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

Automatic grinding and milling device and method of operation thereof Download PDF

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Publication number
WO2021147286A1
WO2021147286A1 PCT/CN2020/104610 CN2020104610W WO2021147286A1 WO 2021147286 A1 WO2021147286 A1 WO 2021147286A1 CN 2020104610 W CN2020104610 W CN 2020104610W WO 2021147286 A1 WO2021147286 A1 WO 2021147286A1
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WIPO (PCT)
Prior art keywords
workpiece
milling
support
grinding
laser distance
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PCT/CN2020/104610
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French (fr)
Chinese (zh)
Inventor
王灵通
程远
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南京英尼格玛工业自动化技术有限公司
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Publication of WO2021147286A1 publication Critical patent/WO2021147286A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23CMILLING
    • B23C3/00Milling particular work; Special milling operations; Machines therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q17/00Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/2428Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring existing positions of tools or workpieces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06Work-clamping means
    • B23Q3/062Work-clamping means adapted for holding workpieces having a special form or being made from a special material
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06Work-clamping means
    • B23Q3/08Work-clamping means other than mechanically-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q2703/00Work clamping
    • B23Q2703/02Work clamping means
    • B23Q2703/04Work clamping means using fluid means or a vacuum

Definitions

  • the invention relates to the field of battery tray manufacturing, in particular to an automatic grinding and milling device and a working method thereof.
  • 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.
  • 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.
  • 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
  • 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
  • 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.
  • 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 workpiece positioning and clamping mechanism includes a plurality of positioning pins and a plurality of pressing cylinders arranged on the bracket.
  • the robot arm and the support arm are fixed on the upper side of a base
  • 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.
  • 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.
  • the robotic arm includes a six-axis robotic arm.
  • the laser distance measuring device is bolted to a mounting bracket, and the mounting bracket is bolted to the electric milling cutter device.
  • 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.
  • 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:
  • 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.
  • 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;
  • the grinding height can be automatically adjusted in real time to avoid too deep or too shallow milling.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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:
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Manipulator (AREA)

