WO2021147286A1

WO2021147286A1 - Automatic grinding and milling device and method of operation thereof

Info

Publication number: WO2021147286A1
Application number: PCT/CN2020/104610
Authority: WO
Inventors: 王灵通; 程远
Original assignee: 南京英尼格玛工业自动化技术有限公司
Priority date: 2020-01-20
Filing date: 2020-07-24
Publication date: 2021-07-29
Also published as: CN111112709A

Abstract

Disclosed are an automatic grinding and milling device and method of operation thereof. The device comprises a support base used for placing a workpiece; the support base is provided with a workpiece positioning and clamping mechanism, the workpiece positioning and clamping mechanism being used for fixing the workpiece on the support base; a mechanical arm is provided on one side of the support base; the outer end of the mechanical arm is connected to an electrically powered milling cutter device and a laser distance measurement device; the laser distance measurement device is used for obtaining the actual thickness of each detection point in an area to be polished of the workpiece; the mechanical arm drives the electric milling cutter device to perform grinding and milling along the surface of the area to be polished of the workpiece according to the actual thickness of each detection point. Using a robot in conjunction with a milling cutter and a high-precision laser enables fully automated operation, and efficiency is high; the pace is quick, efficiency is high, and there is cost-effectiveness; the entire process is free of involvement by personnel, avoiding the risk of personal injury; the invention can, with regard to products having inconsistent flatness, automatically adjust the grinding height in real time, preventing milling too deep or too shallow.

Description

Automatic grinding and milling device and working method thereof

Technical field

The invention relates to the field of battery tray manufacturing, in particular to an automatic grinding and milling device and a working method thereof.

Background technique

With the development of domestic new energy vehicles, the demand for aluminum alloy battery trays is also increasing. The process flow of the pallet mainly includes CNC machining, friction stir welding and arc welding. Among them, after the stir welding is completed, due to the characteristics of the process itself, a lot of burrs and flashes will be generated after the welding is completed, and because the welding deformation of the product cannot be avoided after the stirring, the flatness of the product is generally poor.

The main existing treatment methods are manual use of angle grinders and machining by milling machines. Manual grinding mainly has the following problems: 1. The life of the grinding wheel blades is low, and frequent replacement is necessary to seriously affect efficiency; 2. The labor cost is high; 3. The safety is poor, and the grinding wheel blades or the aluminum shavings that are polished are at risk of harm to people .

Milling machine machining also has the following problems: 1. It requires manual real-time online operation, and the running speed is slow, the cost is high, and the efficiency is low; 2. The product requirements are high, and the product flatness consistency is good, and the product tolerance is poor.

technical problem

The purpose of the present invention is to provide an automatic grinding and milling device and its working method in view of the deficiencies in the prior art.

Technical solutions

In order to achieve the above objective, in the first aspect, the present invention provides an automatic grinding and milling device, including a support for placing a workpiece, the support is provided with a workpiece positioning and clamping mechanism, and the workpiece positioning and clamping mechanism is used for In order to fix the workpiece on the support, one side of the support is provided with a mechanical arm, and the outer end of the mechanical arm is provided with an electric milling cutter device and a laser distance measuring device. The laser distance measuring device is used to obtain the workpiece According to the actual thickness of each detection point in the area to be polished, the mechanical arm drives the electric milling cutter device to perform polishing and milling along the surface of the area to be polished according to the actual thickness of each detection point.

Further, the support includes two support arms and a bracket fixed between the two support arms, and the workpiece positioning and clamping mechanism is arranged on the bracket.

Further, a plurality of support blocks are provided on the upper side of the bracket, and the workpiece positioning and clamping mechanism includes a plurality of positioning pins and a plurality of pressing cylinders arranged on the bracket.

Further, the robot arm and the support arm are fixed on the upper side of a base, and the base includes a base plate and a plurality of supporting legs arranged on the sides of the base plate, and the height of the supporting legs is adjustable.

Further, the laser distance measuring device includes two laser distance measuring devices, and the two laser distance measuring devices are respectively arranged on both sides of the electric milling cutter device, and their heights are the same.

Further, the robotic arm includes a six-axis robotic arm.

Further, the laser distance measuring device is bolted to a mounting bracket, and the mounting bracket is bolted to the electric milling cutter device.

In the second aspect, the present invention also provides a working method of the above-mentioned automatic grinding and milling device, including:

Step 1: Place the workpiece on the support and start the compression cylinder to compress the workpiece;

Step 2: Obtain the actual thickness of each measurement point in the area to be polished of the workpiece;

Step 3: The robotic arm establishes an absolute grinding surface based on the reference thickness of the workpiece, and uses the difference between the actual thickness of each measurement point of the workpiece and the preset reference thickness as a compensation value to generate the actual grinding surface;

Step 4: Start the electric milling cutter device, and the mechanical arm drives the electric milling cutter device to perform grinding and milling along the actual grinding surface of the workpiece.

