CN110976986A

CN110976986A - Groove machining device for thin plate

Info

Publication number: CN110976986A
Application number: CN201911166920.XA
Authority: CN
Inventors: 董为; 高永卓; 杜志江; 李明洋; 董丰波; 窦超; 董吉义
Original assignee: Harbin Institute of Technology; Shanghai Aerospace Equipments Manufacturer Co Ltd
Current assignee: Harbin Institute of Technology; Shanghai Aerospace Equipments Manufacturer Co Ltd
Priority date: 2019-11-25
Filing date: 2019-11-25
Publication date: 2020-04-10
Anticipated expiration: 2039-11-25
Also published as: CN110976986B

Abstract

The invention relates to a groove processing device for a thin plate, which relates to a groove processing device and aims to solve the problems that a thin-wall light part is easy to deform and difficult to control the precision in the processing process due to the characteristics of large size, irregular shape and low rigidity, the processing device comprises a mechanical arm, a processing mechanism, a clamping and fixing mechanism and a tool changing frame assembly, wherein the processing mechanism comprises a quick-change block movable end, a quick-change block fixed end, an adapter, an electric spindle fixing seat, a pressing cover plate and a milling cutter, the mechanical arm is connected with the quick-change block fixed end, the quick-change block is connected with the quick-change block movable end, the adapter is connected with the quick-change block movable end, the electric spindle fixing seat is fixedly arranged at the other end of the adapter, the milling cutter is arranged on the electric spindle, the electric spindle is arranged on the electric spindle fixing seat and the pressing cover plate, the clamping and fixing, the tool changing holder assembly is disposed adjacent to the robot arm. The invention is used for the field of groove processing of thin plate pieces.

Description

Groove machining device for thin plate

Technical Field

The invention relates to a groove machining device, in particular to a groove machining device for a thin plate.

Background

With the rapid development of military industries such as aerospace and the like, the requirements on the dynamic characteristics, weight and reliability of products are higher and higher, and a large number of thin walls and free curved surfaces are adopted for design. The thin-wall light part is not easy to clamp and deform in the digital manufacturing process due to the characteristics of large size, irregular shape and low rigidity, and the precision is difficult to control.

The aerospace field has the characteristics of small batch and multiple types, and the traditional automatic manufacturing mode cannot adapt to corresponding requirements, so most manufacturers manufacture the aerospace field in a manual mode at present. However, with the increasing requirements for product quality and consistency, the increasing of domestic labor cost, the difficulty in cultivation of technical workers and other situations, the demand for automatic manufacturing of the components of the type is more and more obvious. The industrial robot-based digital manufacturing has low cost and high flexibility, and has obvious advantages in the type of machining tasks compared with a special machine tool. However, due to the serial structure of the robot, the rigidity and precision of the robot are far inferior to those of a machine tool, and a device for processing the groove is further needed to meet the manufacturing requirement of relatively high precision.

Disclosure of Invention

The invention aims to solve the problems that a thin-wall light part is easy to deform and difficult to control precision in a machining process due to the characteristics of large size, irregular shape and low rigidity, and further provides a groove machining device for a thin plate part.

The technical scheme adopted by the invention for solving the problems is as follows:

it includes robotic arm, it still includes the processing agency, press from both sides tight fixed establishment and tool changing rack subassembly, the processing agency includes the quick-change piece expansion end, the quick-change piece stiff end, the adapter, the electricity main shaft, electricity main shaft fixing base, compress tightly apron and milling cutter, robotic arm's output and quick-change piece stiff end fixed connection, quick-change piece stiff end and quick-change piece expansion end pneumatic locking are connected, the one end and the quick-change piece expansion end fixed connection of adapter, electricity main shaft fixing base fixed mounting is on the other end of adapter, it installs on electricity main shaft fixing base through the bolt lock to compress tightly the apron, milling cutter installs on electricity main shaft, electricity main shaft installs on electricity main shaft fixing base and compresses tightly the apron, it sets up in the processing agency below to press from both sides tight fixed establishment near robotic arm.

The invention has the beneficial effects that:

1. in the application, the machining part of the machining mechanism 2 is driven by the mechanical arm 1 to move to a workpiece above the clamping and fixing mechanism 3, and the thin-wall workpiece is clamped by the clamping and fixing mechanism 3.

2. In the application, the mechanical arm 1 and the processing mechanism 2 can be quickly installed and connected together through the quick connecting mechanism.

