Precision positioning, locking and welding high-rigidity rack and machining method

Abstract

The invention relates to the technical field of robots, in particular to a high-rigidity rack for precise positioning, locking and welding and a machining method, and the high-rigidity rack for precise positioning, locking and welding comprises a mounting disc and the like; a circular hole is formed in the middle of the mounting disc, mounting holes a for mounting flanges are circumferentially formed in the eccentric position of the middle of the mounting disc at intervals, six positioning grooves a are circumferentially formed in the edge of the top of the mounting disc at intervals, and threaded holes a are symmetrically formed in the edge of the bottom of the mounting disc relative to the positioning grooves a. According to the invention, the matching surfaces of all parts of the rack are precisely machined, positioned by the keys and the clamping grooves, locked by the screws and then welded, the positioning precision is within 0.1 mm, and precise positioning is realized. And after being positioned, the parts of the rack are directly locked by screws, so that a positioning tool is omitted, and the cost of all tools is saved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a high-rigidity frame with precise positioning, locking and welding and a processing method thereof. Background Art

[0002] Large and complex structural parts play a vital role in high-tech fields such as aerospace, energy and power, and heavy equipment. These structural parts are not only large in size and complex in structure, but also require extremely high processing precision, which brings great challenges to the manufacturing process. The traditional split-offline processing mode has been unable to meet the needs of modern industry due to problems such as unstable process and long cycle. Although the gantry multi-axis CNC machine tool has improved the processing efficiency to a certain extent, its inclusive processing mode still seems to be unable to cope with large and complex components.

[0003] In order to meet these challenges, processing robots are widely used in large-span workspace operations of large and complex structural parts. These robots require coordinated processing with multiple degrees of freedom. The existing robot rack structure is simple and it is difficult for the robot to achieve high-precision, high-dynamic performance posture coupling motion, thereby meeting the requirements of high-precision processing of complex curved surfaces. However, this also places extremely high demands on the positioning accuracy of the robot rack.

[0004] Traditional welding positioning tools are not accurate enough to meet the high-precision positioning requirements of the frame. In actual operation, the frame is often equipped with two sets of positioning tools: one set is used for rough positioning during welding and supports the frame to complete the processing of the inner side; the other set is used for precision processing, which precisely matches the processed inner side of the frame and supports the completion of the processing of the outer side of the frame. This solution not only increases the manufacturing cost, but also prolongs the production cycle.

[0005] In order to solve this problem, we urgently need to design a high-rigidity frame and processing method that has self-positioning, precise positioning and locking welding, and is easy to weld. Summary of the invention

[0006] In order to overcome the shortcomings of the existing robot frame structure being simple, it is difficult for the robot to achieve high-precision, high-dynamic performance posture coupling motion, and it is unable to meet the requirements of high-precision processing of complex surfaces.

[0007] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present invention is: on the one hand, a high-rigidity frame with precise positioning, locking and welding is provided, including a mounting disc, a mounting ring frame and a mounting frame, a circular hole is opened in the middle of the mounting disc, and mounting holes a for mounting flanges are arranged at eccentric positions in the middle of the mounting disc at intervals in the circumferential direction, positioning grooves a are opened at the top edge of the mounting disc at intervals in the circumferential direction, and the number of positioning grooves a is six, and threaded holes a are opened symmetrically on the bottom edge of the mounting disc about the positioning groove a, and one of the positioning grooves c opened on the mounting frame is aligned with the positioning groove a, the mounting frame and the mounting disc are welded, threaded holes b are opened symmetrically on the mounting ring frame, and positioning groove b is opened on the mounting ring frame, the mounting ring frame contacts the edge of the mounting disc, the positioning groove b is aligned with the positioning groove a, the threaded hole a is aligned with the threaded hole b, and screws are screwed into the threaded holes a and b, a weld is formed between the mounting disc and the mounting ring frame, and a circular hole is opened on the mounting ring frame.

[0008] Furthermore, it also includes square tubes a and square tubes b. The mounting ring frames are arranged at intervals around the mounting disc. The number of mounting ring frames is 5. Square tubes a are arranged horizontally between adjacent mounting ring frames, and square tubes b are arranged between the mounting ring frame and the adjacent mounting frame.

