A robot cutting machining integrated system

Abstract

The present application relates to a kind of mechanical hand cutting integrated system, comprising: manipulator, the working end of manipulator is equipped with milling head switcher, cleaning device is equipped outside the working end of manipulator, processing table is equipped in the lower position corresponding to cleaning device, the present application sets up a kind of processing mechanical hand cutting equipment, when using, after corresponding tool is replaced, telescopic rod can be adjusted appropriate length support meshed circle according to the bow and arrow outer surface or the outer surface of processing table and is pasted, so that in the process of milling cutting, the waste produced will fall to the collection cover centralized processing through the gap of the upper surface of fixed plate, can adapt to the cutting of different composite materials, milling, effectively solve the problem that the present mechanical hand is not conducive to equipment operation, affect worker's health when cutting, only by the splashing of dust and debris of external enclosure, degree of integration is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand machining, in particular to a mechanical hand cutting machining integrated system. BACKGROUND

[0002] With the continuous development of mechatronics technology, the popularization and application of mechatronics technology improve the intelligent degree of the control system, the popularization of high-tech makes the remote unmanned control system develop rapidly, and then enhances the mechanization property of the mechatronic device, and the mechanical arm emerges as the times require. With the continuous development of the mechanical arm, the application of the mechanical arm has been more and more widely, the mechanical arm can move any object or tool according to the time-varying requirements of space pose (position and attitude), so as to complete the operation requirements of certain industrial production.

[0003] In the patent application of Chinese patent, publication number: CN114083296A, a mechanical arm is used to clamp the workpiece to be cut. However, in the machining process, not only the mechanical hand clamping tool is needed to cut the machined part, but also the machining precision of the machined part needs to be measured, dust needs to be removed, and the tool needs to be cooled, etc.

[0004] The mechanical arm cutting device only prevents the flying of the waste produced in the production by the external enclosing structure in the cutting process, so that the waste is always near the equipment. Long-term accumulation will cause the dust and sludge of the equipment to increase, causing the running components of the equipment to be corroded, blocked and other problems, affecting the operation of the equipment. The flying debris and dust can cause workers to inhale or splash and be injured. The existing mechanical arm is provided with some negative pressure dust removal equipment, but the integration degree is not high, causing the mechanical arm to be bloated and inconvenient to use. Moreover, the dust removal effect is general. At the same time, during the use of the equipment, the tool bit needs to be replaced due to work requirements. The complex replacement method makes the work efficiency low, and the stability of the tool bit after replacement is poor, affecting the service life of the equipment. SUMMARY

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present application provides a mechanical hand cutting machining integrated system, which effectively solves the problem that the existing mechanical hand only prevents the flying of dust and debris by external enclosing barrier during cutting machining, which is not conducive to the operation of the equipment and affects the health of workers. It also better protects the tool. At the same time, it can realize quick replacement of the tool bit and stable clamping, improve work efficiency, has high integration adaptability, and can quickly replace different tool bits to meet the measurement and cutting purposes.

[0006] In order to achieve the above-mentioned purposes, the main technical scheme adopted by the present application includes:

[0007] A mechanical hand cutting machining integrated system, comprising: a mechanical arm, a milling head switcher is equipped on the working end of the mechanical arm, a cleaning device is equipped outside the working end of the mechanical arm, and a machining table is equipped at a corresponding position below the cleaning device;

[0008] The bottom end of the machining table is provided with a dust collecting structure, and the machining table can follow the displacement range of the working end of the mechanical arm to move up and down, left and right, and forward and backward;

[0009] The cleaning device comprises a fixer, at least four sets of telescopic rods are equipped outside the fixer, the telescopic rods can be controlled to extend and retract individually, and a bellows cover is equipped at the bottom end of the telescopic rods.

[0010] The machining table comprises two inner and outer plates assembled by connecting rods, and an opening structure is reserved outside the connecting rods, which is used for discharging the dust and debris after washing and cutting.

[0011] Further, the mechanical arm comprises a base, a first supporting arm is equipped at the top end of the base, a second supporting arm is equipped at the top end of the first supporting arm, a rotating arm is equipped at the end of the second supporting arm, a working head is equipped at the end of the rotating arm, and the bellows cover is sleeved on the outer surface of the working head.

