CN210677720U - Robot combined material bores and mills platform - Google Patents
Robot combined material bores and mills platform Download PDFInfo
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- CN210677720U CN210677720U CN201921240594.8U CN201921240594U CN210677720U CN 210677720 U CN210677720 U CN 210677720U CN 201921240594 U CN201921240594 U CN 201921240594U CN 210677720 U CN210677720 U CN 210677720U
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Abstract
The utility model provides a robot combined material bores and mills platform, includes workstation, cutter switching platform, robot and is located the terminal cutter actuating mechanism of robot arm, the robot is fixed on the robot seat, backup pad and pneumatic clamping device are installed to the workstation upper end, are provided with positioning die in the backup pad. When the composite material is processed, a composite material product to be processed is fixed on a workbench through a positioning die and a pneumatic clamping device, and a robot automatically selects a required cutter executing mechanism from a cutter switching platform to process the composite material. The robot composite material drilling and milling platform can automatically and efficiently complete the drilling and edge milling work of composite material products, can automatically switch the required machining tools, improves the production efficiency, and reduces the precision error caused by repeated positioning.
Description
Technical Field
The utility model belongs to the technical field of the combined material automation equipment, especially, relate to a robot combined material bores and mills platform.
Background
In the process of drilling and milling a transmission composite material product, due to the fact that the limitation of the span of a machine tool needs to clamp and repeatedly position for many times, drilling and milling are conducted on different stations, the occupied area of equipment is large, the positioning accuracy is reduced, the quality of the composite material product is reduced, the labor intensity of workers is increased, and the production cost is increased.
The published patent application, namely 'an automatic manipulator processing device' (application number: CN201410283352.2), utilizes a six-shaft manipulator, is assisted by an automatic tool changing high-speed motorized spindle and a high-precision contact type measuring head, and can conveniently, quickly and efficiently carry out precision-controllable external processing on various complex large parts in a certain size section. However, this device has the following drawbacks:
only have a cutter once, switch more loaded down with trivial details, all need fix a position the work piece at every turn and reduced work efficiency, the locating piece removes many times and is unfavorable for work efficiency's improvement, and the operation panel is comparatively unfavorable for workman's observation.
SUMMERY OF THE UTILITY MODEL
For solving above weak point among the prior art, the utility model provides a robot combined material bores and mills platform has improved the precision of location and the quality of combined material product. The technical scheme is as follows:
a robot composite material drilling and milling platform comprises a workbench, a cutter switching platform, a robot and a cutter executing mechanism positioned at the tail end of a robot arm, wherein the robot is fixed on a robot seat, a supporting plate and a pneumatic clamping device are installed at the upper end of the workbench, and a positioning mold is arranged on the supporting plate; the cutter executing mechanism at the tail end of the robot arm is positioned above the supporting plate, the workbench is positioned right in front of the robot, and the cutter switching platform is positioned at the transverse left end or the transverse right end of the robot; the pneumatic clamping device comprises a cylinder bracket, a horizontally-mounted adjusting cylinder, a pressing cylinder vertically mounted on the adjusting cylinder, a nylon pressing plate fixed on the pressing cylinder through a bolt, an adjusting throttle valve for regulating the adjusting cylinder, and a pressing throttle valve for regulating the pressing cylinder; after the electromagnetic valve is started, air is filtered through the pneumatic triple piece and is conveyed to the adjusting cylinder and the pressing cylinder, the adjusting cylinder and the pressing cylinder adjust the pressing position and exert pressing acting force on the composite material product, and the nylon pressing plate can reduce surface damage in the pressing process of the composite material product. The cylinder support of the pneumatic clamping device is connected with the support of the support plate through the short cross beam, so that the firmness of the pressing process is ensured.
The structure of the positioning mould is designed and installed according to the shape of a composite material product to be processed, the positioning mould is fixed on the supporting plate through bolts, and the pneumatic clamping device is positioned right above the middle of the positioning mould.
Preferably, a plurality of sets of drilling and milling tools, namely machining tools, are arranged on the tool switching platform, so that automatic switching of the tools according to machining requirements in the drilling and milling processes of the composite material product is ensured.