[0009] Furthermore, the mounting ring frame is provided with an arc-shaped slot a, and the mounting frame is provided with an arc-shaped slot b which matches with the mounting disc. The mounting frame, the mounting ring frame and the mounting disc are closely fitted to increase the contact area.

[0010] Furthermore, the circular hole of the mounting ring frame is circumferentially spaced apart with mounting holes b for mounting the Hooke's hinge.

[0011] Furthermore, the positioning groove a of the mounting disc and the positioning groove b of the mounting ring frame are positioned by keys.

[0012] Furthermore, each surface of the mounting disc, mounting ring frame and mounting frame is precision machined and closely matched, with a positioning accuracy of 0.1 mm.

[0013] In a second aspect, the present invention further provides a method for processing a high-rigidity frame by precise positioning, locking and welding, comprising the following steps:

[0014] S1, processing the mounting disc, mounting ring frame, mounting frame, square tube a and square tube b, processing the corresponding plates according to the plate sizes required for each part, and then processing the mounting ring frame, mounting frame, square tube a and square tube b using a high-precision milling machine, processing the mounting disc with a lathe, and fine grinding the surface;

[0015] S2, the mounting ring frame, the mounting frame square tube a and the square tube b processed in step 1 are milled together, the surface roughness of the milling process reaches Ra1.6, and the plane of the mounting disc is ground to Ra0.8;

[0016] S3, the mounting disc, the mounting ring frame and the mounting frame are spliced ​​accordingly, the positioning groove b of the mounting ring frame and the positioning groove a of the mounting disc are aligned with a key, the positioning groove c of the mounting frame and the positioning groove a of the mounting disc are aligned with a key, the threaded hole a is aligned with the threaded hole b, and they are fixed by bolts;

[0017] S4, adjusting the mounting disc, the mounting ring frame and the mounting frame to be laid flat, and then welding the welds at the joints of the mounting disc, the mounting ring frame and the mounting frame by means of a welding device;

[0018] S5, then install the square tube a transversely between adjacent mounting ring frames, and install the square tube b transversely between the mounting ring frame and the mounting frame;

[0019] S6. Then, the square tube a, the square tube b, the mounting ring frame and the mounting frame are welded by a welding device.

[0020] Furthermore, after the frame is welded, the key for positioning is taken out.

[0021] Beneficial effects of the present invention:

[0022] 1. The present invention uses precision machining on the mating surfaces of various parts of the frame, positioning with keys and slots, and welding after locking with screws. The positioning accuracy is within 0.1mm, thus achieving precise positioning. After the parts of the frame are positioned, they are directly locked with screws, eliminating the positioning tooling and saving the cost of all tooling. The parts are in contact with large surfaces, which increases the contact area and reduces the contact stress, reduces local elastic deformation, and increases the rigidity of the structure. After locking and welding, the positioning accuracy is improved, the deformation after welding is reduced, and there is no need to reserve processing allowance for the subsequent process, thereby reducing the overall weight of the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the installation disc of the present invention.

[0025] Figure 3 It is a three-dimensional structural schematic diagram of the mounting ring frame of the present invention.

[0026] Figure 4 It is a schematic diagram of the combined structure of the mounting disc and the mounting ring frame of the present invention.

[0027] Figure 5 It is a schematic diagram of the three-dimensional structure of the mounting frame of the present invention.

[0028] Figure 6 It is a schematic diagram of the three-dimensional structure of the first tooling of the present invention.

[0029] Figure 7 It is a schematic diagram of the three-dimensional structure of the second tooling of the present invention.

[0030] Figure 8 It is a schematic diagram of the three-dimensional structure of the processing robot of the present invention.

[0031] Fig. 9 It is a schematic diagram of the installation structure of the rack of the present invention.

