CN105479176A - Robot drilling and milling device and method utilizing minimum quantity lubrication system - Google Patents
Robot drilling and milling device and method utilizing minimum quantity lubrication system Download PDFInfo
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- CN105479176A CN105479176A CN201511018099.9A CN201511018099A CN105479176A CN 105479176 A CN105479176 A CN 105479176A CN 201511018099 A CN201511018099 A CN 201511018099A CN 105479176 A CN105479176 A CN 105479176A
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- milling
- lubricating
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- trace amount
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/02—Machine tools for performing different machining operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/10—Arrangements for cooling or lubricating tools or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/10—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting speed or number of revolutions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Auxiliary Devices For Machine Tools (AREA)
Abstract
The invention discloses a robot drilling and milling device and method utilizing a minimum quantity lubrication system. The robot drilling and milling device comprises a robot, a drilling and milling main shaft, a cutter system, the minimum quantity lubrication system, a detection system and a controller. The robot is sequentially connected with the drilling and milling main shaft and the cutter system. The controller controls the drilling and milling position. The drilling and milling main shaft controls the cutting speed of the drilling and milling. The minimum quantity lubrication system is used for performing cooling lubrication treatment on the drilling and milling process. The detection system is connected with a drilled and milled workpiece and the controller. The detection system detects the drilling and milling information and transmits the drilling and milling information to the controller. The controller is connected with the robot, the drilling and milling main shaft and the minimum quantity lubrication system. The controller controls running of the robot, the drilling and milling main shaft, the cutter system and the minimum quantity lubrication system according to the drilling and milling information in real time. According to the technical scheme, the drilling and milling speed and the machining quality are improved, and the drilling and milling stability of the robot is improved.
Description
Technical field
The invention belongs to mechanical field, relate to a kind of drilling-milling apparatus, particularly relate to a kind of the robot drilling-milling apparatus and the method that adopt lubricating system with trace amount.
Background technology
At present, when carrying out brill milling, generally adopt machining center to complete brill Milling Machining, and lubricating system wherein can be summed up as: cutting fluid lubrication, unlubricated (air-cooled or DRY CUTTING) and micro lubricating three kinds.Cutting fluid lubrication is the cooling and lubricating mode the most generally used, also has to environment vaporization that in the element of harm, processing, cutting fluid produces and splashes and produce harm to operative employee because cutting fluid contains chlorine, phosphorus, sulphur etc., endure to the fullest extent denounce to the quenching effect etc. of cutter; Air-cooled trying out under unlubricated mode is processed in low speed, and the DRY CUTTING under unlubricated mode is suitable for High Speed machining.Therefore, micro lubricating is the focus and emphasis of scientific research.
The robot being characteristic with high flexibility and high accessibility bores the lubricating system that Milling Machining inherits machining center, but based on air-cooled and cutting fluid cooling and lubricating.But these two kinds of types of cooling exist obvious defect, limit the development that robot bores Milling Machining.Cutting fluid lubrication mode, except above-mentioned shortcoming, has also occurred in robot machined that investment is large, recycled difficulty, has affected robot dexterity/accessibility and reduce the problems such as machining accuracy.And the air-cooled low speed processing that can only be applied to thin-walled parts, and machining accuracy is not high, substantially cannot meet actual processing needs.As novel lubricating system, micro lubricating mode is less to be used in robot machined, and has occurred causing machining accuracy degradation, tool wear serious or collapse the phenomenons such as cutter, processing is unstable because lubricating the problem such as insufficient.
Summary of the invention
In view of this, the invention provides a kind of the robot drilling-milling apparatus and the method that adopt lubricating system with trace amount.
For achieving the above object, concrete technical scheme is as follows:
On the one hand, the invention provides a kind of robot drilling-milling apparatus adopting lubricating system with trace amount, comprise robot, bore milling main shaft, tooling system, lubricating system with trace amount, detection system and controller, described robot successively with brill milling main shaft, tooling system is connected, described robot controlling bores the position of milling, described brill milling Spindle control bores the cutting speed of milling, described lubricating system with trace amount carries out cooling and lubricating process to brill milling process, described detection system is connected with controller with the workpiece boring milling respectively, described detection system detects bores milling information, and be passed to described controller, described controller respectively with robot, bore milling main shaft, lubricating system with trace amount is connected, described controller is according to brill milling information real time control machine device people, bore milling main shaft, tooling system, the operation of lubricating system with trace amount.
