the two composite bearing seats to slide relatively; the two groups of first link slider mechanisms are respectively used for connecting the rotation executing unit and the two composite bearing seats in a hinged mode, and the two groups of first link slider mechanisms are limited by the axial direction of the revolution cylinder body (2200).
5. The intersection Kong Xikong actuator suitable for an industrial robot as claimed in claim 4, wherein: the composite bearing seat comprises a sliding shell (4210), a rotary inner ring (4220) and a plurality of rolling bearings (4230); the rotary inner ring (4220) is sleeved on the revolution cylinder body (2200), and the rotary inner ring (4220) and the revolution cylinder body (2200) synchronously rotate; the sliding housing (4210) is coaxially rotatably mounted on the rotating inner ring (4220) by a plurality of rolling bearings (4230).
6. The intersection Kong Xikong actuator suitable for an industrial robot as claimed in claim 4, wherein: the screw driving mechanism comprises an eccentric driving motor (4110) and an eccentric driving screw (4120); the screw threads on the front side and the rear side of the eccentric driving screw rod (4120) are opposite in rotation direction and equal in screw pitch, and are used for driving the two composite bearing seats to move relatively; the eccentric driving motors (4110) of the two screw driving mechanisms are used for driving the two eccentric driving screw rods (4120) to synchronously rotate.
7. The intersection Kong Xikong actuator suitable for an industrial robot as claimed in claim 4, wherein: the first link slider mechanism comprises a first link (4310) and a first slider (4320); avoidance holes (2201) are formed in the upper side and the lower side of the revolution cylinder body (2200); the front side surface and the rear side surface of the revolution cylinder body (2200) are provided with adjusting sliding grooves (2203) which are intersected with the rotation center line, and the two adjusting sliding grooves (2203) are parallel; a mounting through hole (2202) communicated with the two adjusting sliding grooves (2203) is arranged in the revolution cylinder body (2200); the first sliding blocks (4320) of the two first connecting rod sliding block mechanisms are respectively and slidably arranged in the two adjusting sliding grooves (2203); one end of a first connecting rod (4310) is hinged to the first sliding block (4320), and the other end of the first connecting rod passes through the mounting through hole (2202) and the avoiding hole (2201) and is hinged to the upper inner wall of the corresponding side composite bearing seat; the rotation executing unit is installed on the two first sliding blocks (4320) in a penetrating mode, and the middle part of the rotation executing unit penetrates through the installation through holes (2202).
8. The intersection Kong Xikong actuator suitable for an industrial robot as claimed in claim 7, wherein: the rotation driving unit comprises a rotation driving motor (3100) and a universal joint type connecting module (3200); the rotation executing unit comprises a rotation shell (3600) and a rotation main shaft (3300); the front end of the rotation main shaft (3300) is used for installing a cutter, and the middle part of the rotation main shaft is rotatably installed in the rotation shell (3600); the rotation shell (3600) is penetratingly fixed on the two first sliding blocks (4320); the rotation driving motor (3100) drives the rotation main shaft (3300) to rotate through the universal joint type connecting module (3200).
9. The intersection Kong Xikong actuator suitable for an industrial robot as claimed in claim 7, wherein: the eccentric adjusting mechanism (4000) further comprises two groups of second connecting rod sliding block mechanisms; the second link slider mechanism comprises a second link (4330) and a second slider (4340); second sliders (4340) of the two second link slider mechanisms are respectively slidably mounted on the two first sliders (4320); one end of the second connecting rod (4330) is hinged on the second sliding block (4340), the other end of the second connecting rod passes through the installation through hole (2202) and the other avoiding hole (2201) and then is hinged on the inner wall of the lower side of the composite bearing seat, and the second connecting rods (4330) of the two second connecting rod sliding block mechanisms are crossed.