Further, the obtaining the actual thickness of each measurement point in the area to be polished of the workpiece includes:

Step 2.1: The robotic arm moves to the preset distance measurement height position;

Step 2.2: The mechanical arm moves along the preset trajectory, so that the laser distance measuring device measures the vertical distance H1 from the area to be polished of the workpiece at the set measuring points;

Step 2.3: Calculate the actual thickness H of each measurement point in the area to be polished of the workpiece as:

H=H2-H1

Among them, H2 is the vertical distance between the laser distance measuring device and the supporting surface of the support when the mechanical arm is measuring the height position.

Beneficial effect

Compared with the prior art, the present invention has the following beneficial effects: 1. Using a robot to cooperate with a milling cutter and a high-precision laser to realize fully automatic operation with high efficiency;

2. Fast beat, high efficiency and high cost performance;

3. No personnel participated in the whole process, avoiding the risk of harm to personnel;

4. For products with inconsistent flatness, the grinding height can be automatically adjusted in real time to avoid too deep or too shallow milling.

Description of the drawings

Figure 1 is a schematic structural diagram of an automatic grinding and milling device according to an embodiment of the present invention;

Fig. 2 is a partial enlarged schematic diagram of area A in Fig. 1;

Fig. 3 is a partial enlarged schematic diagram of area B in Fig. 1;

Fig. 4 is a partial enlarged schematic diagram of area C in Fig. 1;

Figure 5 is a schematic diagram of the distribution of each measurement point on the workpiece.

Embodiments of the present invention

The present invention will be further clarified below in conjunction with the drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.

As shown in Figures 1, 2 and 5, the embodiment of the present invention provides an automatic grinding and milling device, which includes a support 2 for placing a workpiece 1, where the workpiece 1 is a battery box support 2 provided with a workpiece positioning The clamping mechanism, the workpiece positioning and clamping mechanism is used to fix the workpiece 1 on the support 2 for grinding and milling the workpiece 1. A mechanical arm 3 is provided on one side of the support 2, and the mechanical arm 3 is preferably a 6-axis mechanical arm. The outer end of the robotic arm 3 is provided with an electric milling cutter device 4 and a laser distance measuring device 5. The laser distance measuring device 5 is fixed with the electric milling cutter device 4 and the robotic arm 3 through a mounting bracket 7. Specifically, the laser distance measuring device 5 is connected with the mounting bracket 7 by bolts, and the mounting bracket 7 is connected with the electric milling cutter device 4 by bolts. The laser distance measuring device 5 is used to obtain the actual thickness of each detection point in the area to be polished of the workpiece 1. The mechanical arm 3 drives the electric milling cutter device 4 to grind and mill the area to be polished of the workpiece 1 according to the actual thickness of each detection point, so that the grinding and milling operation is performed on the surface of the workpiece 1 without milling too deep or too shallow.

As shown in Figures 1 and 2, the support 2 of the embodiment of the present invention includes two support arms 21 and a bracket 22, the bracket 22 is fixed between the two support arms 21, the bracket 22 is used to place the workpiece 1, the workpiece The positioning and clamping mechanism is provided on the bracket 22. In order to facilitate the support of the workpiece 2, a plurality of support blocks 23 are provided on the upper side of the bracket 22, and the support blocks 23 are respectively bolted to the bracket 22 and the first support block 231 is bolted to the upper side of the first support block 231. The second support block 232, the first support block 231 is preferably made of q235 steel, and the second support block 232 is preferably made of stainless steel. The workpiece positioning and clamping mechanism includes a plurality of positioning pins 24 arranged on the bracket 22 and a plurality of pressing cylinders 25. The positioning pin 24 is matched with the positioning hole on the workpiece 1 to limit the workpiece 1 laterally. The pressing cylinder 25 includes an air cylinder 251 and a pressing claw 252 that is turned over by the air cylinder 251. When the pressing claw 252 is at a position, the pressing cylinder 25 is in an open state, and when the pressing claw 252 is at a position b, the pressing cylinder 25 is in a pressing state. .

As shown in Figure 4, in order to facilitate the adjustment of the level of the support 2 and the robot arm 3, it is preferable to fix the robot arm 3 and the support arm 21 on the upper side of a base 6. The base 6 includes a base plate 61 and a plurality of The height of the supporting feet 62 on the side of the base plate 61 is adjustable. The supporting leg 62 of the embodiment of the present invention preferably includes a connecting plate 621 and a bottom plate 622. The connecting plate 621 is welded to the side of the base plate 61. A number of through holes 623 are provided on the connecting plate 621. A number of bolts 624 are fixed on the upper side of the base plate 622. The bolts 624 on the upper and lower sides of the connecting plate 621 are respectively provided with a nut. By adjusting the position of the nut, the position and height of the connecting plate 621 can be adjusted, thereby adjusting the levelness of the support 2 and the robot arm 3.

As shown in FIG. 3, two laser distance measuring devices 5 are preferably used in the embodiment of the present invention. The two laser distance measuring devices 5 are respectively arranged on both sides of the electric milling cutter device 4, and the heights of the two laser distance measuring devices 5 are the same. During the measurement, the two laser distance measuring devices 5 are put into use when measuring the height of the side respectively, which can avoid the use of the mechanical arm 3 being too large.

