Automobile fastener positioning and cutting integrated equipment

Abstract

The invention discloses automobile fastener positioning and cutting integrated equipment, and relates to the technical field of automobile fastener preparation, the automobile fastener positioning and cutting integrated equipment comprises a rack and a machining platform, a three-dimensional movement mechanism is fixedly mounted at the top end of the outer wall of the rack, and the three-dimensional movement mechanism comprises a transverse guide rail, a longitudinal guide rail and a vertical lifting guide rail; the longitudinal guide rail is installed at the top end of the outer wall of the transverse guide rail through a set of sliding blocks, the longitudinal guide rail longitudinally extends in the direction perpendicular to the transverse guide rail to form a cross structure, and the vertical lifting guide rail is installed on the side face of the outer wall of the longitudinal guide rail through the other set of sliding blocks. By means of the multi-degree-of-freedom positioning mechanism, accurate positioning of the tool in a three-dimensional space is achieved, the problem of positioning drift caused by mechanical gaps during multi-axis linkage is solved, repeated positioning errors of complex curved surface cutting are reduced, and the machining efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive fastener preparation, and particularly to an integrated device for positioning and cutting automotive fasteners. Background Art

[0002] With the accelerating transformation of the automotive industry towards lightweight and intelligent directions, the traditional fastener processing mode is facing severe challenges. Under the penetration of intelligent manufacturing and Industry 4.0 technologies, existing processing equipment generally suffers from problems such as insufficient positioning accuracy and efficiency bottlenecks caused by scattered processes - the step-by-step operation of multiple devices not only results in a production beat loss of more than 15%, but also generates a cumulative error of ±0.1 mm due to multiple clamping, directly affecting the assembly reliability of high-precision components such as new energy vehicle battery packs. Especially when processing special-shaped fasteners, the general fixtures of traditional CNC machine tools are difficult to achieve dynamic compensation, resulting in the processing qualification rate remaining below 92% for a long time.

[0003] Therefore, it is very necessary for this application to propose an integrated device for positioning and cutting automotive fasteners to solve the problems in the background.

[0004] Patent CN107597968B discloses a bending and cutting integrated machine and its method. The above patent realizes applying force to a punching tool through a punching drive device to prompt the punching tool to perform shape and hole punching on a workpiece, or performing shape and hole processing on the workpiece through a cutting tool on a numerically controlled robotic arm, ensuring that the holes and bent corners of each workpiece do not reduce accuracy due to repeated positioning after demolding.

[0005] The above patent effectively solves the problem of accuracy loss caused by repeated positioning in traditional processing, and its punching synchronization design has significant efficiency advantages in the field of thin plate part forming. However, with the development trend of automotive fasteners towards multi-material composites and special-shaped structures, traditional bending and cutting equipment still has limitations in adapting to high-hardness bolt positioning offset compensation, dynamic suppression of cutting heat, and efficient recovery of metal chips. Especially for the processing of fasteners with three-dimensional space curved surfaces, the single-degree-of-freedom clamping mechanism and fixed cooling system of existing equipment are difficult to meet the process requirements of precision cutting.

[0006] For this reason, this application proposes an integrated device for positioning and cutting automotive fasteners that can achieve coordinated control of a multi-degree-of-freedom positioning mechanism and a three-dimensional motion mechanism, combined with a cutting module with an active cooling compensation function, effectively suppressing cutting thermal deformation while ensuring processing accuracy. Summary of the Invention

[0007] The purpose of the present invention is to provide an integrated equipment for positioning and cutting automotive fasteners, so as to solve the technical problems raised in the above-mentioned background technology. The step-by-step operation of multiple devices not only causes a large amount of production beat loss, but also the error accumulation caused by multiple clamping affects the assembly reliability. In addition, it is difficult for general fixtures to achieve dynamic compensation, resulting in the long-term stagnation of the processing qualification rate.

[0008] To achieve the above purpose, the present invention provides the following technical solutions: an integrated equipment for positioning and cutting automotive fasteners, including a frame and a processing platform. The processing platform is arranged at the top end of the outer wall of the frame. A multi-degree-of-freedom positioning mechanism is arranged at the top end of the outer wall of the processing platform. A three-dimensional motion mechanism is fixedly installed at the top end of the outer wall of the frame. The three-dimensional motion mechanism includes a transverse guide rail, a longitudinal guide rail, and a vertical lifting guide rail. The transverse guide rail is fixedly installed at the edge of the top end of the outer wall of the frame and extends horizontally along one side edge of the frame. The longitudinal guide rail is installed at the top end of the outer wall of the transverse guide rail through a set of sliders and extends longitudinally along a direction perpendicular to the transverse guide rail to form a cross structure. The vertical lifting guide rail is installed at the side of the outer wall of the longitudinal guide rail through another set of sliders.

[0009] Preferably, the sliding end of the vertical lifting guide rail is rigidly fixed to the base of the cutting module through a flange. The cutting module includes a mounting seat, a tool head, and a dynamic cooling system. The dynamic cooling system includes an annular coolant distributor and a group of atomizing nozzles. The mounting seat is set as a T-shaped structure. The bottom end of the outer wall of the mounting seat is fixedly installed at the top end of the outer wall of the base. A quick-change interface is arranged at the top end of the outer wall of the mounting seat. The quick-change interface is connected to the tool shank of the tool head through a conical surface locking mechanism. The bottom end of the outer wall of the mounting seat is welded and installed at the top end of the outer wall of the base. The annular coolant distributor is nested around the outer wall of the mounting seat. The annular coolant distributor is hinged to the outer wall of the base through a bracket. Each nozzle of the atomizing nozzle group is connected to the annular coolant distributor through a universal joint. A coolant pipeline is arranged on the side of the outer wall of the vertical lifting guide rail. The coolant pipeline is connected to the base through a rotary joint.

