Method for rapidly detecting machining allowance of waist shell of industrial robot part

Abstract

The invention relates to the technical field of part machining methods, and discloses a method for rapidly detecting the machining allowance of a waist shell of an industrial robot part, and the method comprises the following steps: positioning a workpiece of a vertical machining center main body, and enabling the workpiece to be installed and positioned; when auxiliary holes are machined, the completion conditions of the center of the first shaft hole and the center of the second shaft hole of each workpiece can be pre-judged through the manual guiding rule, and the width and the height of the manual guiding rule are set according to the single-side machining allowance of the two shaft holes being 1 mm. According to the method for rapidly detecting the machining allowance of the waist shell of the industrial robot part, a tool of a vertical machining center working procedure is subjected to machining, the completion conditions of a first shaft hole and a second shaft hole of each workpiece can be pre-judged by utilizing a manual guiding rule when a process hole is machined, and when the eccentricity of the second shaft hole is predicted to reach an allowable extreme value, the workpiece is rapidly detected. And the positions of the process holes can be adjusted to meet use requirements or be directly scrapped, and the machining loss of a vertical machining center sequence is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of component processing methods, and particularly to a method for quickly detecting the machining allowance of the waist housing of industrial robot components. Background Art

[0002] The core components of an industrial robot mainly include a controller, a servo motor, and a speed reducer. These components determine important performance indicators of the robot such as accuracy, stability, and load capacity, and also account for a very high cost. Among them, the speed reducer accounts for about 35%, the servo motor accounts for about 23%, and the controller accounts for about 12%. Among them, the controller is the brain of the robot, responsible for issuing and transmitting action instructions, and includes both hardware and software parts. The hardware is an industrial control board, and the software is a control algorithm. The servo motor is the power source of the robot, which can convert electrical energy into mechanical energy to drive the robot to move. The speed reducer, as a transmission mechanism between the power source and the actuator, can reduce the speed of the motor and increase the torque; the cost of these components accounts for more than 70% of the total cost of the robot, so it is the most profitable part of the industrial robot industry chain. In addition, in addition to these three core components, sensors and end effectors are also important parts of the robot. Sensors are used to obtain environmental information to help the robot make decisions; the end effector directly contacts the environment to complete various work tasks.

[0003] The core components of the robot mainly include: 1. Controller: The controller is the brain of the robot, responsible for processing and executing program instructions, coordinating and controlling the action sequence of the robot. It includes hardware and software parts for decision-making, motion planning, and real-time control; 2. Servo motor (or servo drive): The servo motor is the power source of the robot, responsible for converting electrical energy into mechanical energy to drive the joints or moving parts of the robot. The servo system can provide precise speed and position control; 3. Reducer (or reduction gearbox): The reducer is used to reduce the high-speed rotation of the servo motor and increase the torque output, enabling the robot to work in situations where high torque and precise positioning are required. The reducer can improve the load capacity and motion accuracy of the robot; these three core components - the controller, the servo motor, and the reducer, usually account for more than 70% of the cost of an industrial robot, and have a crucial impact on the performance, accuracy, and reliability of the robot. In addition, other components such as sensors, end effectors (such as grippers or welding tools), mechanical structures, and power supply systems are also important parts of the robot.

[0004] The waist shell of an industrial robot component is a thin-walled special-shaped ductile iron part with a complex structure. Due to the structural characteristics of the part itself, it is prone to deformation during the casting process, and the regularity is not strong. During the machining process, it is found that the second shaft hole of the waist shell often deviates from the outer shape (non-machined surface). After scribing inspection, the maximum eccentricity can reach 2 mm. Due to the different beats of the vertical machining center and the horizontal machining center, that is, the beats of OP10 and OP20 are very different. When the eccentricity of the second shaft hole is found after the completion of OP20, a large number of finished products of OP10 have been produced. After this kind of part is processed by OP20, the waste loss is very large. Therefore, there is an urgent need for a method to quickly detect the machining allowance of the waist shell of industrial robot components to solve the above technical problems. Summary of the Invention