Preferably, described robot realizes boring the positioning control of milling, the amount of feeding controls and control process.
Preferably, described brill milling information comprises real-time position information, the amount of feeding, brill milling speed and flow of lubrication and gas flow.
Preferably, described lubricating system with trace amount comprises control system, air supply regulating system, lubricating oil supply regulating system, micro lubricating pumping system, metering system and oil gas pipeline nozzle system, described air supply regulating system, lubricating oil supply regulating system are connected with micro lubricating pumping system respectively, described micro lubricating pumping system, metering system are connected successively with oil gas pipeline nozzle system, and described control system supplies regulating system with air respectively, lubricating oil supplies regulating system, micro lubricating pumping system, metering system are connected.
Preferably, described air supply regulating system comprises air accumulator and the air filtering system be connected successively, booster pump and control gas circuit.
Preferably, described lubricating oil supply/regulating system comprises connected oil storage tank system and lubrication oil filtration system.
Preferably, also lubrication oil booster pump is installed additional after described lubrication oil filtration system.
Preferably, described controller comprises connected PLC and industrial computer.
On the other hand, the invention provides a kind of robot of lubricating system with trace amount that adopts and bore milling method, comprise the robot drilling-milling apparatus of above-mentioned employing lubricating system with trace amount, described method comprise robot by bore milling main shaft and on tooling system carry out brill milling, described robot controlling bores the position of milling, described brill milling Spindle control bores milling speed, described lubricating system with trace amount carries out cooling and lubricating process, described detection system obtains bores milling information and feeds back to controller, realizes position, bores the real-time control of milling speed and lubrication after described controller synthesis process.
Preferably, described lubricating system with trace amount will be supplied the air of regulating system by micro lubricating pumping system and carry out air-fuel mixture from the lubricating oil of lubricating oil supply regulating system and sprayed by oil gas pipeline nozzle system from air, metering system in described lubricating system with trace amount detects current lubrication flow in real time and feeds back to control system, controls air supply regulating system, lubricating oil supplies regulating system, micro lubricating pumping system makes real-time adjustment by control system.
Relative to prior art, technical scheme of the present invention, under the prerequisite ensureing robot high flexibility and high accessibility, solves the problem that robot bores milling micro lubricating, improves the speed and crudy of boring milling, improves the stability that robot bores Milling Machining.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is that the robot of the embodiment of the present invention bores milling control structure schematic diagram;
Fig. 2 is the lubricating system with trace amount structural representation of embodiments of the invention;
Fig. 3 is the operation chart of embodiments of the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
Below with reference to accompanying drawing, concrete explaination is done to embodiments of the invention.
As shown in fig. 1, the robot drilling-milling apparatus of embodiments of the invention and method control micro lubricating control system.The milling in hole has been come with milling spindle (tooling system) by robot.Robot realizes the positioning control in hole, the amount of feeding controls and control process; Bore the brill milling speeds control that milling main shaft completes hole; Lubricating system with trace amount carries out cooling and lubricating process; The real-time position information of detection system acquisition pores, the amount of feeding, brill milling speed and flow of lubrication and gas flow etc. feed back to PLC/PMC and industrial computer, realize the real-time control of position, cutting and lubrication after industrial computer integrated treatment.In an embodiment of the present invention, PLC/PMC (Programmable Logic Controller) controls single machine people, and by host computer, namely industrial computer control multiple stage robot carries out brill milling operation.
As shown in Figure 2, lubricating system with trace amount comprises six major parts: control system, air supply regulating system, lubricating oil supply regulating system, micro lubricating pumping system, metering system and oil gas pipeline/nozzle system.
Control system is made up of PLC/PMC, preferably be integrated in the controller of drilling-milling apparatus, air supply regulating system, lubricating oil supply regulating system, micro lubricating pumping system are controlled, process metering system feedack, thus realize controlling lubricating system with trace amount.Wherein, the basic principle that micro lubricating controls is: first, formulates the lubrication scale in each hole according to the information, tool-information etc. in each hole of turning work piece to be milled in advance, gives on this basis during each hole drill milling and provides micro lubricating, secondly, adjust to oil pump capacity according to the actual conditions of boring milling.