[0032] The markings of the components in the accompanying drawings are as follows: 1-mounting disc, 101-threaded hole a, 102-positioning groove a, 103-mounting hole a, 104-round hole, 2-mounting ring frame, 201-arc-shaped slot a, 202-threaded hole b, 203-positioning slot b, 204-round hole, 205-mounting hole b, 3-mounting frame, 301-arc-shaped slot b, 302-positioning slot c, 4-square tube a, 5-square tube b, 6-processing robot, 7-mechanical arm, 8-flange, 9-Hook's hinge, 10-ring, 11-driving device, 12-hinge, 13-fixed seat, 131-processing component, 14-base a, 141-base b, 15-fixed ring a, 151-fixed ring b, 16-bracket a, 161-bracket b, 17-fixed ring seat a, 171-fixed ring seat b, 18-support frame a, 181-support frame b. DETAILED DESCRIPTION

[0033] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention.

[0034] Embodiment 1: A high-rigidity frame with precise positioning, locking and welding, such as Figure 1-5As shown, it includes a mounting disc 1, a mounting ring frame 2, a mounting frame 3, a square tube a4 and a square tube b5. A circular hole 104 is opened in the middle of the mounting disc 1. The mounting holes a103 for mounting flanges are arranged at intervals at the eccentric position of the middle of the mounting disc 1. Positioning grooves a102 are opened at intervals at the top edge of the mounting disc 1. There are six positioning grooves a102. The bottom edge of the mounting disc 1 is symmetrically opened with threaded holes a101 about the positioning grooves a102. The mounting frame 3 is opened with holes corresponding to the positioning grooves a102. The arc-shaped card slot b301 that matches the mounting disc 1 is provided, one of the positioning slots c302 opened on the mounting frame 3 is aligned with the positioning slot a102, the arc-shaped card slot b301 of the mounting frame 3 is welded with the mounting disc 1, the mounting ring frame 2 is provided with an arc-shaped card slot a201, the arc-shaped card slot a201 of the mounting ring frame 2 is symmetrically provided with threaded holes b202, the mounting ring frame 2 is provided with a positioning slot b203, and the arc-shaped card slot a201 of the mounting ring frame 2 is connected with the edge of the mounting disc 1. The contact area is increased and the contact stress is reduced. After welding, the local elastic deformation can be reduced and the rigidity of the structure is increased. A circular hole 204 is provided on the mounting ring frame 2. The circular hole 204 of the mounting ring frame 2 is circumferentially spaced with mounting holes b205 for mounting the Hook hinge. The mounting ring frame 2 is arranged at intervals around the mounting disc 1. There are 5 mounting ring frames 2. The positioning groove b203 is aligned with the positioning groove a102. The threaded hole a101 is aligned with the threaded hole b202. The screws are screwed into the threaded holes a101 and b202. A weld is formed between the mounting disc 1 and the mounting ring frame 2. A square tube a4 is transversely arranged between adjacent mounting ring frames 2. A square tube b5 is arranged between the mounting ring frame 2 and the adjacent mounting frame 3. The positioning groove a102 of the mounting disc 1 and the positioning groove b203 of the mounting ring frame 2 are positioned by keys. Each surface of the mounting disc 1, the mounting ring frame 2 and the mounting frame 3 is precisely machined and tightly matched. The positioning accuracy is 0.1mm.

[0035] like Figure 6 As shown, when assembling and welding the previous frame, first install the mounting disc 1 on the fixing ring a15, then fit the circular hole 204 of the mounting ring frame 2 on the fixing ring seat a17 for fixing, then adjust the contact position of the mounting ring frame 2 and the mounting disc 1, and then perform rough welding by a welding machine to complete the welding of the inner side of the frame. After the welding is completed, the frame is then reversely placed on the fixing ring b151, and the mounting ring frame 2 is aligned with the fixing ring seat b171 to achieve precise matching of the processed inner side of the frame, as shown in FIG. Figure 7 As shown, during the design and development stage of the equipment, the possibility of frame structure change is relatively large. Generally, welding positioning tooling ( Figure 6 and Figure 7) cannot be reused, so the utilization rate is not high, resulting in waste. For further optimization, first align the positioning groove c302 of the mounting frame 3 with the positioning groove a102 of the mounting disc 1, then position and install them by a key, and directly weld them by a welding machine. Then align the threaded hole b202 of the mounting ring frame 2 with the threaded hole a101 of the mounting disc 1, then align the positioning groove b203 of the mounting ring frame 2 with the positioning groove a102 of the mounting disc 1, position and install them by a key, and then use a welding machine to seal and weld the connection between the mounting disc 1 and the mounting ring frame 2, and then install the square tube a4 and the square tube b5 in sequence, and then weld and fix them.