With reference to Figures 1 to 5, the working method of the automatic grinding and milling device of the above embodiment includes the following steps:

Step 1: Place the workpiece 1 on the support 2 and start the pressing cylinder 25 to compress the workpiece 1.

Step 2: Obtain the actual thickness of each measurement point in the area to be polished of the workpiece 1.

Obtaining the actual thickness of each measurement point in the area to be polished of the workpiece includes:

Step 2.1: The robot arm 3 moves to the preset distance measurement height position;

Step 2.2: The mechanical arm 3 moves along a preset trajectory, so that the laser distance measuring device 5 measures the vertical distance H1 between it and the area to be polished of the workpiece at each set measurement point. As shown in Fig. 6, each measuring point is distributed over the entire area to be polished. The robotic arm 3 starts measuring from the position of serial number 1, and then moves to the position of high serial number in turn, until the measurement ends at the position of serial number 50. The lateral movement trajectory of the grinding and milling operation is the same as the measured lateral movement trajectory, and the lateral movement trajectory of the mechanical arm 3 is preset according to the shape of the area to be polished of the workpiece 1.

Step 2.3: Calculate the actual thickness H of each measurement point in the area to be polished of the workpiece 1 as:

H=H2-H1

Among them, H2 is the vertical distance between the laser distance measuring device 5 and the supporting surface of the support 2 when the robot arm 3 is in the distance measuring height position. The vertical distance is measured and set during commissioning, and will not change after commissioning.

Step 3: The robot arm 3 establishes an absolute grinding surface based on the reference thickness of the workpiece 1, and uses the difference between the actual thickness of each measurement point of the workpiece and the preset reference thickness as the compensation value to generate the actual grinding surface. The reference thickness of the workpiece 1 can be measured by digital and analog measurement of the design pattern, and then input and stored in the data value storage of the robot arm.

Step 4: Start the electric milling cutter device 4, and the mechanical arm 3 drives the electric milling cutter device 4 to grind the area to be polished of the workpiece 1 along the actual polishing surface.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, other parts not specifically described belong to the prior art or common knowledge. Without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

An automatic grinding and milling device, which is characterized in that it comprises a support for placing a workpiece, the support is provided with a workpiece positioning and clamping mechanism, and the workpiece positioning and clamping mechanism is used to fix the workpiece on the support, A mechanical arm is provided on one side of the support, and the outer end of the mechanical arm is provided with an electric milling cutter device and a laser distance measuring device. The laser distance measuring device is used to obtain the position of each detection point in the area to be polished of the workpiece. According to the actual thickness, the mechanical arm drives the electric milling cutter device to perform grinding and milling along the surface of the area to be polished of the workpiece according to the actual thickness of each detection point.
The automatic grinding and milling device according to claim 1, wherein the support includes two support arms and a bracket fixed between the two support arms, and the workpiece positioning and clamping mechanism is arranged on the bracket .
The automatic grinding and milling device according to claim 2, wherein a plurality of support blocks are provided on the upper side of the bracket, and the workpiece positioning and clamping mechanism includes a plurality of positioning pins and a plurality of positioning pins arranged on the bracket. Clamping cylinder.
The automatic grinding and milling device according to claim 2, wherein the robot arm and the support arm are fixed on the upper side of a base, and the base includes a base plate and a plurality of supporting legs arranged on the side of the base plate, The height of the supporting feet is adjustable.
The automatic grinding and milling device according to claim 2, wherein the laser distance measuring device comprises two laser distance measuring devices, and the two laser distance measuring devices are respectively arranged on both sides of the electric milling cutter device, and their heights are the same.
The automatic grinding and milling device according to claim 1, wherein the robotic arm comprises a six-axis robotic arm.
The automatic grinding and milling device according to claim 1, wherein the laser distance measuring device is bolted to a mounting bracket, and the mounting bracket is bolted to the electric milling cutter device.
A working method of an automatic grinding and milling device according to claim 1, characterized in that it comprises:

Step 1: Place the workpiece on the support and start the compression cylinder to compress the workpiece;

Step 2: Obtain the actual thickness of each measurement point in the area to be polished of the workpiece;

Step 3: The robotic arm establishes an absolute grinding surface based on the reference thickness of the workpiece, and uses the difference between the actual thickness of each measurement point of the workpiece and the preset reference thickness as a compensation value to generate the actual grinding surface;

Step 4: Start the electric milling cutter device, and the mechanical arm drives the electric milling cutter device to perform grinding and milling along the actual grinding surface of the workpiece.
The working method of an automatic grinding and milling device according to claim 8, wherein said obtaining the actual thickness of each measurement point in the area to be polished of the workpiece comprises:

Step 2.1: The robotic arm moves to the preset distance measurement height position;

Step 2.2: The mechanical arm moves along the preset trajectory, so that the laser distance measuring device measures the vertical distance H1 from the area to be polished of the workpiece at the set measuring points;

Step 2.3: Calculate the actual thickness H of each measurement point in the area to be polished of the workpiece as:

H=H2-H1

Among them, H2 is the vertical distance between the laser distance measuring device and the supporting surface of the support when the mechanical arm is measuring the height position.