[0012] Further, a device rack is equipped on the mounting plane of the base, at least four sets of linear guides and lifting guides capable of being controlled to displace electrically are equipped at the bottom end of the machining table, and the linear guides and the lifting guides are equipped outside the device rack.

[0013] Further, the milling head switcher comprises a milling motor, a rotating head is equipped at the output end of the milling motor, a clamping device capable of being adjusted to clamp and release in rotation is equipped outside the rotating head, and a clamping plate capable of being lifted is equipped outside the clamping device.

[0014] Further, a clamping plate is welded on the outer surface of the clamping plate, an adjusting rod is hinged on the inner side of the clamping plate, the ends of the adjusting rod and the clamping plate are hinged with a fixing block, and a lifter is equipped at the bottom end of the fixing block.

[0015] Further, a connecting rod is equipped at the top end of the telescopic rod, a fixer is welded on the inner side of the connecting rod, and the fixer is equipped on the outer surface of the working head.

[0016] Further, a cooling port is equipped on the outer surface of the bellows cover.

[0017] Further, an engaging ring is integrally formed at the bottom end of the bellows cover, and the bottom end of the telescopic rod is equipped on the upper surface of the engaging ring.

[0018] Further, the processing table comprises a fixed plate, a circular hole is formed in the center of the fixed plate, and the inner side of the circular hole is welded to the outer side of a connecting rod, the inner side of the connecting rod is welded with a fixed table, the fixed table can be used for temporarily fixing the workpiece to be processed, the bottom end of the fixed plate is equipped with a semicircular collecting cover, and the collecting cover is connected to an external waste treatment device.

[0019] Further, an inclined angle is formed at the edge of the circular hole and the fixed table.

[0020] The mechanical hand cutting processing integrated system has the following advantages:

[0021] 1、The telescopic rod can adjust the appropriate length of the support engagement ring according to the outer surface of the workpiece or the outer surface of the processing table, so that the dust and debris generated in the milling and cutting process can fall through the gap on the upper surface of the fixed plate to the collecting cover for centralized treatment, which can adapt to the cutting and milling of large metal and non-metal composite materials, and can also adapt to the milling of small parts, effectively solving the problem that the existing mechanical hand is only blocked by the external fence to prevent the splashing of dust and debris, which is not conducive to the operation of the equipment and affects the health of workers, and the integration adaptability is high.

[0022] 2、The cleaning device can flexibly adjust the blocking space of the corrugated cover according to the size of the workpiece through the cooperation of the corrugated cover and the telescopic rod, facilitate the collection of dust and debris, and prevent splashing, and the cooling port is arranged in the corrugated cover, air is blown into the cooling port or cutting oil is sprayed into the cooling port, which further improves the collection effect of dust and debris, and also cools the cutting tool to prevent the cutting tool from being damaged due to high temperature in the cutting process.

[0023] 3、The milling head switcher engagement groove and the clamping plate design make the rotating head of the milling head switcher rotate to clamp the cutting tool by the clamp, and the design of the adjusting rod and the lifter enables the device to lift the cutter head for quick replacement, improving the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of an embodiment of the present application;

[0025] Figure 2 It is a mechanical arm structure schematic diagram of an embodiment of the present application;

[0026] Figure 3 It is a cleaning device structure schematic diagram of an embodiment of the present application;

[0027] Figure 4 It is a cleaning device assembly schematic diagram of an embodiment of the present application;

[0028] Figure 5 Assembling view of the cleaning cover of the embodiment of the present application;

[0029] Figure 6 Structure schematic view of the milling head switcher of the embodiment of the present application.

[0030] Explanation of the reference numerals: 1, mechanical arm, 11, base, 12, first supporting arm, 13, second supporting arm, 14, rotating arm, 15, working head, 2, milling head switcher, 21, milling motor, 22, rotating head, 23, clamping device, 24, engaging groove, 25, clamping plate, 26, clamping plate, 27, adjusting rod, 28, lifter, 3, cleaning device, 31, fixer, 32, connecting rod, 33, telescopic rod, 34, engaging ring, 35, corrugated cover, 36, cooling port, 4, processing table, 41, fixed plate, 42, connecting rod, 43, fixed table, 44, inclination angle, 45, collecting cover. DETAILED DESCRIPTION

[0031] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] Please refer to Figures 1-6 As shown in the figure, the present application provides a mechanical hand cutting processing integrated system, which comprises: a mechanical arm 1, and a milling head switcher 2 is assembled at the working end of the mechanical arm 1. A cleaning device 3 is assembled outside the working end of the mechanical arm 1, and a processing table 4 is assembled at the corresponding position below the cleaning device 3.