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

一种自动打磨铣削装置及其工作方法Automatic grinding and milling device and working method thereof 技术领域Technical field
本发明涉及电池托盘制造领域,具体涉及一种自动打磨铣削装置及其工作方法。The invention relates to the field of battery tray manufacturing, in particular to an automatic grinding and milling device and a working method thereof.
背景技术Background technique
随着国内新能源汽车的发展,铝合金电池托盘的需求也越来越大。托盘的工艺流程主要包括CNC加工,搅拌摩擦焊和弧焊等。其中搅拌焊焊接完成后会由于工艺本身的特征,会在焊接完成后产生很多的毛刺和飞边,而且由于搅拌后无法避免产品的焊接变形,产品的平面度一般较差。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.
现有的主要的处理方式有人工使用角磨机和通过铣床机加工。人工打磨主要有以下几点问题:1、砂轮叶片寿命低,需要频繁更换严重影响效率;2、人工成本高;3、安全性差,砂轮叶片或者打磨出来的铝屑都有对人造成伤害的风险。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 .
铣床机加工同样存在以下几点问题:1、需要人工实时在线操作,且运行速度较慢,成本高,效率低;2、对于产品要求较高,需要产品平面度一致性好,产品容忍性差。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.
技术问题technical problem
本发明的目的是针对现有技术存在的不足,提供一种自动打磨铣削装置及其工作方法。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.
技术解决方案Technical solutions
为实现上述目的,在第一方面本发明提供了一种自动打磨铣削装置,包括用于放置工件的支座,所述支座上设有工件定位夹持机构,所述工件定位夹持机构用以将工件固定在支座上,所述支座一侧设有机械手臂,所述机械手臂的外端设有电动铣刀装置和激光测距装置,所述激光测距装置用于获取工件的待打磨区域中各检测点位的实际厚度,所述机械手臂根据各检测点位的实际厚度带动电动铣刀装置沿工件的待打磨区域的表面进行打磨铣削。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.
进一步的,所述支座包括两个支臂和固定在两个支臂之间的托架,所述工件定位夹持机构设置在托架上。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.
进一步的,所述托架上侧设有多个支撑块,所述工件定位夹持机构包括多个设置在托架上的定位销和多个压紧缸。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.
进一步的,所述机械手臂和支臂固定在一基座的上侧,所述基座包括基板和多个设置在基板侧部的支撑脚,所述支撑脚的高度可调。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.
进一步的,所述激光测距装置包括两个,两个激光测距装置分别设置在电动铣刀装置的两侧,且其高度一致。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.
进一步的,所述机械手臂包括六轴机械手臂。Further, the robotic arm includes a six-axis robotic arm.
进一步的,所述激光测距装置螺栓连接有安装支架,所述安装支架与电动铣刀装置螺栓连接。Further, the laser distance measuring device is bolted to a mounting bracket, and the mounting bracket is bolted to the electric milling cutter device.
在第二方面,本发明还提供了一种上述的自动打磨铣削装置的工作方法,包括:In the second aspect, the present invention also provides a working method of the above-mentioned automatic grinding and milling device, including:
步骤1:将工件放置在支座上,启动压紧缸压紧工件;Step 1: Place the workpiece on the support and start the compression cylinder to compress the workpiece;
步骤2:获取工件的待打磨区域中各测量点位的实际厚度;Step 2: Obtain the actual thickness of each measurement point in the area to be polished of the workpiece;
步骤3:所述机械手臂以工件的基准厚度建立绝对打磨面,并以工件的各测量点位的实际厚度与预设的基准厚度之差作为补偿值,生成实际打磨面;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;
步骤4:启动电动铣刀装置,所述机械手臂带动电动铣刀装置沿实际打磨面对工件的待打磨区域进行打磨铣削。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.
进一步的,所述获取工件的待打磨区域中各测量点位的实际厚度包括:Further, the obtaining the actual thickness of each measurement point in the area to be polished of the workpiece includes:
步骤2.1:机械手臂运动至预设的距离测量高度位置;Step 2.1: The robotic arm moves to the preset distance measurement height position;
步骤2.2:机械手臂沿预设的轨迹运动,以使激光测距装置在设定的各测量点位测得其与工件的待打磨区域的垂直距离H1;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;
步骤2.3:计算工件的待打磨区域中各测量点位的实际厚度H为:Step 2.3: Calculate the actual thickness H of each measurement point in the area to be polished of the workpiece as:
H=H2-H1H=H2-H1
其中,H2为机械手臂在距离测量高度位置时激光测距装置与支座的支撑面的垂直距离。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.
有益效果Beneficial effect
与现有技术相比,本发明具有以下有益效果:1、使用机器人配合铣刀及高精度激光,实现全自动作业,效率高;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、节拍快,效率高,性价比高;2. Fast beat, high efficiency and high cost performance;
3、全程无人员参与,避免了对人员造成伤害的风险;3. No personnel participated in the whole process, avoiding the risk of harm to personnel;