[0036] like Figure 8-9 As shown, a flange 8 is provided on the mounting disc 1, and the flange 8 is fixed on the mechanical arm 7 of the processing robot 6. A Hooke's hinge 9 is installed at the position of the circular hole 204 of the mounting ring frame 2 by bolts. A driving device 11 is provided at the position of the circular ring 10 of the Hooke's hinge 9. A hinge 12 is provided at the lower part of the driving device 11. A fixed seat 13 is provided between the hinges 12 at the lower part of the driving device 11 on the mounting ring frame 2 at 120° with the mounting frame 3. A fixed seat 13 is also provided between the hinges 12 at the lower parts of the other three driving devices 11. A processing assembly 131 is provided between the two fixed seats 13, and the driving device 11 is composed of a ball screw and a hollow motor. The processing robot 6 can perform multi-degree-of-freedom movement, and can make the parallel processing assembly 131 reach the vicinity of the feature to be processed and adjust its posture according to the orientation of the feature to be processed, thereby expanding the operating range and processing flexibility of the parallel processing assembly 131, and facilitating the parallel processing assembly 131 to process the feature to be processed.

[0037] Embodiment 2:

[0038] Based on the same inventive concept, a processing method for a high-rigidity frame with precise positioning, locking and welding is provided, comprising the following steps:

[0039] S1, process the mounting disc 1, mounting ring frame 2, mounting frame 3, square tube a4 and square tube b5, process the corresponding plates according to the plate sizes required for each part, and then use a high-precision milling machine to process the mounting ring frame 2, mounting frame 3 square tube a4 and square tube b5 respectively, use a lathe to process the mounting disc 1, and finely grind the surface;

[0040] S2, the mounting ring frame 2, the mounting frame 3, the square tube a4 and the square tube b5 processed in step 1 are milled together, and the surface roughness of the milling process reaches Ra1.6, and the surface of the mounting disc 1 is ground to Ra0.8;

[0041] S3, the mounting disc 1, the mounting ring frame 2 and the mounting frame 3 are spliced ​​accordingly, the positioning groove b203 of the mounting ring frame 2 and the positioning groove a102 keyway of the mounting disc 1 are aligned with a key, the positioning groove c of the mounting frame 3 and the positioning groove a102 keyway of the mounting disc 1 are aligned with a key, the threaded hole a101 is aligned with the threaded hole b202, and they are fixed by bolts;

[0042] S4, adjusting the mounting disc 1, the mounting ring frame 2 and the mounting frame 3 to be laid flat, and then welding the welds at the joints of the mounting disc 1, the mounting ring frame 2 and the mounting frame 3 by a welding device;

[0043] S5, then install the square tube a4 transversely between adjacent mounting ring frames 2, and install the square tube b5 transversely between the mounting ring frame 2 and the mounting frame 3;

[0044] S6, then use a welding device to weld the welds at the butt joints of the square tube a4, the square tube b5, the mounting ring frame 2 and the mounting frame 3, and take out the positioning key after the frame welding is completed.

[0045] The above is a detailed introduction to the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A high-rigidity frame with precise positioning, locking and welding, characterized in that: The invention comprises a mounting disc (1), wherein a circular hole (104) is formed in the middle of the mounting disc (1), mounting holes a (103) for mounting flanges are arranged at intervals of circumference at eccentric positions in the middle of the mounting disc (1), positioning grooves a (102) are formed at intervals of circumference at the top edge of the mounting disc (1), and the number of the positioning grooves a (102) is six, and threaded holes a (101) are formed symmetrically with respect to the positioning grooves a (102) at the bottom edge of the mounting disc (1), one of the positioning grooves c (302) formed on the mounting frame (3) is aligned with the positioning groove a (102), and the mounting frame (3) is connected to the mounting frame (3). The disks (1) are welded together, the mounting ring frame (2) is symmetrically provided with threaded holes b (202), the mounting ring frame (2) is provided with a positioning groove b (203), the mounting ring frame (2) contacts the edge of the mounting disk (1), the positioning groove b (203) is aligned with the positioning groove a (102), the threaded hole a (101) is aligned with the threaded hole b (202), and a screw is screwed into the threaded hole a (101) and the threaded hole b (202), a weld is formed between the mounting disk (1) and the mounting ring frame (2), and a circular hole (204) is provided on the mounting ring frame (2).