Preferably, a pneumatic electromagnetic valve, a pneumatic triple mounting plate, a pneumatic triple fixed on the pneumatic triple mounting plate and a robot are arranged on the robot seat; the pneumatic triple piece and the pneumatic electromagnetic valve are sequentially arranged in an air path between the air compressor and the air cylinder; the pneumatic clamping device on the workbench is controlled by the electromagnetic valve and the pneumatic triple piece to clamp, fix and prevent looseness of the composite material product; the pneumatic solenoid valve controls the flow of compressed air to the cylinders.
The pneumatic clamping devices are symmetrically arranged and have the same structure, one set is positioned at the far end of the robot, and the other set is positioned at the near end of the robot.
The tool actuator includes a transition flange for coupling to the robot, and a drive motor coupled to the transition flange.
Preferably, the driving motor is an electric spindle motor.
Preferably, the robot is a six-degree-of-freedom robot.
Preferably, the conversion flange is formed by welding five square flange plates and comprises a front flange plate used for being connected with the robot, a two-sided lateral flange plate used for being connected with a driving motor and a two-sided horizontal flange plate.
Preferably, the robot composite material drilling and milling platform further comprises a controller, preferably a PLC controller, for controlling the switching of the robot, and controlling the actions of the adjusting cylinder and the pressing cylinder and the action of the machining tool.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the robot drilling and milling platform can reduce the clamping times of products, the automatic replacement at the same station is a movement process controlled by a computer program, when different cutters are needed for machining, the computer program can automatically control the cutters to be replaced, the running precision of the robot is enough to drill and mill the edges of the products when the heel needs to be replaced, the production efficiency is improved, the precision error caused by repeated positioning is reduced, the automation degree is high, and the labor cost is saved.
2. The cutter switching platform is arranged beside the workbench, and a plurality of sets of drilling and milling cutters are arranged on the cutter switching platform and can be arranged on the quick-change connector, so that the cutters can be automatically switched according to the processing requirement in the drilling and milling processes of the composite material product, the processing efficiency is improved, and the labor intensity is reduced; the machining tool is connected with the driving motor through the quick-change connector, tool changing time is reduced, speed is high, and efficiency is high.
3. Compared with the traditional composite material drilling and milling equipment, the robot composite material drilling and milling platform reduces the clamping and positioning times during the composite material processing by utilizing the higher degree of freedom, large span and flexibility of a robot, and the difficulty in drilling holes in the curved surface of the composite material can be reduced by adopting the robot as an equipment body because the surface of a composite material product is complex in shape and often has a large curved surface; the cutter actuating mechanism is connected to the tail end of the robot arm through the quick-change connector, a required cutter can be replaced at any time according to machining working conditions, a plurality of traditional machining stations are reduced to one, the occupied area of equipment is effectively reduced, and the production efficiency is improved.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
Fig. 1 is a schematic view of the overall structure of the robot composite material drilling and milling platform provided by the present invention;
FIG. 2is an enlarged view of the position of the robot seat in the robot composite drilling and milling platform provided by the present invention;
fig. 3 is a schematic structural view of a pneumatic clamping device in the robot composite material drilling and milling platform provided by the present invention;
fig. 4 is a schematic structural view of a pneumatic triple piece in the robot composite material drilling and milling platform provided by the present invention;
fig. 5 is the utility model provides a cutter actuating mechanism structure sketch map in the robot combined material bores and mills platform.
The device comprises a working table 1, a cutter switching platform 2, a robot base 3, a cutter executing mechanism 4, a composite material to be processed 10, a supporting plate 11, a pneumatic clamping device 12, a positioning mould 13, an electromagnetic valve 31, a pneumatic triple mounting plate 32, a pneumatic triple 33, a six-degree-of-freedom robot 34, a cylinder bracket 121, an adjusting cylinder 122, a pressing cylinder 123, a nylon pressing plate 124, an adjusting throttle 125, a pressing throttle 126, a first quick-change connector 41, a first driving motor 42, a first processing cutter 43, a second driving motor 44, a second quick-change connector 45, a second processing cutter 46 and a conversion flange 47.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, a robot composite material drilling and milling platform comprises a workbench 1, a cutter switching platform 2, a robot and a cutter executing mechanism 4 positioned at the tail end of a robot arm, wherein the robot is fixed on a robot seat 3, a support plate 11 and a pneumatic clamping device 12 are installed at the upper end of the workbench 1, and a positioning mold 13 is arranged on the support plate 11; the cutter actuating mechanism 4 at the tail end of the robot arm is located above the supporting plate 11, the workbench 1 is located right in front of the robot, and the cutter switching platform 2is located at the transverse left end or the transverse right end of the robot.