[0005] To achieve the above object, the present invention provides the following technical solutions: A method for quickly detecting the machining allowance of the waist shell of industrial robot components, which is used in a waist shell machining device. The waist shell machining device is composed of a vertical machining center main body and a horizontal machining center main body. The bottom end of the vertical machining center main body is provided with a vertical machining center base, and a support frame, a second support column and a protective cover are respectively installed on the left and right sides above the vertical machining center base. A vertical machining center hole is opened on one side at the lower end of the protective cover, and a fixing block is connected to one side of the protective cover. The upper end of the support frame is installed with a first support column and an adjusting screw, and a bolt is arranged at the upper end of the adjusting screw; The bottom end of the horizontal machining center main body is provided with a horizontal machining center base, and a horizontal machining center mounting frame is installed at the upper end of the horizontal machining center base. A hole mounting frame is connected to one side of the horizontal machining center mounting frame, and a first shaft hole center and a second shaft hole center are respectively opened on the hole mounting frame.

[0006] Preferably, the method includes the following steps: Step 1: Position the workpiece of the vertical machining center main body, and adjust the second support column, the protective cover, the fixing block, the first support column, the adjusting screw and the bolt to install and position the workpiece; Step 2: When machining the process hole, use a manual feeler gauge to predict the completion of the first shaft hole center and the second shaft hole center of each workpiece. The width and height of the manual feeler gauge are set according to the unilateral machining allowance of the second shaft hole being 1 mm. When it is predicted that the eccentricity of the second shaft hole center reaches the allowable extreme value, adjust the position of the process hole to meet the use requirements or directly scrap it to reduce the machining loss of OP20; Step 3: When any one of the three directions of the feeler gauge, left, right, or up, cannot completely cover the second shaft hole center 16, it is determined that the workpiece is deformed beyond the tolerance or there is a problem with the previous machining.

[0007] Preferably, the processing cycle of the process holes of the vertical machining center body is 30 minutes.

[0008] Preferably, the horizontal machining center body is positioned by process holes, and the workpiece is tightened by process screw holes to machine the center of the first shaft hole and the center of the second shaft hole, with a cycle of 120 minutes.

[0009] Preferably, the support frame is composed of four quadrilateral iron sheets.

[0010] Preferably, the bolt is used to adjust the adjusting screw.

[0011] Preferably, the base of the vertical machining center is a three-dimensional structure with a rectangular cross-section.

[0012] Preferably, the waist shell of the industrial robot component is a thin-walled special-shaped ductile iron part with a complex structure.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The method for quickly detecting the machining allowance of the waist shell of the industrial robot component of the present invention improves the tooling of the vertical machining center process. When machining the process holes, the completion status of the first-axis and second-axis holes of each workpiece can be predicted by using a manual straightedge. When it is predicted that the eccentricity of the second-axis hole reaches the allowable extreme value, the position of the process hole can be adjusted to meet the use requirements or directly scrapped, reducing the machining loss of the vertical machining center process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present application will become more apparent: Figure 1 It is a schematic diagram of the overall structure of the vertical machining center in the method for quickly detecting the machining allowance of the waist shell of the industrial robot component of the present invention; Figure 2 It is a schematic diagram of the overall structure of the horizontal machining center in the method for quickly detecting the machining allowance of the waist shell of the industrial robot component of the present invention; In the figure: 1. Adjusting screw; 2. First support column; 3. Bolt; 4. Protective cover; 5. Fixed block; 6. Second support column; 7. Vertical machining center hole position; 8. Support frame; 9. Vertical machining center base; 10. Vertical machining center body; 11. Horizontal machining center body; 12. Horizontal machining center base; 13. Horizontal machining center mounting frame; 14. Hole mounting frame; 15. First-axis hole center; 16. Second-axis hole center. DETAILED DESCRIPTION OF THE INVENTION

[0015] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention and are not intended to limit the invention. Additionally, it should be noted that for the convenience of description, only the parts related to the invention are shown in the drawings. In the drawings of the embodiments of the present invention: Different types of hatching lines in the drawings are not marked according to the national standard, nor are there requirements for the materials of the components. It is used to distinguish the cross-sectional views of the components in the drawings.

