Intelligent chamfering power head device for irregular steel plates

Abstract

This invention relates to the field of machining equipment, and provides an intelligent chamfering power head device for irregularly shaped steel plates, comprising: a single-axis robot, a Z-axis moving mechanism, a rotating mechanism, and a machining execution mechanism; the single-axis robot is mounted on the Z-axis direction of the gantry end; the Z-axis moving mechanism is slidably connected to the working end of the single-axis robot, and a rotating mechanism is mounted on the Z-axis moving mechanism; the rotating mechanism includes: a rotating bracket and a rotating motor; the rotating bracket is rotatably connected below the Z-axis moving mechanism via bearings; the rotating motor is mounted on the Z-axis moving mechanism, and the spindle of the rotating motor is drivenly connected to the inner ring of the bearing; the machining execution mechanism includes: a spindle support, a radial clamping cylinder, a spindle motor, a self-changing mechanical spindle, and a special milling cutter. This invention can utilize constant force control and roller coordination to perform edge-contouring double-sided chamfering operations on irregularly shaped steel plates.

Description

Technical Field

[0001] This invention relates to the field of machining equipment, and in particular to a power head device for intelligent chamfering of irregularly shaped steel plates. Background Technology

[0002] Steel plates have a wide range of applications, being widely used in industry and agriculture, and are also ubiquitous in nuclear power and shipbuilding. With industry development, the requirements for the processing precision of steel plates are becoming increasingly stringent, and many of the holes to be processed or the edges of the steel plates are irregular in shape, requiring double-sided chamfering.

[0003] The chamfering of holes and edges on irregularly shaped steel plates is typically done manually using handheld chamfering machines. This process is labor-intensive, inefficient, and produces inconsistent processing accuracy, directly impacting production and presenting significant limitations. Existing chamfering machines have complex power head structures and fixed tool positions, making them unsuitable for chamfering irregularly shaped steel plates or double-sided chamfering. Their application range is limited, resulting in poor processing quality and low efficiency, failing to meet the requirements for intelligent chamfering production of irregularly shaped steel plates. Summary of the Invention

[0004] This invention primarily addresses the technical problems of existing chamfering machine power heads, such as complex structure, fixed tool position, unsuitability for irregularly shaped steel plates and double-sided chamfering, poor processing quality, and low work efficiency. It proposes an intelligent chamfering power head device for irregularly shaped steel plates, which can be installed on the gantry of an intelligent chamfering processing device for irregularly shaped steel plates. Utilizing constant force control and roller coordination, it can perform edge-contouring double-sided chamfering operations on irregularly shaped steel plates.

[0005] This invention provides an intelligent chamfering power head device for irregularly shaped steel plates, comprising: a single-axis robot (1), a z-axis moving mechanism, a rotating mechanism, and a processing execution mechanism;

[0006] The single-axis robot (1) is used to be installed in the z-axis direction of the gantry terminal;

[0007] The z-axis moving mechanism is slidably connected to the working end of the single-axis robot (1), and a rotating mechanism is provided on the z-axis moving mechanism;

[0008] The rotating mechanism includes a rotating bracket (5) and a rotating motor (6); the rotating bracket (5) is rotatably connected to the lower part of the z-axis moving mechanism via a bearing; the rotating motor (6) is mounted on the z-axis moving mechanism, and the main shaft of the rotating motor (6) is connected to the inner ring of the bearing via a transmission connection;

[0009] The machining actuator includes: a spindle frame (7), a radial clamping cylinder (8), a spindle motor (9), a self-changing mechanical spindle (10), and a special milling cutter (11); the spindle frame (7) is radially slidably connected to a rotating bracket (5); the radial clamping cylinder (8) is mounted on the rotating bracket (5), and the piston end of the radial clamping cylinder (8) is fixedly connected to the spindle frame (7); the self-changing mechanical spindle (10) is provided on the spindle frame (7), and a special milling cutter (11) is installed at the bottom of the self-changing mechanical spindle (10); a tool-removing cylinder (12) is also installed on the top of the spindle frame (7), and the piston rod of the tool-removing cylinder (12) extends into the self-changing mechanical spindle (10); a spindle motor (9) is provided on one side of the spindle frame (7), and the output end of the spindle motor (9) is connected to the input end of the self-changing mechanical spindle (10).

[0010] Preferably, the z-axis moving mechanism includes: a z-axis sliding frame (2), an axial pressing cylinder (3), and a pressing bracket (4); the z-axis sliding frame (2) is slidably connected to the working end of the single-axis robot (1), the axial pressing cylinder (3) is fixedly installed on the z-axis sliding frame (2), and the plunger of the axial pressing cylinder (3) passes through the z-axis sliding frame (2); the pressing bracket (4) is slidably connected to the z-axis sliding frame (2) in the z-axis direction, and the plunger end of the axial pressing cylinder (3) is connected to the pressing bracket (4).