4、可以针对平面度不一致的产品,实时自动调整打磨高度,避免出现铣削过深或过浅。4. For products with inconsistent flatness, the grinding height can be automatically adjusted in real time to avoid too deep or too shallow milling.
附图说明Description of the drawings
图1是本发明实施例的自动打磨铣削装置的结构示意图;Figure 1 is a schematic structural diagram of an automatic grinding and milling device according to an embodiment of the present invention;
图2是图1中A区域的局部放大示意图;Fig. 2 is a partial enlarged schematic diagram of area A in Fig. 1;
图3是图1中B区域的局部放大示意图;Fig. 3 is a partial enlarged schematic diagram of area B in Fig. 1;
图4是图1中C区域的局部放大示意图;Fig. 4 is a partial enlarged schematic diagram of area C in Fig. 1;
图5是工件上的各测量点位的分布示意图。Figure 5 is a schematic diagram of the distribution of each measurement point on the workpiece.
本发明的实施方式Embodiments of the present invention
下面结合附图和具体实施例,进一步阐明本发明,本实施例在以本发明技术方案为前提下进行实施,应理解这些实施例仅用于说明本发明而不用于限制本发明的范围。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.
如图1、2和5所示,本发明实施例提供了一种自动打磨铣削装置,包括用于放置工件1的支座2,此处的工件1为电池盒支座2上设有工件定位夹持机构,工件定位夹持机构用以将工件1固定在支座2上,以便对工件1进行打磨铣削。支座2一侧设有机械手臂3,机械手臂3优选采用6轴机械手臂。机械手臂3的外端设有电动铣刀装置4和激光测距装置5,激光测距装置5通过安装支架7与电动铣刀装置4和机械手臂3固定在一起,具体的,激光测距装置5与安装支架7螺栓连接,安装支架7与电动铣刀装置4螺栓连接。激光测距装置5用于获取工件1的待打磨区域中各检测点位的实际厚度。机械手臂3根据各检测点位的实际厚度带动电动铣刀装置4对工件1的待打磨区域进行打磨铣削,以使打磨铣削操作在工件1的表面进行,不会出现铣削过深或过浅。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.
如图1和2所示,本发明实施例的支座2包括两个支臂21和托架22,托架22固定在两个支臂21之间,托架22用于放置工件1,工件定位夹持机构设置在托架22上。为了方便对工件2进行承托,在托架22上侧设有多个支撑块23,支撑块23分别与托架22螺栓连接的第一支撑块231和螺栓连接在第一支撑块231上侧的第二支撑块232,第一支撑块231优选采用q235钢制成,第二支撑块232优选采用不锈钢制成。工件定位夹持机构包括多个设置在托架22上的定位销24和多个压紧缸25。定位销24与工件1上的定位孔相配合,对工件1进行侧向限位。压紧缸25包括气缸251和由气缸251带动翻转的压爪252,压爪252在a位置时,压紧缸25处于打开状态,压爪252在b位置时,压紧缸25处于压紧状态。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. .
如图4所示,为了便于调节支座2和机械手臂3的水平度,优选将机械手臂3和支臂21固定在一基座6的上侧,基座6包括基板61和多个设置在基板61侧部的支撑脚62,支撑脚62的高度可调。本发明实施例的支撑脚62优选包括连接板621和底板622,连接板621焊接在基板61侧部,在连接板621上设有若干通孔623,在底板622的上侧固定有若干螺栓624,在连接板621上下两侧的螺栓624上分别设有一个螺母,通过调节螺母的位置,即可调节连接板621的位置高度,从而调节支座2和机械手臂3的水平度。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.
如图3所示,本发明实施例的激光测距装置5优选采用两个,两个激光测距装置5分别设置在电动铣刀装置4的两侧,两个激光测距装置5的高度一致,在测量时,两个激光测距装置5分别在测量该侧的高度时投入使用,可避免采用的机械手臂3的尺寸过大。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.
结合图1至5,上述实施例的自动打磨铣削装置的工作方法,包括以下步骤: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:
步骤1:将工件1放置在支座2上,启动压紧缸25压紧工件1。Step 1: Place the workpiece 1 on the support 2 and start the pressing cylinder 25 to compress the workpiece 1.
步骤2:获取工件1的待打磨区域中各测量点位的实际厚度。Step 2: Obtain the actual thickness of each measurement point in the area to be polished of the workpiece 1.
获取工件的待打磨区域中各测量点位的实际厚度包括:Obtaining the actual thickness of each measurement point in the area to be polished of the workpiece includes:
步骤2.1:机械手臂3运动至预设的距离测量高度位置;Step 2.1: The robot arm 3 moves to the preset distance measurement height position;
步骤2.2:机械手臂3沿预设的轨迹运动,以使激光测距装置5在设定的各测量点位测得其与工件的待打磨区域的垂直距离H1。如图6所示,各个测量点分布在整个待打磨区域上,机械手臂3从序号1位置开始测量,然后依次向高序号位置运动测量,直至到序号50位置点测量结束。打磨铣削操作的横向运动轨迹与测量的横向运动轨迹是相同的,机械手臂3的横向运动轨迹是根据工件1待打磨区域形状预设的。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.
步骤2.3:计算工件1的待打磨区域中各测量点位的实际厚度H为: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-H1H=H2-H1
其中,H2为机械手臂3在距离测量高度位置时激光测距装置5与支座2的支撑面的垂直距离。该垂直距离在调试时测量设定,调试完成后不会再变化。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.
步骤3:机械手臂3以工件1的基准厚度建立绝对打磨面,并以工件的各测量点位的实际厚度与预设的基准厚度之差作为补偿值,生成实际打磨面。工件1的基准厚度可由设计图样的数模测定测得,然后输入存储至机械手臂的数据值储存器。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.
步骤4:启动电动铣刀装置4,机械手臂3带动电动铣刀装置4沿实际打磨面对工件1的待打磨区域进行打磨。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.
以上所述仅是本发明的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,其它未具体描述的部分,属于现有技术或公知常识。在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。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 (9)