2. According to claim 1, a high-rigidity frame with precise positioning, locking and welding is characterized in that: It also comprises square tubes a (4), the mounting ring frames (2) are arranged at intervals around the mounting disc (1), the number of the mounting ring frames (2) is five, the square tubes a (4) are arranged transversely between adjacent mounting ring frames (2), and a square tube b (5) is arranged between the mounting ring frame (2) and the adjacent mounting frame (3).

3. According to claim 2, a high-rigidity frame with precise positioning, locking and welding is characterized in that: The mounting ring frame (2) is provided with an arc-shaped slot a (201), and the mounting frame (3) is provided with an arc-shaped slot b (301) that matches the mounting disc (1). The mounting frame (3), the mounting ring frame (2) and the mounting disc (1) are tightly fitted to increase the contact area.

4. The high-rigidity frame with precise positioning, locking and welding according to claim 3 is characterized in that: The circular hole (204) of the mounting ring frame (2) is circumferentially spaced with mounting holes b (205) for mounting a Hooke's hinge.

5. The high-rigidity frame with precise positioning, locking and welding according to claim 4 is characterized in that: The positioning groove a (102) of the mounting disc (1) and the positioning groove b (203) of the mounting ring frame (2) are positioned by means of a key.

6. The high-rigidity frame with precise positioning, locking and welding according to claim 5, characterized in that: Each surface of the mounting disc (1), the mounting ring frame (2) and the mounting frame (3) has been precisely machined and fits tightly together, with a positioning accuracy of 0.1 mm.

7. A method for processing a high-rigidity frame with precise positioning, locking and welding, based on the high-rigidity frame with precise positioning, locking and welding as claimed in claim 6, characterized in that: The following steps are involved: S1, processing the mounting disc (1), the mounting ring frame (2), the mounting frame (3), the square tube a (4) and the square tube b (5), processing the corresponding plates according to the plate sizes required for each part, and then respectively processing the mounting ring frame (2), the mounting frame (3) the square tube a (4) and the square tube b (5) using a high-precision milling machine, processing the mounting disc (1) using a lathe, and fine grinding the surface; S2, the mounting ring frame (2), the mounting frame (3), the square tube a (4) and the square tube b (5) processed in step 1 are milled together, and the surface roughness of the milled surface reaches Ra1.6, and the surface of the mounting disc (1) is ground to Ra0.8; S3, the mounting disc (1), the mounting ring frame (2) and the mounting frame (3) are spliced ​​accordingly, the positioning groove b (203) of the mounting ring frame (2) and the positioning groove a (102) of the mounting disc (1) are aligned with a key, the positioning groove c of the mounting frame (3) and the positioning groove a (102) of the mounting disc (1) are aligned with a key, and the threaded hole a (101) is aligned with the threaded hole b (202), and fixed by bolts; S4, adjusting the mounting disc (1), the mounting ring frame (2) and the mounting frame (3) to be laid flat, and then welding the welds at the joints of the mounting disc (1), the mounting ring frame (2) and the mounting frame (3) using a welding device; S5, then install the square tube a (4) transversely between adjacent mounting ring frames (2), and install the square tube b (5) transversely between the mounting ring frame (2) and the mounting frame (3); S6. Then, the welding device is used to weld the weld seams at the joints of the square tube a (4), the square tube b (5), the mounting ring frame (2) and the mounting frame (3).

8. The method for processing a high-rigidity frame with precise positioning, locking and welding according to claim 7 is characterized in that: After the frame welding is completed, remove the positioning key.

Images