The structure of the positioning mould 13 is designed and installed according to the shape of the composite material 10 product to be processed, the positioning mould is fixed on the supporting plate 11 through bolts, and the pneumatic clamping device 12 is positioned right above the middle of the positioning mould 13. The cutter switching platform 2is provided with a plurality of sets of drilling and milling cutters, and the drilling and milling cutters are installed on the quick-change connector, so that the cutters can be automatically switched according to the machining requirements in the drilling and milling processes of the composite material product. As an exemplary embodiment, the tool switching stage 2is provided with a first machining tool 43 and a second machining tool 46. The cutter switching platform 2is provided with a plurality of cutter seats with cylindrical blind holes in the middle, and the first machining cutter 43, the second machining cutter 46 and other machining cutters are placed on the cutter seats for selective use.
In the present embodiment, the robot is a six degree of freedom robot 34. The trade name is ABB-IRB6700, and the purchase manufacturer: ABB corporation, model number: IRB 6700-. The running path of the robot is directly set in the robot control cabinet.
As shown in fig. 2 and 3, a pneumatic solenoid valve 31, a pneumatic triplet mounting plate 32, a pneumatic triplet 33 fixed to the pneumatic triplet mounting plate 32, and a six-degree-of-freedom robot 34 are mounted on the robot base 3. The pneumatic triple piece 33 and the pneumatic solenoid valve 31 are sequentially installed in an air passage between the air compressor and the air cylinder 72. The pneumatic clamping device 12 on the worktable 1 is controlled by the electromagnetic valve 31 and the pneumatic triple piece 33 to clamp, fix and prevent the composite material product from loosening.
The pneumatic triple piece generally comprises an air pressure reducing valve, a filter and an oil sprayer; the pressure reducing valve can stabilize the pressure of the air source to enable the air source to be in a constant state, and damage to hardware such as a valve or an actuator and the like caused by sudden change of air pressure of the air source can be reduced; the filter is used for cleaning the air source, can filter moisture in the compressed air and avoids the moisture from entering the device along with the air; the oil atomizer can lubricate moving parts of the machine body and can lubricate parts which are inconvenient to be lubricated with lubricating oil.
The pneumatic solenoid valve 31 is used to control the flow rate of compressed air of the cylinder.
As shown in fig. 4, the pneumatic clamping device 12 includes an air cylinder bracket 121, an adjusting air cylinder 122 fixed on the air cylinder bracket 121 and horizontally installed, a pressing air cylinder 123 vertically installed at the end of the piston rod of the adjusting air cylinder, a nylon pressing plate 124, an adjusting throttle 125 for regulating the adjusting air cylinder 122, and a pressing throttle 126 for regulating the pressing air cylinder 123; the nylon pressing plate 124 is fixed at the tail end of the piston rod of the pressing cylinder 123 through a bolt. Before the composite material processing device starts to work, the adjusting cylinder 122 is in a retraction state, a worker carries the composite material onto a workbench, the positioning die 13 is used for fixing the position, the electromagnetic valve 31 is started, air is filtered through the pneumatic triple piece 33 and is conveyed to the adjusting cylinder 122 and the pressing cylinder 123, the adjusting cylinder 122 extends to push the pressing cylinder 123 to the position above the composite material 10 to be processed, the pressing cylinder 123 extends, the pressing position is adjusted, pressing acting force is applied to the composite material product, and the nylon pressing plate 124 can reduce surface damage in the pressing process of the composite material product.
The cylinder bracket 121 of the pneumatic clamping device 12 is connected with the bracket of the supporting plate 11 through a short beam, so that the firmness of the pressing process is ensured.