[0035] The bottom end of the processing table 4 has a dust collecting structure, and the processing table 4 can follow the lifting, left-right, forward-backward movement according to the displacement range of the working end of the mechanical arm 1.

[0036] The cleaning device 3 comprises a fixer 31, and at least four sets of telescopic rods 33 are assembled outside the fixer 31. The telescopic rods 33 can be controlled to extend and retract individually, and the bottom end of the telescopic rod 33 is assembled with a corrugated cover 35.

[0037] The processing table 4 consists of two plates, inner and outer, assembled by a connecting rod 42. An opening structure is provided on the outer side of the connecting rod 42 for the discharge of dust and debris after washing, disinfection, and cutting.

[0038] This invention provides a robotic arm cutting processing device. During use, the externally mounted milling cutter head can be replaced via a milling head switcher 2. After replacing the corresponding tool, the telescopic rod 33 can be adjusted to a suitable length to support the engagement ring 34 according to the outer surface of the workpiece or the outer surface of the processing table 4. Thus, during the milling process, dust and debris generated will fall through the gaps on the upper surface of the fixed plate 41 and be collected and processed by the collection cover 45. This device is suitable for cutting and milling large metal and non-metal composite materials, as well as processing small parts. It effectively solves the problem of existing robotic arms relying solely on external barriers to prevent dust and debris from splashing during cutting, which is detrimental to equipment operation and affects worker health. It boasts high integration and adaptability.

[0039] Furthermore, the robotic arm 1 includes a base 11, a first arm 12 is mounted on the top of the base 11, a second arm 13 is mounted on the top of the first arm 12, a rotating arm 14 is mounted on the end of the second arm 13, and a working head 15 is mounted on the end of the rotating arm 14. A corrugated cover 15 is fitted onto the outer surface of the working head 15. The robotic arm 1 of the present invention is only one type of robotic arm in the prior art. The first arm 12 and the second arm 13 of the robotic arm can rotate and displace relative to each other, and the rotating arm 14 can drive the working head 15 to rotate in two axial directions, which can adapt to planar and non-planar processing. Moreover, the milling head switcher 2 can also be replaced with a force sensor, which uses a pressure sensor to sweep across the workpiece surface before processing to measure the workpiece surface in real time, and provides higher accuracy for subsequent processing work, with high versatility.

[0040] Furthermore, the mounting surface of the base 11 is fitted with an external equipment frame. At least four sets of electrically controllable linear guides and lifting guides are mounted on the bottom of the processing table 4, with the linear guides and lifting guides mounted on the outside of the equipment frame. The four sets of controllable linear guides are arranged in a grid pattern, driving the lifting guides to move forward, backward, left, and right. The lifting of the top of the lifting guides can drive the entire processing table 4 to rise and fall.

[0041] Furthermore, the milling head switcher 2 includes a milling motor 21, the output end of which is equipped with a rotating head 22. A chuck 23, capable of rotating and adjusting clamping and releasing, is mounted on the outside of the rotating head 22. A lifting and lowering locking plate 25 is mounted on the outside of the chuck 23. By changing different cutting tools, the milling head switcher 2 can achieve rotary cutting of thin-shell structures and can also cut metal materials.

[0042] Further, the outer surface of the clamping plate 25 is welded with a clamping plate 26, and the inner side of the clamping plate 26 is hinged with an adjusting rod 27. The end of the adjusting rod 27 and the clamping plate 26 is hinged with a fixed block, and the bottom end of the fixed block is equipped with a lifter 28. The clamping plate 25 is a shape structure engaged with the outer surface groove of the clamping device 23. After clamping, the clamping device 23 can be positioned, and the clamping jaw is adjusted to clamp the tool by rotating the rotating head 22. The structure is simple and reliable, the clamping force is the same each time, and it is commonly used for clamping the drill bit of the existing electric drill.