[0016] Please refer to Figure 1-2 , a method for quickly detecting the machining allowance of the waist housing of industrial robot components. This method is used in the waist housing machining device, which is composed of a vertical machining center main body 10 and a horizontal machining center main body 11. At the bottommost end of the vertical machining center main body 10, there is a vertical machining center base 9. On the upper left and right sides of the vertical machining center base 9, there are respectively installed a support frame 8, a second support column 6, and a protective cover 4. On one side of the lower end of the protective cover 4, there is a vertical machining center hole position 7, and on one side of the protective cover 4, there is a fixed block 5 connected. At the upper end of the support frame 8, there are installed a first support column 2 and an adjusting screw 1, and at the upper end of the adjusting screw 1, there is a bolt 3; At the bottommost end of the horizontal machining center main body 11, there is a horizontal machining center base 12, and on the upper end of the horizontal machining center base 12, there is a horizontal machining center mounting frame 13. On one side of the horizontal machining center mounting frame 13, there is a hole mounting frame 14 connected, and on the hole mounting frame 14, there are respectively provided a first-axis hole center 15 and a second-axis hole center 16.

[0017] Among them, this method includes the following steps: Step 1: Position the workpiece of the vertical machining center main body 10. By adjusting the second support column 6, the protective cover 4, the fixed block 5, the first support column 2, the adjusting screw 1, and the bolt 3, the workpiece is installed and positioned; Step 2: When machining the process hole, the completion situation of the first-axis hole center 15 and the second-axis hole center 16 of each workpiece can be predicted by using a manual feeler gauge. The width and height of the manual feeler gauge are set according to the single-sided machining allowance of the second-axis hole being 1 mm. When it is predicted that the eccentricity of the second-axis hole center 16 reaches the allowable extreme value, adjust the position of the process hole to meet the use requirements or directly scrap it to reduce the machining loss of the OP20 process; Step 3: When any one of the three directions of the feeler gauge, left, right, or up, cannot completely cover the second-axis hole center 16, it is determined that the workpiece is deformed beyond tolerance or there is a problem with the previous process.

[0018] Among them, the machining process hole beat of the vertical machining center main body 10 is 30 minutes.

[0019] Among them, the horizontal machining center main body 11 is positioned by process holes, and the workpiece is tightened by process screw holes to machine the center 15 of the first-axis hole and the center 16 of the second-axis hole, with a beat of 120 minutes.

[0020] Among them, the support frame 8 is composed of four quadrilateral iron sheets.

[0021] Among them, the bolt 3 is used to adjust the adjusting screw 1.

[0022] Among them, the base 9 of the vertical machining center is a three-dimensional structure with a rectangular cross-section.

[0023] Among them, the waist shell of the industrial robot component is a thin-walled special-shaped ductile iron part with a complex structure.

[0024] It should be noted that during operation, first, the workpiece of the vertical machining center main body 10 is positioned. By adjusting the second support column 6, the protective cover 4, the fixing block 5, the first support column 2, the adjusting screw 1 and the bolt 3, the workpiece is installed and positioned. When machining the process holes, the completion status of the center 15 of the first-axis hole and the center 16 of the second-axis hole of each workpiece can be predicted by using a manual feeler gauge. The width and height of the manual feeler gauge are set according to the single-side machining allowance of the second-axis hole being 1 mm. When it is predicted that the eccentricity of the second-axis hole center 16 reaches the allowable extreme value, the position of the process hole is adjusted to meet the use requirements or directly scrapped, reducing the machining loss of the OP20 process. When any one of the three directions of the feeler gauge cannot completely cover the second-axis hole center 16 in the left, right, or up directions, it is determined that the workpiece is deformed beyond the tolerance or there is a problem with the previous process.

