A rigidly reinforced robotic drilling and tapping device and method thereof

Abstract

The application discloses a rigidly enhanced robot drilling and tapping device and a method thereof, which comprises a robot and a drilling and tapping device installed on the robot, wherein at least one inertia force generating device is arranged on the drilling and tapping device, and the inertia force generating device is used for generating a counteracting force to offset an acting force received by the drilling and tapping device during drilling and tapping; a force sensor is arranged at a connection position of the robot and the drilling and tapping device, and the force sensor is used for monitoring the counteracting force of the drilling and tapping device in real time. The application solves the problem of insufficient rigidity in machining work of an industrial robot holding an electric spindle, and the acting force received by the robot during drilling or tapping work can cause the robot body to be deformed and displaced, and further cause machining precision, machining efficiency and tool life to be unable to reach theoretical values.

Description

Technical Field

[0001] This invention relates to the technical field of robotic drilling, and more particularly to a rigid robotic drilling and tapping device and method. Background Technology

[0002] Traditional large five-axis CNC machine tools can achieve high precision in drilling and tapping large workpieces because the machine bed has high rigidity. Under significant external forces during drilling and tapping, the bed exhibits minimal elastic deformation. The system rigidity is typically above 10 kN / mm, and some heavy-duty machine tools can even reach 900 kN / mm.

[0003] Industrial robots have advantages such as high flexibility, large working area and low price, but they have poor rigidity. The system rigidity of a typical industrial robot is within 1KN / mm. When the robot performs drilling and tapping operations on aluminum castings, the force it is subjected to is generally in the range of 0.2-1KN, and the body will produce a displacement of 0.2-1mm or more, which will affect the accuracy of drilling and tapping.

[0004] Inside a sealed, waterproof workshop, two robots use handheld drilling and tapping devices to process large die-cast parts. These devices are used for drilling and tapping threads on the workpieces. The drilling and tapping device is a single-axis system, mainly composed of an electric spindle and a drilling and tapping slide. The robot remains stationary during drilling and tapping operations. This device is already under closed-loop control, and testing has shown that, provided the system (e.g., the robot) holding the device has sufficient rigidity, the accuracy of drilling and tapping is adequate.

[0005] Such a system design has the following limitations:

[0006] 1. For high-precision die-casting parts processing, the machining accuracy of the robot system may not meet the customer's requirements;

[0007] 2. Due to the increased displacement of the robot under the large drilling force, it is necessary to reduce the drilling force by suppressing the processing parameters. This results in a huge gap between the processing efficiency of the robot and that of the CNC machine tool. Although the cost of the robot processing system is lower than that of the CNC machine tool, the final equipment cost per piece may not be lower when considering the output of the equipment.

[0008] 3. When the system rigidity is poor, the vibration during machining will be large, making it difficult to guarantee the life of the machining tool. The significant reduction in tool life may result in the actual production cost per unit not decreasing significantly.

[0009] In summary, robots may not be competitive when subjected to large forces during processing. Summary of the Invention

[0010] To address the aforementioned problems with existing robotic drilling devices, this paper aims to provide a rigid robotic drilling and tapping device and method, which solves the problem of insufficient rigidity encountered by industrial robots performing machining operations with handheld electric spindles. During drilling or tapping operations, the forces received by the robot cause deformation and displacement of the robot body, resulting in machining accuracy, machining efficiency, and tool life not reaching the theoretical values.

[0011] The specific technical solution is as follows:

[0012] A rigidity-enhanced robotic drilling and tapping device includes: a robot and a drilling and tapping device mounted on the robot. The drilling and tapping device is provided with at least one inertial force generating device, which is used to generate a force that counteracts the force acting on the drilling and tapping device when the drilling and tapping device is drilling and tapping.

[0013] A force sensor is provided at the connection between the robot and the drilling device, and the force sensor is used to monitor the reaction force of the drilling device in real time.

[0014] The aforementioned rigidity-enhanced robotic drilling and tapping device further includes: a controller, wherein the force sensor transmits the processing force of the drilling and tapping device to the controller, and the controller adjusts the force of the inertial force generating device in real time.

[0015] The aforementioned rigidity-enhanced robotic drilling and tapping device has inertial force generating devices symmetrically arranged on both sides of the drilling and tapping device.