Air supply regulating system is made up of air filtering system, booster pump, air accumulator and control gas circuit etc., directly controls gasoline proportionality and the flow of micro lubricating.Wherein, air accumulator, for ensureing the stable of air capacity, realizes the stable of micro lubricating flow; Booster pump is used for, when detecting that the situations such as chip removal is not smooth, lack of lubrication appear in cutter, increasing lubrication flow; Control gas circuit in order to regulate the air quantity delivered of micro lubricating pumping system thus the oil-gas ratio of adjustment micro lubricating or flow of lubrication.
Lubricating oil supply regulating system comprises oil storage tank system (the too low warning of band oil mass), lubrication oil filtration system, lubrication oil booster pump.Wherein, lubrication oil filtration system is mainly used in filtering the foreign material such as the aluminium bits cutting environment generation; Lubrication oil booster pump is in order to increase fuel delivery when lack of lubrication thus ensure oil-gas ratio while raising flow of lubrication.
Micro lubricating pumping system is used for the air from air supply/regulating system and the lubricating oil from lubricating oil supply/regulating system being carried out air-fuel mixture and being sprayed by oil gas pipeline/nozzle system.
Metering system, comprises metering units, in order to detect current lubrication flow in real time and to feed back to control system, makes real-time adjustment by control system.
Embodiments of the invention, by controlling in real time, under the prerequisite ensureing robot high flexibility and high accessibility, solve the problem that robot bores milling micro lubricating, improve the speed and crudy of boring milling, improve the stability that robot bores Milling Machining.
As shown in Figure 3, have employed embodiment of the present invention drilling-milling apparatus and method, brill Milling Machining is carried out to automobile aluminum products component, wherein, workpiece hole size is at Φ 3.6-Φ 7.6, the degree of depth is between 2-5mm, 45, positive face (7, waist hole, the technique of direct milling is adopted to process), 24, outside face (5, waist hole), 19, inner side face (4, waist hole), reach position, the hole precision ± 0.05mm boring milling requirement and reach, crudy and working (machining) efficiency are all greatly improved, and meet the demand of client's actual production, and enter batch production.
Be described in detail specific embodiments of the invention above, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and substituting also all among category of the present invention.Therefore, equalization conversion done without departing from the spirit and scope of the invention and amendment, all should contain within the scope of the invention.
Claims (10)
1. one kind adopts the robot drilling-milling apparatus of lubricating system with trace amount, it is characterized in that, comprise robot, bore milling main shaft, tooling system, lubricating system with trace amount, detection system and controller, described robot successively with brill milling main shaft, tooling system is connected, described robot controlling bores the position of milling, described brill milling Spindle control bores the cutting speed of milling, described lubricating system with trace amount carries out cooling and lubricating process to brill milling process, described detection system is connected with controller with the workpiece boring milling respectively, described detection system detects bores milling information, and be passed to described controller, described controller respectively with robot, bore milling main shaft, lubricating system with trace amount is connected, described controller is according to brill milling information real time control machine device people, bore milling main shaft, tooling system, the operation of lubricating system with trace amount.
2. the robot drilling-milling apparatus of employing lubricating system with trace amount according to claim 1, is characterized in that: positioning control, the amount of feeding of the realization brill milling of described robot control and control process.
3. the robot drilling-milling apparatus of employing lubricating system with trace amount according to claim 1, is characterized in that: described brill milling information comprises real-time position information, the amount of feeding, brill milling speed and flow of lubrication and gas flow.
4. the robot drilling-milling apparatus of employing lubricating system with trace amount according to claim 1, it is characterized in that, described lubricating system with trace amount comprises control system, air supply regulating system, lubricating oil supply regulating system, micro lubricating pumping system, metering system and oil gas pipeline nozzle system, described air supply regulating system, lubricating oil supply regulating system is connected with micro lubricating pumping system respectively, described micro lubricating pumping system, metering system is connected successively with oil gas pipeline nozzle system, described control system supplies regulating system with air respectively, lubricating oil supply regulating system, micro lubricating pumping system, metering system is connected.
5. the robot drilling-milling apparatus of employing lubricating system with trace amount according to claim 4, is characterized in that, described air supply regulating system comprises air accumulator and the air filtering system be connected successively, booster pump and control gas circuit.
