CN205629481U - Independently portable spiral mills system hole system - Google Patents
Independently portable spiral mills system hole system Download PDFInfo
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- CN205629481U CN205629481U CN201620237175.9U CN201620237175U CN205629481U CN 205629481 U CN205629481 U CN 205629481U CN 201620237175 U CN201620237175 U CN 201620237175U CN 205629481 U CN205629481 U CN 205629481U
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Abstract
The utility model provides an independently portable spiral mills system hole system, include the autonomic moving mechanism by crawl mechanism and double pendulum platform structure, wherein, it includes backup pad, bottom suspension fagging, bearing, rotation axis, rectangle rotor plate, first slide rail, first slider, a drive arrangement and three peripheral electric telescopic handle to creep the mechanism, the double pendulum platform includes first swing casing, second swing casing, first gear shaft, the 3rd drive arrangement, second gear shaft and fourth drive arrangement. This independently portable spiral mills system hole system adopts and set up rotation axis and first lead screw pair between the last backup pad of the mechanism of creeping and bottom suspension fagging, has realized turning to wantonly and translational motion of the mechanism of creeping, gos back the position accuracy that the spot facing work is guaranteed to accessible double pendulum platform.
Description
Technical field
This utility model relates to a kind of numeric terminal automatic punching system, is specifically related to a kind of autonomous formula helical milling punching system.
Background technology
In order to meet the requirement of present generation aircraft high life, high intensity, sealing, resisting fatigue, light-duty automatic punching system has compromise advantage because of it between efficiency, flexibility and cost, is the most progressively generalized to the assembling drilling of fuselage.At present, mainly have based on industrial robot automatic punching system, flexible rail automatic punching system, autonomous formula automatic punching system three kinds than more typical light-duty automatic punching system.
Industrial robot automatic punching system is to use popular industrial machine people's attaching corresponding end drilling executor, although industrial robot has, motility is good, precision and efficiency is high, the range of work is relatively wide, but there is also the deficiency that joint stiffness is relatively low, absolute fix precision is relatively low.Flexible rail system is the flexible rail using absorption on product surface, and carrying has the mobile dolly of end drilling executor, can realize large range of drilling, but its auxiliary mould is the most complex.Autonomous formula automatic punching system is based on climbing robot platform, has the function similar with flexible rail system, but flexible more preferable.To this, China's Application Number (patent) 201510081803.9,201410137727.4 discloses a kind of climbing mechanism for autonomous formula punching system respectively, all achieve large range of autonomous, but be only capable of bidirectional creeping, do not possess the ability arbitrarily turned to.
Summary of the invention
The technical problems to be solved in the utility model is that existing rotation movable type punching system steering capability is poor, vows that adaptation is indifferent for different workpieces surface method, and different pore size needs frequent tool changing to cause the problems such as working (machining) efficiency is low.