10. The hole milling method for the intersection Kong Xikong actuator of the industrial robot according to claim 1, wherein: the method comprises the following steps:
step 1, zeroing before processing a large-diameter intersection point hole, and adjusting an eccentric adjusting mechanism (4000) to an initial position to enable a rotation mechanism (3000) to be collinear with a rotation axis of a revolution cylinder body (2200), wherein at the moment, the eccentric amount of the rotation mechanism (3000) is zero, namely the revolution radius of a cutter is zero;
step 2, the eccentric adjusting mechanism (4000) firstly carries out eccentric adjustment on the rotation mechanism (3000) during rough machining, then completes rough machining of the large-diameter intersection point hole, and the specific implementation steps are as follows:
A. first according to the diameter D of the processing hole H Diameter d of cutter t And a finishing allowance of 0.2mm is reserved, and the eccentric amount e of the rotation mechanism (3000) during rough machining is calculated c I.e. e c ＝(D H -d t ) 2-0.1; calculating a control angle theta corresponding to the eccentric adjusting mechanism (4000) by combining the structural parameters and the position relation of the eccentric adjusting mechanism (4000) c ；
B. According to the control angle theta c The rotation mechanism (3000) is adjusted to a required position by the eccentric adjusting mechanism (4000) to finish rough machining eccentric adjustment;
C. firstly starting a rotation driving unit and a revolution mechanism (2000), and then starting a feeding mechanism (1000) to feed until the depth required by the large-diameter intersection point hole is reached, so as to finish rough machining and feed machining of the large-diameter intersection point hole;
D. when the cutter is retracted, the rotation driving unit and the revolution mechanism (2000) are stopped firstly, then the rotation mechanism (3000) is adjusted to an initial position by the eccentric adjusting mechanism (4000), and finally the feeding mechanism (1000) is started to retract reversely, so that rough machining of the large-diameter intersection point hole is completed;
and 3, finishing the finish machining of the large-diameter intersection point hole by using an eccentric adjusting mechanism (4000) to finish eccentric adjustment of a rotation mechanism (3000) during finish machining, wherein the specific implementation steps are as follows:
E. first according to the diameter D of the processing hole H Diameter d of tool t Calculating the eccentric amount e required by the rotation mechanism (3000) J I.e. e J ＝(D H -d t ) 2; by combining the structural parameters and the positional relationship of the eccentric adjusting mechanism (4000), the control angle theta corresponding to the eccentric adjusting mechanism (4000) is calculated J ；
F. According to the control angle theta of the eccentric driving motor (4110) J The eccentric adjusting mechanism (4000) adjusts the eccentric position required by the autorotation mechanism (3000) to finish the finish machining eccentric adjustment;
G. firstly starting a rotation driving unit and a revolution mechanism (2000), and then starting a feeding mechanism (1000) to feed until the depth required by the large-diameter intersection point hole is reached, so as to finish the finish machining and feeding of the large-diameter intersection point hole;
H. when the cutter is retracted, the rotation driving unit and the revolution mechanism (2000) are stopped firstly, then the rotation mechanism (3000) is adjusted to an initial position by the eccentric adjusting mechanism (4000), and finally the feeding mechanism (1000) is started to retract reversely, so that the finish machining cutter retracting operation of the large-diameter intersection point hole is completed;
step 4, repeatedly executing the step 2 and the step 3 until the robot finishes machining all intersection point holes of the wheel; after the machining is finished, the rotation mechanism (3000) is adjusted back to the initial state by the eccentric adjusting mechanism (4000) so as to facilitate the eccentric adjustment when the subsequent industrial robot machines the large-diameter intersection point hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310057858.0A CN116100067A (en) | 2023-01-18 | 2023-01-18 | Intersection point Kong Xikong actuator suitable for industrial robot and hole milling method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310057858.0A CN116100067A (en) | 2023-01-18 | 2023-01-18 | Intersection point Kong Xikong actuator suitable for industrial robot and hole milling method thereof |
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| CN202310057858.0A Pending CN116100067A (en) | 2023-01-18 | 2023-01-18 | Intersection point Kong Xikong actuator suitable for industrial robot and hole milling method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117260515A (en) * | 2023-11-22 | 2023-12-22 | 北京特思迪半导体设备有限公司 | Dynamic linkage control method of polishing machine |
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2023
- 2023-01-18 CN CN202310057858.0A patent/CN116100067A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117260515A (en) * | 2023-11-22 | 2023-12-22 | 北京特思迪半导体设备有限公司 | Dynamic linkage control method of polishing machine |
| CN117260515B (en) * | 2023-11-22 | 2024-02-13 | 北京特思迪半导体设备有限公司 | Dynamic linkage control method of polishing machine |
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