3. In the application, the working disc 4 in the milling cutters 2-7 fixes a plurality of supporting limiting frames 6 and a plurality of supporting frames 5, supports the bottom end face of a workpiece through the supporting limiting frames 6 and the supporting frames 5, fixedly clamps the thin-wall plate through the supporting clamping assembly 7, supports and limits the thin-wall plate through the supporting limiting frames 6, fixes the groove of the workpiece, and further ensures the machining precision.

4. The electric spindle 2-4 is used for driving the milling cutter 2-7 to rotate, and then the groove of the thin-wall workpiece is machined.

Drawings

Fig. 1 is a schematic view of a thin-walled plate member disposed on the overall structure of the present application.

Fig. 2 is a schematic view of a thin-walled plate member disposed in the clamping fixture 3.

Fig. 3 is a schematic view of the processing means 2 before assembly.

Fig. 4 is a schematic structural view of the supporting and limiting frame 6.

Figure 5 is a schematic view of the clamping jaw 7-1 and a first 'L' shaped block 7-2 mounted on the support frame 5.

Fig. 6 is a schematic view of the tool holder assembly 8 in a pre-assembled configuration.

Fig. 7 is a structural schematic diagram of the cutter placing frame 8-5.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 7, the groove processing device for a thin plate member in the embodiment includes a mechanical arm 1, a processing mechanism 2, a clamping and fixing mechanism 3, and a tool changing frame assembly 8, the processing mechanism 2 includes a movable end 2-1 of a quick changing block, a fixed end 2-2 of the quick changing block, an adapter 2-3, an electric spindle 2-4, a fixed end 2-5 of the electric spindle, a pressing cover plate 2-6, and a milling cutter 2-7, an output end of the mechanical arm 1 is fixedly connected with the fixed end 2-2 of the quick changing block, the fixed end 2-2 of the quick changing block is pneumatically locked with the movable end 2-1 of the quick changing block, one end of the adapter 2-3 is fixedly connected with the movable end 2-1 of the quick changing block, the fixed end 2-5 of the electric spindle is fixedly mounted on the other end of the adapter 2-, the pressing cover plate 2-6 is mounted on the electric spindle fixing seat 2-5 in a buckling mode through bolts, the milling cutter 2-7 is mounted on the electric spindle 2-4, the electric spindle 2-4 is mounted on the electric spindle fixing seat 2-5 and the pressing cover plate 2-6, the clamping and fixing mechanism 3 is arranged below the machining mechanism 2 close to the mechanical arm 1, and the tool changing frame assembly 8 is arranged close to the mechanical arm 1.

In the embodiment, the mechanical arm 1 is controlled to move the milling cutters 2-7 in the machining mechanism 2 to the position of the bevel face to be machined of the workpiece, the electric spindles 2-4 are controlled to work, the electric spindles 2-4 drive the milling cutters 2-7 to machine the bevel face to be machined of the workpiece, and the mechanical arm 1 is controlled to drive the milling cutters 2-7 to machine the bevel face of the thin-walled plate. In the application, the movable end 2-1 of the quick-change block and the fixed end 2-2 of the quick-change block can realize quick installation and connection,

the manufacturer ABB of the robot arm 1 in this application, model IRB 6700-150-.

The manufacturer Jaeger, model number, Z80-H445.06S 5W22 of the motorized spindle 2-4 in this application.

In the application, the movable end 2-1 and the fixed end 2-2 of the quick-CHANGE block are quick-CHANGE devices manufactured by QUIOCK-CHANGE-ZEUS of BIAERIAL AUTOMATION CO.

The second embodiment is as follows: referring to fig. 1 and 2 to describe the present embodiment, in the present embodiment, a clamping and fixing mechanism 3 includes a working plate 4, a plurality of supporting and limiting frames 6, a plurality of supporting frames 5 and a plurality of groups of supporting and clamping assemblies 7; the working disc 4 is an annular disc body, a plurality of supporting frames 5 are fixedly arranged on the upper end surface of the working disc 4, a plurality of supporting limiting frames 6 are arranged on the upper end surface of the working disc 4, each group of supporting clamping components 7 is fixedly arranged on one supporting frame 5, each supporting frame 5 penetrates through the center of the working disc 4 along the central line of the length direction, each supporting limiting frame 6 penetrates through the center of the working disc 4 along the central line of the length direction, the number of the groups of the supporting clamping components 7 in the embodiment is less than or equal to the number of the supporting frames 5, when the number of the groups of the supporting clamping components 7 is less than the number of the supporting frames 5, the supporting frame 5 without the supporting clamping components 7 supports the thin-wall workpiece through the upper end surface of the supporting frame 5, and when the number of the groups of the supporting clamping components 7 is equal to the number of the supporting frames 5, the supporting frame, the upper end face of the working disc 4 is provided with a plurality of threaded holes, the positions of the support limiting frame 6 and the support frame 5 on the working disc 4 are adjusted according to the requirements of a machined workpiece, and other methods are the same as those of the first embodiment.