In order to solve above-mentioned technical problem, this utility model provides a kind of autonomous formula helical milling punching system, including the autonomous mechanism being made up of climbing mechanism and double pendulum platform；
Climbing mechanism includes the peripheral electric expansion bar of upper backup pad, lower supporting plate, bearing, rotary shaft, rectangle swivel plate, the first slide rail, the first slide block, the first driving means and three；Bearing is arranged on upper backup pad, and rotary shaft vertically wears and is fixed on bearing；First driving means is arranged on upper backup pad by fixed support, and the upper end of rotary shaft is connected with the output shaft of the first driving means, and lower end is vertically mounted on rectangle swivel plate；It is provided with the first slide rail, at first slide block being arranged over being buckled on the first slide rail of lower supporting plate in the lower section of rectangle swivel plate；Being provided with the second driving means in the lower section of rectangle swivel plate, on the output shaft of the second driving means, abutting joint has the first screw mandrel；First screw mandrel screws mutually with the nut on lower supporting plate, for driving the first slide block to slidably reciprocate along the first slide rail；Three peripheral electric expansion bars are vertically installed at the lower section of upper backup pad, and are positioned on the same circumference of lower face；It is equipped with a peripheral vacuum cup in the lower end of three peripheral electric expansion bars；Vertically-mounted in the lower section of lower supporting plate have four internal electric expansion bars, is equipped with an inner vacuum sucker in the lower end of four internal electric expansion bars；
Double pendulum platform includes the first swing housing, the second swing housing, the first gear shaft, the 3rd driving means, the second gear shaft and four-drive device；The first gear shaft support it is additionally provided with in the lower section of lower supporting plate；Swing first and be provided with the first arcuate groove and the first arc-shaped rack on housing；After first gear shaft passes the first arcuate groove, two ends are pivotally mounted on the first gear shaft support, make the first swing housing be hung on the first gear shaft；Gear and the first arc-shaped rack on first gear shaft are meshed, and output shaft and first gear shaft of the 3rd driving means dock mutually, for driving the first swing housing to swing along the first arcuate groove；It is provided with the second gear shaft support in the first lower section swinging housing；Swing second and be provided with the second arcuate groove and the second arc-shaped rack on housing；After second gear shaft passes the second arcuate groove, two ends are pivotally mounted at the second gear shaft support, make the second swing housing be hung on the second gear shaft；Gear and the second arc-shaped rack on second gear shaft are meshed, and output shaft and second gear shaft of four-drive device dock mutually, for driving the second swing housing to swing along the second arcuate groove.
Use and rotary shaft and the first screw pair are set between the upper backup pad and lower supporting plate of climbing mechanism, it is achieved that arbitrarily turning to and translational motion of climbing mechanism；Use double pendulum platform can improve the positional precision of hole machined.
As of the present utility model further to the scheme of restriction, also include a control unit being made up of hand held controller and motion controller；Motion controller is arranged on rectangle swivel plate, and is connected with hand held controller radio communication；Motion controller and the first driving means, the second driving means, the 3rd driving means and four-drive device are connected.Control unit is used to be capable of the co-ordination of each driving means.
As of the present utility model further to the scheme of restriction, also include a helical milling drilling executor being arranged on below the second swing housing；Helical milling drilling executor includes the free-wheeling system of cutter, adjusting deviation device, revolution movement and feed mechanism；Free-wheeling system is arranged on the inside of revolution movement, is produced from transhipment in order to band cutter dynamic；Adjusting deviation device is arranged between free-wheeling system and revolution movement, in order to realize the eccentric adjusting of cutter；Revolution movement produces revolution in order to drive free-wheeling system and adjusting deviation device；Feed mechanism drives free-wheeling system, adjusting deviation device and revolution movement to carry out axial feed；Free-wheeling system, adjusting deviation device, revolution movement and feed mechanism are equipped with a driving means.Use the design of helical milling drilling executor, different pore size can be processed with on-line continuous.
As of the present utility model further to the scheme of restriction, also include that compresses a chip removal mechanism；Compress chip removal mechanism and include cylindrical shape presser feet and chip removal pipeline；Cylindrical shape presser feet is arranged on two grades and swings on housing, and cutter is positioned at cylindrical shape presser feet；Chip removal pipeline is arranged on cylindrical shape presser feet side, and is connected with cylindrical shape presser feet.Use the design compressing chip discharging structure, processing stability when this utility model uses can be improved.
As of the present utility model further to the scheme of restriction, also include a bits-suction device being connected with chip removal pipeline.Bits-suction device is used can actively to absorb steel cuttings.
As of the present utility model further to the scheme of restriction, also include a Xun Fa mechanism being arranged in cylindrical shape presser feet；Xun Fa mechanism includes smart camera CCD, telescopic cylinder and three pressure transducers；Smart camera CCD is arranged on the piston rod top of telescopic cylinder, and the base of telescopic cylinder is fixedly mounted on the inwall of cylindrical shape presser feet；Three pressure transducers are arranged at the same circumference trisection point of cylindrical shape presser feet outer face.Use the design of Xun Fa mechanism, it is possible to improve the positional precision of hole machined further.