  1. 一种自动打磨铣削装置,其特征在于,包括用于放置工件的支座,所述支座上设有工件定位夹持机构,所述工件定位夹持机构用以将工件固定在支座上,所述支座一侧设有机械手臂,所述机械手臂的外端设有电动铣刀装置和激光测距装置,所述激光测距装置用于获取工件的待打磨区域中各检测点位的实际厚度,所述机械手臂根据各检测点位的实际厚度带动电动铣刀装置沿工件的待打磨区域的表面进行打磨铣削。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.
  2. 根据权利要求1所述的自动打磨铣削装置,其特征在于,所述支座包括两个支臂和固定在两个支臂之间的托架,所述工件定位夹持机构设置在托架上。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 .
  3. 根据权利要求2所述的自动打磨铣削装置,其特征在于,所述托架上侧设有多个支撑块,所述工件定位夹持机构包括多个设置在托架上的定位销和多个压紧缸。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.
  4. 根据权利要求2所述的自动打磨铣削装置,其特征在于,所述机械手臂和支臂固定在一基座的上侧,所述基座包括基板和多个设置在基板侧部的支撑脚,所述支撑脚的高度可调。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.
  5. 根据权利要求2所述的自动打磨铣削装置,其特征在于,所述激光测距装置包括两个,两个激光测距装置分别设置在电动铣刀装置的两侧,且其高度一致。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.
  6. 根据权利要求1所述的自动打磨铣削装置,其特征在于,所述机械手臂包括六轴机械手臂。The automatic grinding and milling device according to claim 1, wherein the robotic arm comprises a six-axis robotic arm.
  7. 根据权利要求1所述的自动打磨铣削装置,其特征在于,所述激光测距装置螺栓连接有安装支架,所述安装支架与电动铣刀装置螺栓连接。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.
  8. 一种如权利要求1所述的自动打磨铣削装置的工作方法,其特征在于,包括:A working method of an automatic grinding and milling device according to claim 1, characterized in that it comprises:
    步骤1:将工件放置在支座上,启动压紧缸压紧工件;Step 1: Place the workpiece on the support and start the compression cylinder to compress the workpiece;
    步骤2:获取工件的待打磨区域中各测量点位的实际厚度;Step 2: Obtain the actual thickness of each measurement point in the area to be polished of the workpiece;
    步骤3:所述机械手臂以工件的基准厚度建立绝对打磨面,并以工件的各测量点位的实际厚度与预设的基准厚度之差作为补偿值,生成实际打磨面;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;
    步骤4:启动电动铣刀装置,所述机械手臂带动电动铣刀装置沿实际打磨面对工件的待打磨区域进行打磨铣削。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.
  9. 根据权利要求8所述的自动打磨铣削装置的工作方法,其特征在于,所述获取工件的待打磨区域中各测量点位的实际厚度包括: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:
    步骤2.1:机械手臂运动至预设的距离测量高度位置;Step 2.1: The robotic arm moves to the preset distance measurement height position;
    步骤2.2:机械手臂沿预设的轨迹运动,以使激光测距装置在设定的各测量点位测得其与工件的待打磨区域的垂直距离H1;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;
    步骤2.3:计算工件的待打磨区域中各测量点位的实际厚度H为:Step 2.3: Calculate the actual thickness H of each measurement point in the area to be polished of the workpiece as:
    H=H2-H1H=H2-H1
    其中,H2为机械手臂在距离测量高度位置时激光测距装置与支座的支撑面的垂直距离。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.
PCT/CN2020/104610 2020-01-20 2020-07-24 Automatic grinding and milling device and method of operation thereof WO2021147286A1 (en)

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CN111112709A (en) * 2020-01-20 2020-05-08 南京英尼格玛工业自动化技术有限公司 Automatic grinding and milling device and working method thereof
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