The third concrete implementation mode: in the present embodiment, a beveling apparatus for a sheet member according to the present embodiment is described with reference to fig. 1 and 2, in which a plurality of supports 5 are rectangular frames, and upper surfaces of the plurality of supports 5 are flat surfaces. The thin-wall plate workpiece is supported by the upper surface of the support frame 5, the bottom end surface of the thin-wall plate is flush, and the accuracy of workpiece processing is guaranteed.

The fourth concrete implementation mode: the embodiment is described with reference to fig. 1 and 5, and each group of supporting and clamping assemblies 7 of the embodiment includes a clamping pincer 7-1 and a plurality of first L-shaped blocks 7-2, the plurality of first L-shaped blocks 7-2 are installed on the supporting frame 5 along the length direction of the supporting frame 5, two opposite strip-shaped through holes are processed on the bottom plate of each first L-shaped block 7-2, a bolt is arranged in each strip-shaped through hole, the threaded end of the bolt passes through the strip-shaped through hole and is in threaded connection with the upper end face of the supporting frame 5, and the clamping pincer 7-1 is arranged on any one first L-shaped block 7-2. The position of the first L-shaped block 7-2 on the support frame 5 is adjusted through a bolt of a strip-shaped through hole on the first L-shaped block 7-2, the thin-wall plate is clamped through the clamping pliers 7-1, the thin-wall plate workpiece is guaranteed to be clamped and fixed on the first L-shaped block 7-2, the workpiece is guaranteed to be clamped and fixed on the supporting and clamping assembly 7, and other methods are the same as those of the second specific embodiment.

The manufacturer of the clamping pincers 7-1 in the embodiment is Tianjin Haoshi, and the production model is CH-51030-01.

The fifth concrete implementation mode: referring to fig. 1 and 4 to describe the present embodiment, in the present embodiment, a groove machining apparatus for a sheet member includes a plurality of support limiting frames 6, including a fixing plate 6-2, a sliding block 6-3, a sliding rail 6-4, a screw 6-5, a stem plate 6-6, two limiting blocks 6-7 with bearings, and a plurality of second 'L' -shaped blocks 6-1; two limit blocks 6-7 with bearings are oppositely arranged, a sliding rail 6-4 is arranged on the two limit blocks 6-7 with bearings, a sliding block 6-3 is arranged on the sliding rail 6-4 in a sliding manner, one end of a screw rod 6-5 is inserted on the bearing of one limit block 6-7 with bearings, the other end of the screw rod 6-5 penetrates through the bearing of the other limit block 6-7 with bearings and is fixedly connected with a rotating handle disc 6-6, a nut in threaded fit with the screw rod 6-5 is arranged on the sliding block 6-3, the nut on the sliding block 6-3 is sleeved on the thread of the screw rod 6-5, the nut on the sliding block 6-3 is in threaded connection with the screw rod 6-5, a fixing plate 6-2 is arranged on the sliding block 6-3, and a plurality of second L-shaped blocks 6-1 are sequentially arranged on the fixing plate 6-2 along the length direction of the fixing 2, and a space is arranged between two adjacent second L-shaped blocks 6-1. The turning handle disc 6-6 drives the screw rod 6-5 to rotate, the screw rod 6-5 is matched with the nut on the driving sliding block 6-3, the sliding block 6-3 slides in the sliding direction of the sliding rail 6-4 on the sliding rail 6-4, the thin-wall plate is limited through the second L-shaped block 6-1, and other methods are the same as those of the second specific embodiment.

The sixth specific implementation mode: the embodiment is described with reference to fig. 1 to 3, the machining mechanism 2 further includes a 'T' -shaped key 2-8, a T-shaped groove is respectively machined on an end surface of the electric spindle fixing base 2-5 and an end surface of the adapter base 2-3, the 'T' -shaped key 2-8 is disposed in the T-shaped groove on the electric spindle fixing base 2-5 and the adapter base 2-3, the 'T' -shaped key 2-8 ensures synchronous rotation between the electric spindle fixing base 2-5 and the adapter base 2-3, and other methods are the same as those in the first embodiment.