[0011] Preferably, the z-axis sliding bracket (2) is slidably connected to the pressure bracket (4) via a linear slide rail and a slider.

[0012] Preferably, the bottom surface of the pressing bracket (4) has an opening, and the cutting cylinder (12) passes through the bottom surface opening of the pressing bracket (4).

[0013] Preferably, a backing cylinder (16) is fixedly installed on one side of the spindle frame (7) in the z-axis direction. A backing plate (13) is installed on the working end of the backing cylinder (16). The backing plate (13) is arranged around the special milling cutter (11). Multiple balls (14) are arranged at the bottom of the backing plate (13).

[0014] Preferably, the back plate (13) is fixedly mounted on the working end of the back plate electric cylinder (16) by a back plate frame (17).

[0015] Preferably, the special milling cutter (11) is equipped with a guide roller bearing (15).

[0016] Preferably, a first precision pressure reducing valve (18) is installed on the z-axis sliding bracket (2), and a second precision pressure reducing valve (19) is installed on the rotating bracket (5).

[0017] This invention provides an intelligent chamfering power head device for irregularly shaped steel plates. Its ingenious structure and rational layout, combined with an axial clamping cylinder and a first precision pressure-reducing valve, ensure a constant downward pressure along the z-axis on the lower support and all its mechanisms, causing the pressure plate to press against the surface of the steel plate to be processed. The radial clamping cylinder and the second precision pressure-reducing valve work together to control the constant pressure in a specific radial direction on the spindle frame and all its mechanisms, ensuring that the outer ring of the bearing on the special milling cutter presses against the edge of the steel plate to be processed. When chamfering irregularly shaped steel plates is required, this invention utilizes constant force control and the pressure plate to perform edge-contouring double-sided chamfering operations. It offers high working speed, a wide range of applicable workpieces, and a high degree of automation, meeting the needs of double-sided chamfering of irregularly shaped steel plates. It frees up a significant amount of labor, improves work efficiency, and saves costs, significantly improving existing conditions and greatly satisfying customer needs. This invention is suitable for processing irregularly shaped steel plates, irregularly shaped holes, and contoured double-sided chamfering. It is applicable to steel plate chamfering equipment in various industries such as shipbuilding, aerospace, petrochemical, metallurgy, nuclear power, and steel structure, and its market prospects are very broad. Attached Figure Description

[0018] Figure 1 The present invention provides a three-dimensional intelligent chamfering power head device for irregularly shaped steel plates. Figure 1 ;

[0019] Figure 2 The present invention provides a three-dimensional intelligent chamfering power head device for irregularly shaped steel plates. Figure 2 ;

[0020] Figure 3 This is a front view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention;

[0021] Figure 4 This is a left view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention;

[0022] Figure 5 This is a right view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention;

[0023] Figure 6 This is a top view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention;

[0024] Figure 7 This is a bottom view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention.

[0025] Reference numerals: 1-Single-axis robot, 2-Z-axis sliding frame, 3-Axial clamping cylinder, 4-Pressing bracket, 5-Rotating bracket, 6-Rotating motor, 7-Spindle frame, 8-Radial clamping cylinder, 9-Spindle motor, 10-Self-changing mechanical spindle, 11-Special milling cutter, 12-Tool-changing cylinder, 13-Allowing plate, 14-Ball bearing, 15-Allowing wheel bearing, 16-Allowing plate electric cylinder, 17-Allowing plate frame, 18-First precision pressure reducing valve, 19-Second precision pressure reducing valve. Detailed Implementation

[0026] To make the technical problems solved by this invention, the technical solutions adopted, and the technical effects achieved clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings, not all of them.

[0027] Figure 1 The present invention provides a three-dimensional intelligent chamfering power head device for irregularly shaped steel plates. Figure 1 (Looking down from top to bottom); Figure 2 The present invention provides a three-dimensional intelligent chamfering power head device for irregularly shaped steel plates. Figure 2 (Looking from bottom to top); Figure 3 This is a front view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention; Figure 4 This is a left view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention; Figure 5 This is a right view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention; Figure 6 This is a top view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention; Figure 7 This is a bottom view of the intelligent chamfering power head device for irregularly shaped steel plates provided by the present invention. Figure 1-7 As shown in the figure, the intelligent chamfering power head device for irregular steel plates provided in this embodiment of the invention includes: a single-axis robot 1, a z-axis moving mechanism, a rotating mechanism, and a processing execution mechanism.

[0028] The single-axis robot 1 is mounted on the gantry end in the z-axis direction. The single-axis robot 1 can drive the z-axis moving mechanism and all mechanisms on it to move in the z-axis direction. The gantry is a key component of the intelligent chamfering processing device for irregularly shaped steel plates.