[0043] Further, the top end of the telescopic rod 33 is equipped with a connecting rod 32, and the inner side of the connecting rod 32 is welded with a fixer 31. The center of the fixer 31 is equipped on the outer surface of the working head 15, and the telescopic rod 33 is a precision control electric push rod structure. The displacement of four or more telescopic rod structures can drive the engagement ring 34 made of rubber material to present the effect of fitting with the non-planar workpiece, and then matched with the synchronous operation of the machining table 4 to realize the dust treatment effect when cutting and machining large non-planar composite material structures, such as aircraft shell parts made of glass steel material, metal aluminum aircraft skin, etc.

[0044] Further, the outer surface of the corrugated cover 35 is equipped with a cooling port 36, and the number of the cooling port 36 can be two sets. One set is used to blow air into the cutting position of the tool, and drive the dust caused by the cutting of non-metallic composite material to move to the inside of the collection cover 45 inside the machining table 4, and the other set is used to spray cutting oil for cooling to the tool, which is used for the cooling of the tool bit and the flushing of the debris when cutting metal composite material.

[0045] Further, the bottom end of the corrugated cover 35 is integrally formed with the engagement ring 34, and the bottom end of the telescopic rod 33 is equipped on the upper surface of the engagement ring 34.

[0046] Further, the machining table 4 includes a fixed plate 41, and a circular hole is formed at the center of the fixed plate 41, and the inner side of the circular hole is welded on the outer side of the connecting rod 42. The inner side of the connecting rod 42 is welded with a fixed table 43, which can be used for temporary fixing of the workpiece to be machined. The bottom end of the fixed plate 41 is equipped with a semicircular collection cover 45, and the collection cover 45 is connected to an external waste treatment device. The collection cover 45 is connected to an external negative pressure collector, and the waste is collected and treated by using the air pressure generated by the airflow.

[0047] Further, the edge of the circular hole and the fixed table 43 is provided with an inclined inclined angle 44, which is beneficial to the falling of liquid and solid waste and reduces the probability of blockage.

[0048] According to the above technical features, the working principle of the mechanical hand cutting machining equipment in the actual application scene is as follows:

[0049] In use, the externally provided milling head can be replaced by the milling head switcher 2. After replacing the corresponding tool, the telescopic rod 33 can be adjusted to the appropriate length to support the engaging ring 34 to fit the surface of the bow and arrow or the surface of the processing table 4, so that in the process of milling and cutting, the dust and debris generated will fall through the gap on the upper surface of the fixed plate 41 into the collection cover 45 for centralized processing, which can adapt to the cutting and milling of large metal and non-metal composite materials and can also adapt to the processing and milling of small parts.

[0050] The relative arrangement of the components set forth in these embodiments does not limit the scope of the present application unless otherwise specified. Meanwhile, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the convenience of description. The techniques, methods and devices known to those of ordinary skill in the related art can not be discussed in detail, but should be considered as part of the authorized description under appropriate circumstances. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0051] In the description of the present application, it should be understood that the orientation words such as "front, rear, upper, lower, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate and imply that the indicated device or element must have a particular orientation or be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0052] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal", and derivatives thereof (e.g., "vertical ly", "horizontal ly", etc.) can refer to the relative positions of an apparatus or feature as shown in the drawings, and shall not be construed as limiting the present application to any particular spatial orientation. Furthermore, the terms "first", "second", third", etc. can be used herein to describe various elements, components, regions and / or sections which should not be limited by these terms, unless otherwise explicitly indicated by context. The terms "on", "onto" and the like in reference to a surface are intended to mean that the element is present on the surface of the element to which it is referenced, whether directly on the surface or on an intervening layer or element. The terms "on" and "onto" are not to be construed as being limited to a direct surface contact.

[0053] It is also important to note that the term "comprising" or "including" or "containing" or "having" or the like is intended to be open-ended and to mean that the named elements can be present, but that other elements can also be present. It is intended that the term "comprising" or "including" or "containing" or "having" or the like be interpreted to mean that the named elements are present in the composition, method, process, apparatus, or article of manufacture, but that other elements can also be present.