The seventh embodiment: the embodiment is described with reference to fig. 1, fig. 6 and fig. 7, the groove processing device for thin plate members in the embodiment comprises a tool changing frame assembly 8, which comprises a tool changing frame body 8-1, a calibration column 8-2, a calibration column placing seat 8-3, a calibration column jackscrew 8-4 and two tool placing frames 8-5, wherein the tool placing frames 8-5 comprise an 'L' -shaped supporting plate 8-6, a placing frame body 8-7 and a supporting rib plate 8-8, the placing frame body 8-7 comprises an inclined plate and a fixed transverse plate, the bottom end of the inclined plate is fixedly connected with one end of the fixed transverse plate, a 'U' -shaped groove is processed at the top end of the inclined plate, a strip-shaped through hole is processed in the middle of the inclined plate along the vertical direction, the supporting rib plate 8-8 is fixedly connected with the inclined plate and the fixed transverse plate, the vertical plate of the 'L' -shaped supporting plate 8-6 is fixedly installed, the adjusting bolt is arranged in the strip-shaped through hole, the transverse plate of the 'L' -shaped supporting plate 8-6 is arranged above the vertical plate, the height position of the transverse plate of the 'L' -shaped supporting plate 8-6 is adjusted by adjusting the position of a bolt in a strip-shaped through hole, two cutter placing frames 8-5 are installed on the top end of a cutter changing frame body 8-1 through bolts, a calibration column placing seat 8-3 is fixedly installed on the side wall, close to the top end, of the cutter changing frame body 8-1 through a screw and a pin, a calibration column placing hole is machined in the calibration column placing seat 8-3, a calibration column 8-2 is vertically arranged on the calibration column placing seat 8-3, a calibration column top thread 8-4 is installed on the side wall of the calibration column placing hole, the calibration column top thread 8-4 is abutted to the outer circular surface of the calibration column 8-2, and other methods are the same as the specific implementation mode.

In the embodiment, the bevel processing device firstly performs rough processing and then performs finish processing during working, and different milling cutters are used after the two processes are completed. In order to improve the tool changing efficiency and realize automatic tool changing, firstly, the robot calibrates the calibration column 8-2 and determines the position of a 'U' -shaped groove on the inclined plate of the placing frame body 8-7. When the tool is changed, according to the program track, the robot drives the milling cutter and the tool shank to the position of the U-shaped groove, the tool shank is placed into the empty U-shaped groove along the direction that the straight edge of the U-shaped groove faces downwards, then the tool shank is withdrawn, and the tool shank and the milling cutter are left in the U-shaped groove. And the robot moves to another placing frame, the tool handle is accessed and locked according to a program, and then the tool handle and the milling cutter are taken out along the upward direction of the straight edge of the U-shaped groove to complete the tool changing process.

Principle of operation

In the application, workpieces to be machined are placed on the clamping and fixing mechanism 3, the bottom end face of the thin-wall plate is supported through the support frames 5, the support clamping assemblies 7 corresponding to the support frames 5 are used for supporting and clamping, the thin-wall plate workpieces are supported and limited in an auxiliary supporting mode through the support limiting frames 6, the machining mechanism 2 is driven by the mechanical arm 1 to move to the position above the clamping and fixing mechanism 3, the milling cutters 2-7 are driven by the electric main shafts 2-4 to rotate, the thin-wall plate to be machined is machined, and the machining mechanism 2 is driven by the mechanical arm 1 to move and perform groove machining on the thin-wall plate to be machined sequentially.

Claims

1. The utility model provides a groove preparation device for sheet spare, it includes robotic arm (1), its characterized in that: the machining mechanism (2) comprises a quick-change block movable end (2-1), a quick-change block fixed end (2-2), a switching seat (2-3), an electric spindle (2-4), an electric spindle fixed seat (2-5), a pressing cover plate (2-6) and a milling cutter (2-7), the output end of a mechanical arm (1) is fixedly connected with the quick-change block fixed end (2-2), the quick-change block fixed end (2-2) is in pneumatic locking connection with the quick-change block movable end (2-1), one end of the switching seat (2-3) is fixedly connected with the quick-change block movable end (2-1), the electric spindle fixed seat (2-5) is fixedly installed on the other end of the switching seat (2-3), and the pressing cover plate (2-6) is installed on the electric spindle fixed seat (2-5) through bolt locking The milling cutter (2-7) is arranged on the electric spindle (2-4), the electric spindle (2-4) is arranged on the electric spindle fixing seat (2-5) and the pressing cover plate (2-6), the clamping and fixing mechanism (3) is arranged below the machining mechanism (2) close to the mechanical arm (1), and the tool changing frame assembly (8) is arranged close to the mechanical arm (1).