[0025] The waist shell of the industrial robot component is a thin-walled special-shaped ductile iron part with a complex structure. Due to the structural characteristics of the part itself, it is prone to deformation during the casting process, and the regularity is not strong. Our company found during the machining process that the second-axis hole of the waist shell often deviates from the outer shape (non-machined surface). By scribing and checking, the maximum eccentricity can reach 2 mm. Due to the large difference in the beats between OP10 and OP20, when it is found that the second-axis hole is eccentric after the completion of the OP20 process, a large number of completed products of the OP10 process have been produced. After this kind of part is processed by OP20, the scrap loss is very large. In response to this situation, the tooling for the OP10 process was improved. When machining the process holes, the completion status of the first-axis and second-axis holes of each workpiece can be predicted by using a manual feeler gauge. When it is predicted that the eccentricity of the second-axis hole reaches the allowable extreme value, the position of the process hole can be adjusted to meet the use requirements or directly scrapped, reducing the machining loss of the OP20 process.

[0026] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0027] The above description is only a preferred embodiment of the present application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the present application that have similar functions.

Claims

1. A method for quickly detecting the machining allowance of the waist shell of an industrial robot component, the method being used in a waist shell machining device, characterized in that: The waist shell processing device is composed of a vertical machining center body (10) and a horizontal machining center body (11); a vertical machining center base (9) is arranged at the bottom end of the vertical machining center body (10); a support frame (8), a second support column (6) and a protective cover (4) are respectively installed on the left and right sides above the vertical machining center base (9); a vertical machining center hole (7) is opened on one side of the lower end of the protective cover (4); a fixing block (5) is connected to one side of the protective cover (4); a first support column (2) and an adjusting screw (1) are installed on the upper end of the support frame (8); and a bolt (3) is arranged on the upper end of the adjusting screw (1); A horizontal machining center base (12) is provided at the bottom end of the horizontal machining center body (11), and a horizontal machining center mounting frame (13) is installed at the upper end of the horizontal machining center base (12). A hole mounting frame (14) is connected to one side of the horizontal machining center mounting frame (13), and a shaft hole center (15) and a second shaft hole center (16) are respectively provided on the hole mounting frame (14).

2. A method for rapidly detecting the machining allowance of the waist shell of an industrial robot component according to claim 1, characterized in that: The method comprises the following steps: Step 1: Positioning a workpiece of a vertical machining center body (10) by adjusting a second support column (6), a protective cover (4), a fixing block (5), a support column (2), an adjusting screw (1) and a bolt (3) so that the workpiece is installed and positioned; Step 2: When machining the process holes, a manual ruler can be used to predict the completion status of the center of the first axis hole (15) and the center of the second axis hole (16) of each workpiece. The width and height of the manual ruler are set according to the single-side machining allowance of the second axis hole of 1 mm. When the eccentricity of the center of the second axis hole (16) is expected to reach the allowable limit, the position of the process hole is adjusted to meet the use requirements or directly scrapped, thereby reducing the processing loss of the OP20 sequence; Step 3: When any of the three directions (left, right, and top) of the ruler cannot completely cover the center of the two-axis hole (16), it is determined that the workpiece is out of tolerance or there is a problem in the previous processing.

3. The method for quickly detecting the machining allowance of the waist shell of an industrial robot component according to claim 1 is characterized in that: The vertical machining center body (10) has a hole machining cycle of 30 minutes.

4. The method for quickly detecting the machining allowance of the waist shell of an industrial robot component according to claim 1 is characterized in that: The horizontal machining center body (11) is positioned with a process hole, and the process screw hole is tightened to machine the center of the first axis hole (15) and the center of the second axis hole (16), with a cycle of 120 minutes.

5. The method for quickly detecting the machining allowance of the waist shell of an industrial robot component according to claim 1, characterized in that: The support frame (8) is composed of four quadrilateral iron sheets.

6. The method for quickly detecting the machining allowance of the waist shell of an industrial robot component according to claim 1 is characterized in that: The bolt (3) is used to adjust the adjusting screw (1).

7. The method for quickly detecting the machining allowance of the waist shell of an industrial robot component according to claim 1, characterized in that: The vertical machining center base (9) is a three-dimensional structure with a rectangular cross section.

8. The method for quickly detecting the machining allowance of the waist shell of an industrial robot component according to claim 1, characterized in that: The waist shell of industrial robot parts is a thin-walled special-shaped ductile iron part with complex structure.

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