[0054] It is also important to note that the term "comprising" or "including" or "containing" or "having" or the like is intended to be open-ended and to mean that the named elements can be present, but that other elements can also be present. It is intended that the term "comprising" or "including" or "containing" or "having" or the like be interpreted to mean that the named elements are present in the composition, method, process, apparatus, or article of manufacture, but that other elements can also be present.

[0055] The specific embodiments described herein are illustrative, and not intended to limit the scope of the present application. Various modifications can be made by those skilled in the art, which fall within the scope of the present application. Any and all such modifications are intended to be included within the scope of the present application as set forth in the appended claims.

Claims

1. A robotic arm-based integrated cutting and machining system, characterized in that, include: A robotic arm (1) is equipped with a milling head switcher (2) at its working end. A cleaning device (3) is installed on the outside of the working end of the robotic arm (1). A processing table (4) is installed at the corresponding position below the cleaning device (3). The bottom of the processing table (4) has a dust collection structure. The cleaning device (3) includes a fixture (31). At least four sets of telescopic rods (33) are installed on the outside of the fixture (31). The telescopic rods (33) can be individually controlled to extend and retract. A corrugated cover (35) is installed at the bottom of the telescopic rods (33). The processing table (4) includes two plates assembled by connecting rods (42). An opening structure is reserved on the outside of the connecting rods (42). The opening structure is used for the discharge of dust and debris after washing, disinfection, and cutting. The milling head switch (2) includes a milling motor (21), the output end of which is equipped with a rotating head (22), and the outside of the rotating head (22) is equipped with a clamp (23) that can be rotated to adjust clamping and releasing, and the outside of the clamp (23) is equipped with a lifting and lowering snap plate (25). The outer surface of the snap-fit ​​plate (25) is welded with a clamping plate (26), and an adjusting rod (27) is hinged to the inner side of the clamping plate (26). A fixing block is hinged to the end of the adjusting rod (27) and the clamping plate (26), and a lifter (28) is installed at the bottom of the fixing block. The snap plate (25) engages with the groove on the outer surface of the clamp (23), which can position the clamp (23) after clamping. The jaws are adjusted and the clamping tool is fixed by rotating the rotating head (22).

2. The robotic arm cutting and machining integrated system according to claim 1, characterized in that: The robotic arm (1) includes a base (11), a first arm (12) is mounted on the top of the base (11), a second arm (13) is mounted on the top of the first arm (12), a rotating arm (14) is mounted on the end of the second arm (13), a working head (15) is mounted on the end of the rotating arm (14), and a corrugated cover (35) is fitted onto the outer surface of the working head (15).

3. The robotic arm cutting and machining integrated system according to claim 2, characterized in that: The mounting plane of the base (11) is equipped with an external equipment frame, and the bottom of the processing table (4) is equipped with at least 4 sets of linear guides and lifting guides that can be electrically controlled for displacement. The linear guides and lifting guides are mounted on the outside of the equipment frame.

4. The robotic arm cutting machining integrated system according to claim 1, characterized in that: The top of the telescopic rod (33) is fitted with a connecting rod (32), and a retainer (31) is welded to the inner side of the connecting rod (32). The center of the retainer (31) is fitted to the outer surface of the working head (15).

5. The robotic arm cutting machining integrated system according to claim 1, characterized in that: The outer surface of the corrugated cover (35) is fitted with a cooling port (36).

6. The robotic arm cutting machining integrated system according to claim 5, characterized in that: The bottom end of the corrugated cover (35) is integrally formed with a meshing ring (34), and the bottom end of the telescopic rod (33) is assembled on the upper surface of the meshing ring (34).

7. The robotic arm cutting machining integrated system according to claim 1, characterized in that: The processing table (4) includes a fixing plate (41), a circular hole is provided at the center of the fixing plate (41), and the inner side of the circular hole is welded to the outer side of the connecting rod (42). A fixing platform (43) is welded to the inner side of the connecting rod (42). A semi-circular collection cover (45) is assembled at the bottom end of the fixing plate (41), and the collection cover (45) is connected to an external waste treatment device.

8. The robotic arm cutting machining integrated system according to claim 7, characterized in that: An inclined angle (44) is provided at the edge of the circular hole and the fixed platform (43).

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