In an exemplary embodiment, the pneumatic clamping device 12 is provided in two symmetrically arranged sets of identical structure, one set is located at the distal end of the robot, and the other set is located at the proximal end of the robot.
The tool actuator 4 comprises a conversion flange for connecting to the robot, and a driving motor and a quick-change connector connected to the conversion flange.
As a typical embodiment, as shown in fig. 5, the tool actuator 4 includes a first driving motor 41, a first quick-change coupler 42, a second driving motor 44, a second quick-change coupler 45, and a switching flange 47, where the first quick-change coupler 42 is fixedly connected to the first driving motor 41, the second quick-change coupler 45 is fixedly connected to the second driving motor 44, the first driving motor 41 and the second driving motor 44 are fixed on the switching flange 47 by bolts, the switching flange 47 is fixed with the end of the robot arm by bolts, the first driving motor 41 and the second driving motor 44 are fixedly installed at an angle of 90 degrees, and two other sides of the switching flange 47 can also fix the driving motors for adding tools, so as to realize the random switching of multiple tools to complete different drilling and milling operations. The first quick-change connector 42 and the second quick-change connector 45 are quick-change connectors of a pneumatic structure, and are connected to a movable triplet thereof, the first machining tool 43 taken off from the tool switching platform 2is connected to the first driving motor 41 through the first quick-change connector 42, and the second machining tool 46 is connected to the second driving motor 44 through the second quick-change connector 45.
As an exemplary embodiment, the first drive motor 42 and the second drive motor 45 are electric spindle motors. Available from HITEC, Italy under the model TMA 410/2 ISO303.6KW.
As a typical embodiment, the conversion flange 47 is formed by welding five square flange plates, and after the welding is completed, the welded conversion flange is subjected to drilling and milling according to a required size, and the conversion flange 47 comprises a front flange plate for connecting with a robot, a two-sided lateral flange plate for connecting with a driving motor, and two horizontal flange plates; six screw holes of the front flange plate are used for being connected and fixed with a robot, and a large round hole in the middle of the front flange plate and square holes in the other four plates are used for reducing the mass of the conversion flange, so that the drilling and milling platform can perform drilling and milling work better.
The utility model provides a robot combined material bores and mills platform still includes the controller, the controller can be the PLC controller, and the power consumption drives, as one of them embodiment, the PLC controller adopts ohm dragon NJ501-1400 of ohm dragon company production, connects through IO mouth and robot and controls the robot for the switch of control robot, the action of control adjustment cylinder and the cylinder that compresses tightly, the action of cutter is promptly processed to the control brill cutter head. The robot is set, a base point is selected, the motion track of the robot is set, and the robot moves according to the preset track.
The utility model discloses a working process: when the composite material is processed, the composite material product to be processed is fixed on the workbench through the positioning die and the pneumatic clamping device, and the six-degree-of-freedom robot 34 automatically selects the required tool executing mechanism 4 from the tool switching platform 2 according to the processing working condition, and the specific process is as follows: the tool actuator 4 is fixed at the end of the six-degree-of-freedom robot 34 by the conversion flange 47, and at least two tools are fixed at a time, and the two tools are arranged at an angle of 90 degrees. The robot finishes the drilling and milling work of the composite material product by setting the motion track of the robot. The robot moves the cutter actuating mechanism 4 to a position needing to be machined under the control of the controller, and provides cutting power through the driving motor to machine the composite material product. Firstly, drilling and milling one side of a composite material product, which is far away from a robot, and simultaneously compacting the product by an adjusting cylinder and a compacting cylinder, which are close to one side of the robot, through the translation and lifting adjustment of the position of a nylon pressing plate; after the drilling and milling operation is completed, one side of the product, which is close to the robot, is drilled and milled, and the adjusting cylinder and the pressing cylinder, which are far away from one side of the robot, compress the product through the position of the nylon pressing plate.