[0016] The aforementioned rigidity-enhanced robotic drilling and tapping device includes a drilling and tapping drive and an electric spindle. The drilling and tapping drive is mounted on the robot and drives the electric spindle to move up and down.

[0017] The aforementioned rigidity-enhanced robotic drilling and tapping device includes an inertial force generating device comprising a drive assembly and an inertial block. The drive assembly is disposed on the side wall of the drilling and tapping device, and the drive assembly drives the inertial block to move up and down.

[0018] The aforementioned rigidity-enhanced robotic drilling and tapping device further includes: a drilling and tapping slide, wherein the drilling and tapping drive unit drives the drilling and tapping slide to move up and down, and the electric spindle is longitudinally mounted on the drilling and tapping slide.

[0019] In the aforementioned rigidity-enhanced robotic drilling and tapping device, the driving component includes an inertial force driving element and a linear track. The linear track is disposed on the side wall of the drilling and tapping device, and the inertial block is slidably disposed on the linear track. The inertial force driving element drives the inertial block to move up and down.

[0020] The aforementioned rigidity-enhanced robotic drilling and tapping device includes a drive assembly comprising an inertial force drive component and a lead screw. The lead screw is disposed on the side wall of the drilling and tapping device, and an inertial block is slidably disposed on the lead screw. The inertial force drive component drives the inertial block to move up and down.

[0021] The aforementioned rigidity-enhanced robotic drilling and tapping device further includes:

[0022] A base, which is mounted on the robot, and the drilling and tapping drive unit is mounted on the base;

[0023] A grating ruler is mounted on the drilling slide.

[0024] A method, wherein the rigid-reinforced robotic drilling and tapping apparatus described in any one of the foregoing embodiments, comprises:

[0025] Step S1: The electric spindle begins to move downwards, and the force sensor collects the reaction force data of the drilling and tapping device in real time. At the moment when the drill bit or tap of the electric spindle contacts the workpiece, the force sensor will collect a step signal of the reaction force.

[0026] Step S2: When the electric spindle performs machining operations, the drive assembly drives the inertial block to accelerate upwards;

[0027] Step S3: Until the drilling ends, the speed of the inertial block driven by the drive assembly is reduced to 0. The deceleration of the inertial block will generate an opposite inertial force. At this time, the inertial force generated by the drill-tapping drive unit accelerating the electric spindle upward cancels the inertial force of the inertial block decelerating.

[0028] The positive effects of the above technical solution compared with the existing technology are:

[0029] This invention adds an inertial force generating device, so that the industrial robot will not be subjected to huge processing impact force when drilling or tapping. The processing force is offset by the inertial force, which effectively suppresses system vibration, ensures system rigidity, and ultimately guarantees processing accuracy. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of a rigidity-enhanced robotic drilling and tapping device according to the present invention.

[0031] Figure 2 This is a partially enlarged structural schematic diagram of a rigidity-enhanced robotic drilling and tapping device according to the present invention;

[0032] Figure 3This is a partially enlarged structural schematic diagram of a rigidity-enhanced robotic drilling and tapping device according to the present invention;

[0033] In the attached diagram: 1. Robot; 11. Robot's sixth axis; 2. Drilling and tapping device; 3. Inertial force generating device; 4. Force sensor; 21. Drilling and tapping slide; 22. Electric spindle; 23. Grating ruler; 24. Drilling and tapping drive component; 31. Inertial block; 32. Inertial force drive component; 33. Linear track; 34. Lead screw. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0035] like Figures 1 to 3 As shown, a preferred embodiment of a rigidity-enhanced robotic drilling and tapping device is illustrated, comprising: a robot 1 and a drilling and tapping device 2 mounted on the robot 1. The drilling and tapping device 2 is provided with at least one inertial force generating device 3, which is used to generate a force to counteract the force acting on the drilling and tapping device 2 during drilling and tapping.

[0036] Furthermore, as a preferred embodiment, a force sensor 4 is provided at the connection between the robot and the drilling device, and the force sensor 4 is used to monitor the reaction force of the drilling device 2 in real time.

[0037] Furthermore, as a preferred embodiment, the rigidity-enhanced robotic drilling and tapping device also includes: a controller (not shown in the figure), a force sensor 4 that transmits the processing force of the drilling and tapping device 2 to the controller, and the controller that adjusts the force of the inertial force generating device 3 in real time.