[0029] The z-axis moving mechanism is slidably connected to the working end of the single-axis robot 1, and a rotating mechanism is provided on the z-axis moving mechanism. Specifically, the z-axis moving mechanism includes: a z-axis sliding frame 2, an axial clamping cylinder 3, and a downward pressing bracket 4; the z-axis sliding frame 2 is slidably connected to the working end of the single-axis robot 1 via a linear slide rail and a slider; the axial clamping cylinder 3 is fixedly installed on the z-axis sliding frame 2, and the plunger of the axial clamping cylinder 3 passes through the z-axis sliding frame 2; the downward pressing bracket 4 is slidably connected to the z-axis sliding frame 2 in the z-axis direction, and the plunger end of the axial clamping cylinder 3 is connected to the downward pressing bracket 4. The bottom surface of the downward pressing bracket 4 has an opening. A first precision pressure reducing valve 18 is installed on the z-axis sliding frame 2. The axial clamping cylinder 3 and the first precision pressure reducing valve 18 work together to give the downward pressing bracket 4 and all the mechanisms on it a constant downward pressure in the z-axis direction, which ultimately results in the multiple balls 14 at the bottom of the backing plate 13 pressing the surface of the steel plate to be processed with constant force.

[0030] The rotating mechanism includes a rotating bracket 5 and a rotating motor 6. The rotating bracket 5 is rotatably connected to the lower part of the Z-axis moving mechanism via a bearing. The outer ring of the bearing is fixedly connected to the lower pressure bracket 4, specifically below the opening in the lower pressure bracket 4. A second precision pressure reducing valve 19 is installed on the rotating bracket 5. A pulley is fixedly installed on the inner ring of the bearing via a bushing. The rotating motor 6 is located on the Z-axis moving mechanism, specifically on one side of the lower pressure bracket 4. The main shaft of the rotating motor 6 is connected to the inner ring of the bearing via a belt and a pulley. The rotating motor 6 can drive the rotating bracket 5 and all mechanisms on it to rotate within the lower pressure bracket 4.

[0031] The machining actuator includes: a spindle frame 7, a radial clamping cylinder 8, a spindle motor 9, a self-changing mechanical spindle 10, and a special milling cutter 11; the spindle frame 7 is radially slidably connected to the rotating bracket 5 via a slide rail slider; the radial clamping cylinder 8 is mounted on the rotating bracket 5, and the plunger end of the radial clamping cylinder 8 is fixedly connected to the spindle frame 7; the self-changing mechanical spindle 10 is mounted on the spindle frame 7, and the special milling cutter 11 is mounted at the bottom of the self-changing mechanical spindle 10, with a guide roller bearing 15 mounted on the special milling cutter 11. A tool-removing cylinder 12 is also mounted on the top of the spindle frame 7, passing through an opening in the bottom surface of the lowering bracket 4, and the piston rod of the tool-removing cylinder 12 extends into the self-changing mechanical spindle 10; the spindle motor 9 is mounted on one side of the spindle frame 7, and the output end of the spindle motor 9 is connected to the input end of the self-changing mechanical spindle 10 via a belt and pulley drive.

[0032] Additionally, a guide plate electric cylinder 16 is fixedly installed on one side of the spindle frame 7 along the z-axis. A guide plate 13 is installed at the working end of the guide plate electric cylinder 16. The guide plate 13 is located around the special milling cutter 11, and multiple ball bearings 14 are provided at the bottom of the guide plate 13. The guide plate 13 is fixedly installed on the spindle frame 7 by multiple evenly arranged connecting rods; or, the guide plate 13 is fixedly installed on the working end of the guide plate electric cylinder 16 by a guide plate frame 17, and the guide plate electric cylinder 16 can control the raising and lowering of the guide plate 13.

[0033] The working principle of the intelligent chamfering power head device for irregularly shaped steel plates provided by this invention is as follows: A single-axis robot 1 can drive the z-axis moving mechanism and all mechanisms on it to move in the z-axis direction. A rotary motor 6 can drive the rotating support 5 and all mechanisms on it to rotate within the lower support 4. The spindle motor 9 operates, and its output drives the self-changing mechanical spindle 10 to rotate, which in turn drives the special milling cutter 11 to rotate. The self-changing mechanical spindle 10 can achieve automatic tool changing. The axial clamping cylinder 3 and the first precision pressure reducing valve 18 work together to provide a constant downward pressure in the z-axis direction for the lower support 4 and all mechanisms on it, ultimately resulting in multiple balls 14 at the bottom of the bearing plate 13 pressing against the surface of the steel plate to be processed with constant force. The radial clamping cylinder 8, in conjunction with the second precision pressure reducing valve 19, controls the constant pressure in a certain radial direction of the spindle frame 7 and all its mechanisms. The radial clamping cylinder 8, in conjunction with the rotating mechanism, generates a horizontal radial clamping constant force perpendicular to the edge to be machined. This ultimately results in the outer ring of the guide roller bearing 15 on the special milling cutter 11 pressing against the edge of the steel plate to be machined with constant pressure. This invention enables both longitudinal and transverse force control.