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 (9)
1. The robot composite material drilling and milling platform is characterized by comprising a workbench, a cutter switching platform, a robot and a cutter executing mechanism positioned at the tail end of a robot arm, wherein the robot is fixed on a robot seat, a supporting plate and a pneumatic clamping device are installed at the upper end of the workbench, and a positioning mold is arranged on the supporting plate; the cutter executing mechanism at the tail end of the robot arm is positioned above the supporting plate, the workbench is positioned right in front of the robot, and the cutter switching platform is positioned at the transverse left end or the transverse right end of the robot;
the pneumatic clamping device comprises a cylinder bracket, a horizontally-mounted adjusting cylinder, a pressing cylinder vertically mounted on the adjusting cylinder, a nylon pressing plate fixed on the pressing cylinder, an adjusting throttle valve for regulating the adjusting cylinder and a pressing throttle valve for regulating the pressing cylinder; the pneumatic triple piece filters air and conveys the air to the adjusting cylinder and the pressing cylinder, and the adjusting cylinder and the pressing cylinder adjust the pressing position and apply pressing force on the composite material product.
2. The robotic composite material drilling and milling platform of claim 1, wherein a plurality of sets of machining tools are arranged on the tool switching platform, and the tools are automatically switched according to machining requirements during the composite material product drilling and milling process.
3. The robotic composite drilling and milling platform of claim 2, wherein the robot base is provided with a pneumatic solenoid valve, a pneumatic triplet mounting plate, a pneumatic triplet fixed on the pneumatic triplet mounting plate, and a robot; the pneumatic triple piece and the pneumatic electromagnetic valve are sequentially arranged in an air path between the air compressor and the air cylinder; the pneumatic clamping device on the workbench is controlled by the electromagnetic valve and the pneumatic triple piece to clamp, fix and release the composite material product.
4. The robotic composite drilling and milling platform of claim 3, wherein the pneumatic clamping devices are symmetrically arranged in two sets with the same structure, one set is located at the distal end of the robot, and the other set is located at the proximal end of the robot.
5. A robotic composite drilling and milling platform according to claim 4, wherein the tool actuator comprises a transition flange for connection to the robot, and a drive motor and a quick-change coupling connected to the transition flange.
6. A robotic composite drilling and milling platform according to claim 5, wherein the drive motor is an electric spindle motor.
7. A robotic composite drilling and milling platform according to claim 6, wherein the robot is a six degree of freedom robot.
8. A robotic composite drilling and milling platform as claimed in claim 5, wherein the transfer flange is formed by welding five square flanges, including a front flange plate for connection with the robot, and two lateral and horizontal flange plates for connection with the drive motor.
9. The robotic composite drilling and milling platform of claim 1, further comprising a PLC controller, wherein the PLC controller controls the switching of the robot, the adjusting cylinder and the pressing cylinder, and the machining tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921240594.8U CN210677720U (en) | 2019-07-31 | 2019-07-31 | Robot combined material bores and mills platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921240594.8U CN210677720U (en) | 2019-07-31 | 2019-07-31 | Robot combined material bores and mills platform |
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| Publication Number | Publication Date |
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| CN210677720U true CN210677720U (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921240594.8U Active CN210677720U (en) | 2019-07-31 | 2019-07-31 | Robot combined material bores and mills platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112222904A (en) * | 2020-12-14 | 2021-01-15 | 宁波星源卓镁技术股份有限公司 | Camera cover adds clamping apparatus |
-
2019
- 2019-07-31 CN CN201921240594.8U patent/CN210677720U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112222904A (en) * | 2020-12-14 | 2021-01-15 | 宁波星源卓镁技术股份有限公司 | Camera cover adds clamping apparatus |
| CN112222904B (en) * | 2020-12-14 | 2021-02-26 | 宁波星源卓镁技术股份有限公司 | Camera cover adds clamping apparatus |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210906 Address after: 271099 plant 4, Longji science and Technology City, south head of Longteng Road, beijipo street, high tech Zone, Tai'an City, Shandong Province Patentee after: Xinjierui (Tai'an) composite material technology Co.,Ltd. Address before: 271099 B2, Taishan science and Technology City, high tech Zone, Tai'an City, Shandong Province Patentee before: Taian Composite Material Equipment Co.,Ltd. |
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| TR01 | Transfer of patent right |