[0038] Preferably, the controller is connected to the electric spindle 22 via a line.

[0039] Preferably, the robot 1 is provided with a sixth axis 11, and the drilling and tapping device 2 is installed on the sixth axis 11.

[0040] Preferably, the base is mounted on the sixth axis 11 of the robot.

[0041] Furthermore, as a preferred embodiment, inertial force generating devices 3 are symmetrically provided on both sides of the drilling and tapping device 2.

[0042] Furthermore, as a preferred embodiment, the drilling and tapping device 2 includes a drilling and tapping drive 24 and an electric spindle 22. The drilling and tapping drive 24 is mounted on the robot and drives the electric spindle 22 to move up and down.

[0043] Furthermore, as a preferred embodiment, the inertial force generating device 3 includes: a driving component and an inertial block 31. The driving component is disposed on the side wall of the drilling and tapping device 2, and the driving component drives the inertial block 31 to move up and down.

[0044] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.

[0045] In addition to the above, the present invention also has the following embodiments:

[0046] In further embodiments of the present invention, please continue to refer to Figures 1 to 3 As shown, the drilling and tapping device 2 also includes: a drilling and tapping slide 21, a drilling and tapping drive unit 24 that drives the drilling and tapping slide 21 to move up and down, and an electric spindle 22 that is longitudinally mounted on the drilling and tapping slide 21.

[0047] Preferably, the drilling and tapping drive component 24 is a linear motor, and the linear motor is connected to the drilling and tapping slide 21 for transmission.

[0048] In a further embodiment of the present invention, the driving component includes: an inertial force driving member 32 and a linear track 33. The linear track 33 is disposed on the side wall of the drilling device 21, and the inertial block 31 is slidably disposed on the linear track 33. The inertial force driving member 32 drives the inertial block 31 to move up and down.

[0049] Preferably, the inertial force drive component 32 is a linear motor, and the track of the linear motor is installed on the base of the drilling and tapping device 2. That is, the up and down movement of the electric spindle 22 and the up and down movement of the two inertial blocks 31 are independently adjustable in real time.

[0050] In a further embodiment of the present invention, the driving component includes: an inertial force driving member 32 and a lead screw 34. The lead screw 34 is disposed on the side wall of the drilling and tapping device 21, and an inertial block 31 is slidably disposed on the lead screw 34. The inertial force driving member 32 drives the inertial block 31 to move up and down.

[0051] Preferably, the inertial force driving component 32 is a servo motor.

[0052] In a further embodiment of the present invention, the drilling and tapping device 2 further includes: a base and a grating ruler 23. The base is mounted on the robot 1, the drilling and tapping drive component 24 is mounted on the base, and the grating ruler 23 is disposed on the drilling and tapping slide 2.

[0053] Preferably, the linear track 33 is disposed on the base.

[0054] Preferably, the lead screw 34 is mounted on the base.

[0055] Preferably, the two inertial force generating devices 3 are symmetrically arranged on both sides of the drilling and tapping device 2. This helps to reduce the overturning moment and improve the system rigidity. The inertial block 31 can slide controllably on the linear track 33, and the acceleration can be adjusted in real time.

[0056] In a further embodiment of the present invention, the linear track 33 is arranged longitudinally, the lead screw 34 is arranged longitudinally, and the inertial block 31 slides longitudinally.

[0057] The method of the rigidity-enhanced robotic drilling and tapping device of the present invention includes:

[0058] Step S1: The electric spindle 22 begins to move downwards. The force sensor 4 collects the reaction force data of the drilling and tapping device 2 in real time. At the moment when the drill bit or tap of the electric spindle 22 contacts the workpiece, the force sensor 4 will collect the step signal of the reaction force.

[0059] Step S2: When the electric spindle 22 performs machining operations, the drive assembly drives the inertial block 31 to accelerate upwards;

[0060] Step S3: Until the drilling ends, the speed of the inertial block 31 driven by the drive component is reduced to 0. The deceleration of the inertial block 31 will generate an opposite inertial force. At this time, the inertial force generated by the drilling drive component 24 accelerating the electric spindle 22 upward cancels the inertial force of the inertial block deceleration.