As of the present utility model further to the scheme of restriction, cover equipped with bearing in the end of bearing.Bearing capping is used can bearing effectively to be protected.
The beneficial effects of the utility model are: (1) uses and arranges rotary shaft and the first screw pair between the upper backup pad and lower supporting plate of climbing mechanism, it is achieved that arbitrarily turning to and translational motion of climbing mechanism；(2) double pendulum platform is used can to improve the positional precision of hole machined.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is control unit distribution schematic diagram of the present utility model；
Fig. 3 is climbing mechanism distribution schematic diagram of the present utility model；
Fig. 4 is climbing mechanism partial sectional view of the present utility model；
Fig. 5 is double pendulum platform of the present utility model, helical milling drilling executor, compresses chip removal mechanism, seeks method Distribution of Institutions schematic diagram；
Fig. 6 is Xun Fa mechanism of the present utility model schematic diagram respectively；
Fig. 7 is helical milling drilling executor of the present utility model, compresses chip removal mechanism, Xun Fa mechanism sectional view.
Detailed description of the invention
As illustrated in fig. 1 and 2, the autonomous formula helical milling punching system that this utility model provides includes the autonomous mechanism 1000 being made up of climbing mechanism 1100 and double pendulum platform 1200.
As shown in Figures 3 and 4, climbing mechanism 1100 includes upper backup pad 1101, lower supporting plate 1102, bearing 1103, rotary shaft 1104, rectangle swivel plate the 1105, first slide rail the 1107, first slide block the 1106, first driving means 1115 and three peripheral electric expansion bars 1108；Bearing 1103 is arranged on upper backup pad 1101, and rotary shaft 1104 vertically wears and is fixed on bearing 1103；First driving means 1115 is arranged on upper backup pad 1101 by fixed support 1114, and the upper end of rotary shaft 1104 is connected with the output shaft of the first driving means 1115, and lower end is vertically mounted on rectangle swivel plate 1105；The first slide rail 1107 it is provided with, at first slide block 1106 being arranged over being buckled on the first slide rail 1107 of lower supporting plate 1102 in the lower section of rectangle swivel plate 1105；Be provided with the second driving means 1113 in the lower section of rectangle swivel plate 1105, on the output shaft of the second driving means 1113, abutting joint has the first screw mandrel 1112；First screw mandrel 1112 screws mutually with the nut on lower supporting plate 1102, for driving the first slide block 1106 to slidably reciprocate along the first slide rail 1107；Three peripheral electric expansion bars 1108 are vertically installed at the lower section of upper backup pad 1101, and are positioned on the same circumference of lower face；A peripheral vacuum cup 1109 it is equipped with in the lower end of three peripheral electric expansion bars 1108；Vertically-mounted in the lower section of lower supporting plate 1102 have four internal electric expansion bars 1110, is equipped with an inner vacuum sucker 1111 in the lower end of four internal electric expansion bars 1110；1116 are covered equipped with bearing in the end of bearing 1103.
As it is shown in figure 5, double pendulum platform 1200 includes that the first swing housing 1201, second swings housing the 1202, first gear shaft the 1204, the 3rd driving means the 1206, second gear shaft 1208 and four-drive device 1210；The first gear shaft support 1205 it is additionally provided with in the lower section of lower supporting plate 1102；Swing first and be provided with the first arcuate groove and the first arc-shaped rack 1203 on housing 1201；After first gear shaft 1204 passes the first arcuate groove, two ends are pivotally mounted on the first gear shaft support 1205, make the first swing housing 1201 be hung on the first gear shaft 1204；Gear and the first arc-shaped rack 1203 on first gear shaft 1204 are meshed, the output shaft of the 3rd driving means 1206 and the docking of the first gear shaft 1204 phase, for driving the first swing housing 1201 to swing along the first arcuate groove；It is provided with the second gear shaft support 1209 in the first lower section swinging housing 1201；Swing second and be provided with the second arcuate groove and the second arc-shaped rack 1207 on housing 1202；After second gear shaft 1208 passes the second arcuate groove, two ends are pivotally mounted at the second gear shaft support 1209, make the second swing housing 1202 be hung on the second gear shaft 1208；Gear and the second arc-shaped rack 1207 on second gear shaft 1208 are meshed, the output shaft of four-drive device 1210 and the docking of the second gear shaft 1208 phase, for driving the second swing housing 1202 to swing along the second arcuate groove.