[0034] In use, the power head device of this invention is mounted on a two-axis gantry. After scanning by the intelligent chamfering processing device for irregularly shaped steel plates, the power head device of this invention is controlled to move to the hole and edge to be processed. The rotating mechanism rotates along the scanned contour to be perpendicular to the edge to be processed, and the radial clamping cylinders press the milling cutters 11 onto the position to be processed. For double-sided chamfering, it can be achieved with dedicated milling cutters for both upper and lower chamfering. To achieve chamfering of the lower side, the steel plate needs to be supported at a certain height and the edge to be processed should be avoided. Even if the intelligent chamfering processing device for irregularly shaped steel plates deviates from the theoretical processing path, the power head device of this invention can compensate for the deviation using constant force control and roller coordination, enabling edge-contouring double-sided chamfering processing of irregularly shaped steel plates.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications to the technical solutions described in the foregoing embodiments, or equivalent substitutions for some or all of the technical features, do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power head device for intelligent chamfering of irregularly shaped steel plates, characterized in that, include: Single-axis robot (1), z-axis moving mechanism, rotating mechanism and machining execution mechanism; The single-axis robot (1) is used to be installed in the z-axis direction of the gantry terminal; The z-axis moving mechanism is slidably connected to the working end of the single-axis robot (1), and a rotating mechanism is provided on the z-axis moving mechanism; The z-axis moving mechanism includes: a z-axis sliding frame (2), an axial clamping cylinder (3), and a downward pressing bracket (4); the z-axis sliding frame (2) is slidably connected to the working end of the single-axis robot (1), the axial clamping cylinder (3) is fixedly installed on the z-axis sliding frame (2), and the plunger of the axial clamping cylinder (3) passes through the z-axis sliding frame (2); the downward pressing bracket (4) is slidably connected to the z-axis sliding frame (2) in the z-axis direction, and the plunger end of the axial clamping cylinder (3) is connected to the downward pressing bracket (4); The rotating mechanism includes a rotating bracket (5) and a rotating motor (6); the rotating bracket (5) is rotatably connected to the bottom of the z-axis moving mechanism via a bearing; the rotating motor (6) is mounted on the z-axis moving mechanism, and the main shaft of the rotating motor (6) is connected to the inner ring of the bearing via a transmission connection; The machining actuator includes: a spindle frame (7), a radial clamping cylinder (8), a spindle motor (9), a self-changing mechanical spindle (10), and a special milling cutter (11); the spindle frame (7) is radially slidably connected to a rotating support (5); the radial clamping cylinder (8) is mounted on the rotating support (5), and the piston end of the radial clamping cylinder (8) is fixedly connected to the spindle frame (7); a self-changing mechanical spindle (10) is provided on the spindle frame (7), and a special milling cutter (11) is installed at the bottom of the self-changing mechanical spindle (10); a tool-removing cylinder (12) is also installed on the top of the spindle frame (7), and the piston rod of the tool-removing cylinder (12) extends into the self-changing mechanical spindle (10); a spindle motor (9) is provided on one side of the spindle frame (7), and the output end of the spindle motor (9) is connected to the input end of the self-changing mechanical spindle (10) for transmission. The bottom surface of the pressing bracket (4) has an opening, and the cutting cylinder (12) passes through the bottom surface opening of the pressing bracket (4); A backing cylinder (16) is fixedly installed on one side of the spindle frame (7) in the z-axis direction. A backing plate (13) is installed on the working end of the backing cylinder (16). The backing plate (13) is set around the special milling cutter (11). Multiple balls (14) are set at the bottom of the backing plate (13). The backing plate (13) is fixedly installed on the working end of the backing cylinder (16) through a backing plate frame (17).

2. The intelligent chamfering power head device for irregularly shaped steel plates according to claim 1, characterized in that, The z-axis sliding frame (2) is slidably connected to the pressure bracket (4) via a linear slide rail and a slider.

3. The intelligent chamfering power head device for irregularly shaped steel plates according to claim 1, characterized in that, The special milling cutter (11) is equipped with a roller bearing (15).

4. The intelligent chamfering power head device for irregularly shaped steel plates according to claim 1, characterized in that, The first precision pressure reducing valve (18) is installed on the z-axis sliding bracket (2), and the second precision pressure reducing valve (19) is installed on the rotating bracket (5).

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