[0061] Assuming each of the two inertial blocks 31 weighs 20 kg, an acceleration of 1 m / s² would generate an inertial force of 40 kg, sufficient to offset the reaction force during drilling of a die-cast part with a diameter of up to 20 mm without heat treatment. In approximately 1 second, the drilling and tapping device 2 can drill a hole of about 45-50 mm. Simultaneously, the inertial blocks move 500 mm.

[0062] After drilling is completed, the inertial block 31 reduces its speed to 0 within a distance of about 100mm. The deceleration of the inertial block will cause the opposite inertial force. At this time, the drilling and tapping device will accelerate the electric spindle and pull it upward, generating an inertial force to counteract the inertial force of the slider deceleration.

[0063] This invention addresses the problem of insufficient rigidity in drilling and tapping operations using industrial robots. It employs a force sensor to collect the reaction force perpendicular to the workpiece surface experienced by the robot during the drilling and tapping process in real time. An inertial force generator counteracts this reaction force, significantly suppressing its magnitude and reducing the vibration of the entire system. Through these measures, for workpieces of the same material and with the same hole diameter and depth, at the same drilling and tapping speed, the rigidity enhancement system reduces the reaction force experienced by the robot during drilling and tapping by approximately 80%, resulting in a substantial improvement in machining accuracy.

[0064] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A rigid-enhanced robotic drilling and tapping device, characterized in that, include: A robot and a drilling and tapping device mounted on the robot, wherein the drilling and tapping device is provided with at least one inertial force generating device, the inertial force generating device being used to generate a force that counteracts the force acting on the drilling and tapping device when the drilling and tapping device is drilling and tapping threads; A force sensor is provided at the connection between the robot and the drilling device, and the force sensor is used to monitor the reaction force of the drilling device in real time. It also includes: a controller, wherein the force sensor transmits the processing force of the drilling and tapping device to the controller, and the controller adjusts the force of the inertial force generating device in real time; The inertial force generating device is symmetrically arranged on both sides of the drilling and tapping device; The inertial force generating device includes a drive component and an inertial block. The drive component is disposed on the side wall of the drilling and tapping device, and the drive component drives the inertial block to move up and down.

2. The rigidity-enhanced robotic drilling and tapping device according to claim 1, characterized in that, The drilling and tapping device includes a drilling and tapping drive and an electric spindle. The drilling and tapping drive is mounted on the robot and drives the electric spindle to move up and down.

3. The rigidity-enhanced robotic drilling and tapping device according to claim 2, characterized in that, The drilling and tapping device further includes: a drilling and tapping slide, the drilling and tapping drive unit drives the drilling and tapping slide to move up and down, and the electric spindle is longitudinally mounted on the drilling and tapping slide.

4. The rigidity-enhanced robotic drilling and tapping device according to claim 2, characterized in that, The drive assembly includes an inertial force drive component and a linear track. The linear track is disposed on the side wall of the drilling device. The inertial block is slidably disposed on the linear track. The inertial force drive component drives the inertial block to move up and down.

5. The rigidity-enhanced robotic drilling and tapping device according to claim 2, characterized in that, The drive assembly includes an inertial force drive component and a lead screw. The lead screw is disposed on the side wall of the drilling and tapping device, and the inertial block is slidably disposed on the lead screw. The inertial force drive component drives the inertial block to move up and down.

6. The rigidity-enhanced robotic drilling and tapping device according to claim 3, characterized in that, The drilling and tapping device also includes: A base, which is mounted on the robot, and the drilling and tapping drive unit is mounted on the base; A grating ruler is mounted on the drilling slide.

7. A method, characterized in that, The method, applied to the rigid-enhanced robotic drilling and tapping device as described in claims 3-6, comprises: Step S1: The electric spindle begins to move downwards, and the force sensor collects the reaction force data of the drilling and tapping device in real time. At the moment when the drill bit or tap of the electric spindle contacts the workpiece, the force sensor will collect a step signal of the reaction force. Step S2: When the electric spindle performs machining operations, the drive assembly drives the inertial block to accelerate upwards; Step S3: Until the drilling ends, the speed of the inertial block driven by the drive assembly is reduced to 0. The deceleration of the inertial block will generate an opposite inertial force. At this time, the inertial force generated by the drill-tapping drive unit accelerating the electric spindle upward cancels the inertial force of the inertial block decelerating.

Images