As illustrated in fig. 1 and 2, a control unit 5000 being made up of hand held controller 5001 and motion controller 5002 is also included；Motion controller 5002 is arranged on rectangle swivel plate 1105, and is connected with hand held controller 5001 radio communication；Motion controller 5002 is connected with first driving means the 1115, second driving means the 1113, the 3rd driving means 1206 and four-drive device 1210.
As best shown in figures 5 and 7, a helical milling drilling executor 2000 being arranged on below the second swing housing 1202 is also included；Helical milling drilling executor 2000 includes the free-wheeling system of cutter 2001, adjusting deviation device, revolution movement and feed mechanism；Free-wheeling system is arranged on the inside of revolution movement, produces spinning motion in order to band cutter 2001；Adjusting deviation device is arranged between free-wheeling system and revolution movement, in order to realize the eccentric adjusting of cutter 2001；Revolution movement produces revolution in order to drive free-wheeling system and adjusting deviation device；Feed mechanism drives free-wheeling system, adjusting deviation device and revolution movement to carry out axial feed；Free-wheeling system, adjusting deviation device, revolution movement and feed mechanism are equipped with a driving means.
As shown in Figures 6 and 7, also include that compresses a chip removal mechanism 3000；Compress chip removal mechanism 3000 and include cylindrical shape presser feet 3001 and chip removal pipeline 3002；Cylindrical shape presser feet 3001 is arranged on two grades and swings on housing 1202, and cutter 2001 is positioned at cylindrical shape presser feet 3001；Chip removal pipeline 3002 is arranged on cylindrical shape presser feet 3001 side, and is connected with cylindrical shape presser feet 3001；Also include a bits-suction device being connected with chip removal pipeline 3002；Also include a Xun Fa mechanism 4000 being arranged in cylindrical shape presser feet 3001；Xun Fa mechanism 4000 includes smart camera CCD4001, telescopic cylinder 4003 and three pressure transducers 4002；Smart camera CCD4001 is arranged on the piston rod top of telescopic cylinder 4003, and the base of telescopic cylinder 4003 is fixedly mounted on the inwall of cylindrical shape presser feet 3001；Three pressure transducers 4002 are arranged at the same circumference trisection point of cylindrical shape presser feet 3001 outer face.
Specific works flow process of the present utility model is as follows:
(1) when independently creeping, hand held controller 5001 and motion controller 5002 is utilized to control the first driving means 1115 and the second driving means 1113, when four internal electric expansion bars 1110 hold workpiece by inner vacuum sucker 1111, upper backup pad 1101 and three peripheral electric expansion bars 1108 can be driven to turn to and translate；When three peripheral electric expansion bars 1108 hold workpiece by inner vacuum sucker 1111, lower supporting plate 1102 and four internal electric expansion bars 1110 can be driven to turn to and translate, drive helical milling drilling executor 2000, compression chip removal mechanism 3000 and Xun Fa mechanism 4000 to carry out searching in carrying out on a large scale and treat drilling point；
(2) find when drilling point method is vowed, when autonomous mechanism 1000 drives helical milling drilling executor 2000, compresses in chip removal mechanism 3000 and Xun Fa mechanism 4000 is carried out on a large scale close to during until drilling point, utilize smart camera CCD 4001, realize cutter 2001 centering, then by compressing chip removal mechanism 3000 workpiece pressing, and according to the interpolation of three pressure transducer 4002 dynamometry, control double pendulum platform 1200, make cutter 2001 arrive the direction of normal treating drilling point；
(3) during helical milling drilling, utilizing hand held controller 5001 and motion controller 5002 to control helical milling drilling executor 2000, helical milling drilling executor 2000 uses helical milling hole making device of the prior art；According to tool diameter and diameter to be made, control the driving means of adjusting deviation device, carry out the regulation of cutter 2001 revolution-radius；Then by coordinating to control to the driving means of free-wheeling system, revolution movement, feed mechanism, it is achieved spiral drilling.