2. The beveling apparatus for a sheet member according to claim 1, wherein: the clamping and fixing mechanism (3) comprises a working disc (4), a plurality of supporting and limiting frames (6), a plurality of supporting frames (5) and a plurality of groups of supporting and clamping components (7); the working disc (4) is an annular disc body, a plurality of support frames (5) are fixedly installed on the upper end face of the working disc (4), a plurality of support limiting frames (6) are installed on the upper end face of the working disc (4), each group of support clamping components (7) is fixedly installed on one support frame (5), each support frame (5) penetrates through the center of the working disc (4) along the central line of the length direction, and each support limiting frame (6) penetrates through the center of the working disc (4) along the central line of the length direction.

3. The beveling apparatus for a sheet member according to claim 2, wherein: the plurality of supporting frames (5) are rectangular frame bodies, and the upper surfaces of the plurality of supporting frames (5) are planes.

4. The beveling apparatus for a sheet member according to claim 2, wherein: each group of supporting and clamping assemblies (7) comprises clamping pincers (7-1) and a plurality of first L-shaped blocks (7-2), the first L-shaped blocks (7-2) are installed on the supporting frame (5) along the length direction of the supporting frame (5), two opposite strip-shaped through holes are machined in the bottom plate of each first L-shaped block (7-2), a bolt is arranged in each strip-shaped through hole, the threaded end of each bolt penetrates through each strip-shaped through hole to be in threaded connection with the upper end face of the supporting frame (5), and the clamping pincers (7-1) are arranged on any one first L-shaped block (7-2).

5. The beveling apparatus for a sheet member according to claim 2, wherein: the plurality of supporting and limiting frames (6) comprise fixing plates (6-2), sliding blocks (6-3), sliding rails (6-4), screw rods (6-5), handle rotating discs (6-6), two limiting blocks (6-7) with bearings and a plurality of second L-shaped blocks (6-1); two limit blocks (6-7) with bearings are oppositely arranged, a sliding rail (6-4) is arranged on the two limit blocks (6-7) with bearings, a sliding block (6-3) is arranged on the sliding rail (6-4) in a sliding way, one end of a screw rod (6-5) is inserted in the bearing of one limit block (6-7) with a bearing, the other end of the screw rod (6-5) passes through the bearing of the other limit block (6-7) with a bearing and is fixedly connected with a rotating handle disc (6-6), a nut which is in threaded fit with the screw rod (6-5) is arranged on the sliding block (6-3), the nut on the sliding block (6-3) is sleeved on the thread of the screw rod (6-5), and the nut on the sliding block (6-3) is in threaded connection with the screw rod (6-5), the fixed plate (6-2) is installed on the sliding block (6-3), the second L-shaped blocks (6-1) are sequentially installed on the upper end face of the fixed plate (6-2) along the length direction of the fixed plate (6-2), and a space is formed between every two adjacent second L-shaped blocks (6-1).

6. The beveling apparatus for a sheet member according to claim 1, wherein: the tool changing rack assembly (8) comprises a tool changing rack body (8-1), a calibration column (8-2), a calibration column placing seat (8-3), a calibration column jackscrew (8-4) and two tool placing racks (8-5), wherein the tool placing racks (8-5) comprise an L-shaped supporting plate (8-6), a placing rack body (8-7) and a supporting rib plate (8-8), the placing rack body (8-7) comprises an inclined plate and a fixed transverse plate, the bottom end of the inclined plate is fixedly connected with one end of the fixed transverse plate, a U-shaped groove is processed at the top end of the inclined plate, a strip-shaped through hole is processed in the middle of the inclined plate along the vertical direction, the supporting rib plate (8-8) is fixedly connected with the inclined plate and the fixed transverse plate, the vertical plate of the L-shaped supporting plate (8-6) is fixedly arranged on the inclined plate through an adjusting bolt, adjusting bolts are arranged in the strip-shaped through holes, transverse plates of 'L' -shaped supporting plates (8-6) are arranged above the vertical plates, two cutter placing frames (8-5) are installed at the top end of the cutter changing frame body (8-1) through bolts, a calibration column placing seat (8-3) is fixedly installed on the side wall, close to the top end, of the cutter changing frame body (8-1) through a screw and a pin, a calibration column placing hole is processed in the calibration column placing seat (8-3), a calibration column (8-2) is vertically arranged on the calibration column placing seat (8-3), calibration column jackscrews (8-4) are installed on the side wall of the calibration column placing hole, and the calibration column jackscrews (8-4) are jacked on the outer circular surface of the calibration column (8-2).