6. the robot drilling-milling apparatus of employing lubricating system with trace amount according to claim 4, is characterized in that, described lubricating oil supply/regulating system comprises connected oil storage tank system and lubrication oil filtration system.
7. the robot drilling-milling apparatus of employing lubricating system with trace amount according to claim 6, is characterized in that, also installs lubrication oil booster pump additional after described lubrication oil filtration system.
8. the robot drilling-milling apparatus of employing lubricating system with trace amount according to claim 1, is characterized in that, described controller comprises connected PLC and industrial computer.
9. one kind adopts the robot of lubricating system with trace amount to bore milling method, comprise the robot drilling-milling apparatus of the employing lubricating system with trace amount any one of claim 1 to 8, it is characterized in that, described method comprise robot by bore milling main shaft and on tooling system carry out brill milling, described robot controlling bores the position of milling, described brill milling Spindle control bores milling speed, described lubricating system with trace amount carries out cooling and lubricating process, described detection system obtains bores milling information and feeds back to controller, position is realized after described controller synthesis process, bore the real-time control of milling speed and lubrication.
10. the robot of employing lubricating system with trace amount according to claim 9 bores milling method, it is characterized in that, described lubricating system with trace amount will be supplied the air of regulating system by micro lubricating pumping system and carry out air-fuel mixture from the lubricating oil of lubricating oil supply regulating system and sprayed by oil gas pipeline nozzle system from air, metering system in described lubricating system with trace amount detects current lubrication flow in real time and feeds back to control system, control air by control system and supply regulating system, lubricating oil supply regulating system, micro lubricating pumping system makes real-time adjustment.
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| CN201511018099.9A CN105479176A (en) | 2015-12-29 | 2015-12-29 | Robot drilling and milling device and method utilizing minimum quantity lubrication system |
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| CN201511018099.9A CN105479176A (en) | 2015-12-29 | 2015-12-29 | Robot drilling and milling device and method utilizing minimum quantity lubrication system |
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Cited By (6)
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| CN106182017A (en) * | 2016-07-20 | 2016-12-07 | 上海交通大学 | The method and system of robot are controlled based on RS485 serial bus host computer IPC |
| CN107855827A (en) * | 2017-09-30 | 2018-03-30 | 东莞安默琳机械制造技术有限公司 | Lubricating and cooling method without interior cold bed |
| CN111055162A (en) * | 2019-12-31 | 2020-04-24 | 成都理工大学 | Automatic control-based micro-lubricating device |
| CN111300149A (en) * | 2020-04-03 | 2020-06-19 | 二重（德阳）重型装备有限公司 | Online monitoring method and online monitoring system for milling cutting force |
| CN111659964A (en) * | 2020-06-15 | 2020-09-15 | 保信科技(杭州)有限公司 | Quick tapping equipment of screw hole |
| CN111712358A (en) * | 2017-12-08 | 2020-09-25 | 易洛博特公司 | Oil-lubricated motion module connection system for a drive or bearing module, in particular for an industrial robot, and method for lubricating a motion module |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106182017A (en) * | 2016-07-20 | 2016-12-07 | 上海交通大学 | The method and system of robot are controlled based on RS485 serial bus host computer IPC |
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| CN111712358A (en) * | 2017-12-08 | 2020-09-25 | 易洛博特公司 | Oil-lubricated motion module connection system for a drive or bearing module, in particular for an industrial robot, and method for lubricating a motion module |
| CN111712358B (en) * | 2017-12-08 | 2024-04-19 | 易洛博特公司 | Motion module connecting system for oil lubrication of transmission or bearing module of industrial robot and motion module lubrication method |
| CN111055162A (en) * | 2019-12-31 | 2020-04-24 | 成都理工大学 | Automatic control-based micro-lubricating device |
| CN111300149A (en) * | 2020-04-03 | 2020-06-19 | 二重（德阳）重型装备有限公司 | Online monitoring method and online monitoring system for milling cutting force |
| CN111659964A (en) * | 2020-06-15 | 2020-09-15 | 保信科技(杭州)有限公司 | Quick tapping equipment of screw hole |
| CN111659964B (en) * | 2020-06-15 | 2021-12-10 | 株洲瀚捷航空科技有限公司 | Quick tapping equipment of screw hole |
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