The foregoing is only a preferable case study on implementation of the autonomous formula helical milling punching system that this utility model relates to, but practical range of the present utility model is not limited thereto example.
Claims (7)
1. an autonomous formula helical milling punching system, it is characterised in that: include the autonomous mechanism (1000) being made up of climbing mechanism (1100) and double pendulum platform (1200)；
Climbing mechanism (1100) includes the peripheral electric expansion bar (1108) of upper backup pad (1101), lower supporting plate (1102), bearing (1103), rotary shaft (1104), rectangle swivel plate (1105), the first slide rail (1107), the first slide block (1106), the first driving means (1115) and three；Bearing (1103) is arranged on upper backup pad (1101), and rotary shaft (1104) vertically wears and is fixed on bearing (1103)；First driving means (1115) is arranged on upper backup pad (1101) by fixed support (1114), the upper end of rotary shaft (1104) is connected with the output shaft of the first driving means (1115), and lower end is vertically mounted on rectangle swivel plate (1105)；It is provided with the first slide rail (1107), at first slide block (1106) being arranged over being buckled on the first slide rail (1107) of lower supporting plate (1102) in the lower section of rectangle swivel plate (1105)；Being provided with the second driving means (1113) in the lower section of rectangle swivel plate (1105), on the output shaft of the second driving means (1113), abutting joint has the first screw mandrel (1112)；First screw mandrel (1112) screws mutually with the nut on lower supporting plate (1102), for driving the first slide block (1106) to slidably reciprocate along the first slide rail (1107)；Three peripheral electric expansion bars (1108) are vertically installed at the lower section of upper backup pad (1101), and are positioned on the same circumference of lower face；It is equipped with a peripheral vacuum cup (1109) in the lower end of three peripheral electric expansion bars (1108)；Vertically-mounted in the lower section of lower supporting plate (1102) have four internal electric expansion bars (1110), is equipped with an inner vacuum sucker (1111) in the lower end of four internal electric expansion bars (1110)；
Double pendulum platform (1200) includes the first swing housing (1201), the second swing housing (1202), the first gear shaft (1204), the 3rd driving means (1206), the second gear shaft (1208) and four-drive device (1210)；The first gear shaft support (1205) it is additionally provided with in the lower section of lower supporting plate (1102)；Swing first and be provided with the first arcuate groove and the first arc-shaped rack (1203) on housing (1201)；After first gear shaft (1204) passes the first arcuate groove, two ends are pivotally mounted on the first gear shaft support (1205), make the first swing housing (1201) be hung on the first gear shaft (1204)；Gear and the first arc-shaped rack (1203) on first gear shaft (1204) are meshed, output shaft and first gear shaft (1204) of the 3rd driving means (1206) dock mutually, for driving the first swing housing (1201) to swing along the first arcuate groove；It is provided with the second gear shaft support (1209) in the first lower section swinging housing (1201)；Swing second and be provided with the second arcuate groove and the second arc-shaped rack (1207) on housing (1202)；After second gear shaft (1208) passes the second arcuate groove, two ends are pivotally mounted at the second gear shaft support (1209), make the second swing housing (1202) be hung on the second gear shaft (1208)；Gear and the second arc-shaped rack (1207) on second gear shaft (1208) are meshed, output shaft and second gear shaft (1208) of four-drive device (1210) dock mutually, for driving the second swing housing (1202) to swing along the second arcuate groove.
Autonomous formula helical milling punching system the most according to claim 1, it is characterised in that: also include a control unit (5000) being made up of hand held controller (5001) and motion controller (5002)；Motion controller (5002) is arranged on rectangle swivel plate (1105), and is connected with hand held controller (5001) radio communication；Motion controller (5002) is connected with the first driving means (1115), the second driving means (1113), the 3rd driving means (1206) and four-drive device (1210).
Autonomous formula helical milling punching system the most according to claim 1 and 2, it is characterised in that: also include helical milling drilling executor (2000) being arranged on the second swing housing (1202) lower section；Helical milling drilling executor (2000) includes the free-wheeling system of cutter (2001), adjusting deviation device, revolution movement and feed mechanism；Free-wheeling system is arranged on the inside of revolution movement, produces spinning motion in order to band cutter (2001)；Adjusting deviation device is arranged between free-wheeling system and revolution movement, in order to realize the eccentric adjusting of cutter (2001)；Revolution movement produces revolution in order to drive free-wheeling system and adjusting deviation device；Feed mechanism drives free-wheeling system, adjusting deviation device and revolution movement to carry out axial feed；Free-wheeling system, adjusting deviation device, revolution movement and feed mechanism are equipped with a driving means.
Autonomous formula helical milling punching system the most according to claim 3, it is characterised in that: also include that compresses a chip removal mechanism (3000)；Compress chip removal mechanism (3000) and include cylindrical shape presser feet (3001) and chip removal pipeline (3002)；Cylindrical shape presser feet (3001) is arranged on two grades and swings on housing (1202), and cutter (2001) is positioned at cylindrical shape presser feet (3001)；Chip removal pipeline (3002) is arranged on cylindrical shape presser feet (3001) side, and is connected with cylindrical shape presser feet (3001).
Autonomous formula helical milling punching system the most according to claim 4, it is characterised in that: also include a bits-suction device being connected with chip removal pipeline (3002).
Autonomous formula helical milling punching system the most according to claim 4, it is characterised in that: also include a Xun Fa mechanism (4000) being arranged in cylindrical shape presser feet (3001)；Xun Fa mechanism (4000) includes smart camera CCD (4001), telescopic cylinder (4003) and three pressure transducers (4002)；Smart camera CCD (4001) is arranged on the piston rod top of telescopic cylinder (4003), and the base of telescopic cylinder (4003) is fixedly mounted on the inwall of cylindrical shape presser feet (3001)；Three pressure transducers (4002) are arranged at the same circumference trisection point of cylindrical shape presser feet (3001) outer face.
Autonomous formula helical milling punching system the most according to claim 1 and 2, it is characterised in that: cover (1116) in the end of bearing (1103) equipped with bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620237175.9U CN205629481U (en) | 2016-03-25 | 2016-03-25 | Independently portable spiral mills system hole system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620237175.9U CN205629481U (en) | 2016-03-25 | 2016-03-25 | Independently portable spiral mills system hole system |
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| Publication Number | Publication Date |
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| CN205629481U true CN205629481U (en) | 2016-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620237175.9U Active CN205629481U (en) | 2016-03-25 | 2016-03-25 | Independently portable spiral mills system hole system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105772811A (en) * | 2016-03-25 | 2016-07-20 | 南京信息职业技术学院 | Automatic moving type spiral hole milling manufacturing system |
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2016
- 2016-03-25 CN CN201620237175.9U patent/CN205629481U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105772811A (en) * | 2016-03-25 | 2016-07-20 | 南京信息职业技术学院 | Automatic moving type spiral hole milling manufacturing system |
| CN105772811B (en) * | 2016-03-25 | 2017-09-05 | 南京信息职业技术学院 | A kind of autonomous formula helical milling punching system |
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