[0010] Preferably, the conical surface locking mechanism includes a taper sleeve and a hydraulic pull rod. The inner conical surface of the taper sleeve fits with the outer conical surface of the tool shank. The hydraulic pull rod penetrates through the base and extends into the interior of the mounting seat. A vibration damping layer is arranged inside the mounting seat and covers the periphery of the clamping section of the tool shank.

[0011] Preferably, industrial cameras are fixedly installed on both sides of the outer wall of the processing platform through brackets. The included angle between the optical axes of the cameras on both sides is 60° - 90°. A light source assembly is fixedly installed around the lens of the industrial camera. The light source assembly is composed of four groups of annular light-emitting diode arrays. The illumination direction of the light-emitting diode array is coaxial with the optical axis of the camera. The industrial camera is connected to the image processing unit via Ethernet. The image processing unit has a built-in calibration algorithm. The image processing unit is connected to the closed-loop control system via wireless network. The closed-loop control system includes a motion controller, a PLC, and a communication bus. The motion controller is connected to the PLC via the communication bus. The motion controller is connected to the multi-degree-of-freedom positioning mechanism and the three-dimensional motion mechanism via a communication protocol. The main body of the motion controller is set as a multi-axis motion control card. A chip is soldered at the circuit board of the multi-axis motion control card. The circuit board is provided with a plug to connect to the main station interface. The main station interface is connected to the pneumatic-electric hybrid drive of the multi-degree-of-freedom positioning mechanism and the servo motor of the three-dimensional motion mechanism via a cable.

[0012] Preferably, a main pipeline is embedded inside the inner edge of the outer wall of the processing platform. Branch pipelines are circumferentially and equidistantly distributed around the working area of the cutting module. The main pipeline and the branch pipelines are annularly distributed to form a negative pressure adsorption channel. The suction inlet of the branch pipeline is inclined 30° towards the cutting point of the tool head. The main pipeline is rigidly connected to the top end of the outer wall of the centrifugal separator through a flange interface. The bottom end of the outer wall of the centrifugal separator is connected to the chip collection container through a thread. A separation chamber is provided at the top end of the inner wall of the centrifugal separator. Spiral guide vanes are provided on the inner wall of the separation chamber. The inclination angle of the spiral guide vanes is 15°-20°. An air inlet is provided on the side wall of the separation chamber. The air inlet is tangentially aligned with the axis of the main pipeline. An air flow outlet is provided at the lower end of the outer wall of the centrifugal separator. A magnetic filter screen is fixedly installed at the front end of the air flow outlet. The air flow outlet is connected to a negative pressure fan.

[0013] Preferably, a buckle is provided at the top end of the outer wall of the chip collection container. The claw of the buckle is embedded in the annular groove provided at the lower end of the centrifugal separator. The connecting rod inside the buckle is connected to a handle. The handle is provided on the outer wall of the buckle. A chip discharge valve is fixedly installed at the bottom end of the inner wall of the chip collection container. The chip discharge valve is connected to a pneumatic actuator through a rotating shaft. The pneumatic actuator is connected to the motion controller through a data cable.

[0014] Preferably, the multi-degree-of-freedom positioning mechanism includes two groups of adaptive clamping components. The adaptive clamping component includes a pneumatic-electric hybrid drive, a clamping jaw, and a pressure sensor. The inner surface of the clamping jaw is provided with anti-slip textures. The pneumatic-electric hybrid drive is composed of a linear motor and a cylinder connected in series. The piston rod of the cylinder is coaxially connected to the mover of the linear motor. The end of the clamping jaw is hinged to the end of the piston rod through a universal joint. The closing trajectory of the clamping jaw is controlled by the displacement of the linear motor. The pressure sensor is embedded inside the clamping surface of the clamping jaw. The data cable of the pressure sensor passes through the hollow channel of the piston rod and is connected to the PLC. A micro encoder is provided inside the rotating base provided at the bottom end of the clamping jaw.

[0015] Preferably, a vortex generator is fixedly installed at the outlet of the atomizing nozzle group. The liquid inlet pipe of the nozzle is connected to a proportional valve through a quick-change interface. The control end of the proportional valve is connected to the output end of the closed-loop control system through a cable. Shock-absorbing feet are provided at the bottom end of the frame. A disc spring is fixedly installed on the inner wall of the outer shell of the universal joint. The inner wall of the chip collecting container is connected to a swing arm through a rotating shaft. A serrated scraping blade is welded to the end of the swing arm. The outer end of the rotating shaft extends to the outer wall of the container and is fixedly installed with a handle.

[0016] Preferably, a slider is provided at the bottom of the base at the bottom end of the outer wall of the adaptive clamping assembly. The slider is connected to the nut of the ball screw. Both ends of the ball screw are fixedly installed on the bottom end of the outer wall of the processing platform through bearing seats. The axis of the ball screw is parallel to the X-axis of the processing platform. One end of the ball screw is connected to a servo motor through a flange coupling. The servo motor is fixedly installed on the side of the outer wall of the processing platform through a bracket. A horizontal slide rail is fixedly installed on the surface layer of the outer wall of the processing platform. The horizontal slide rail is driven and connected to the servo motor through the ball screw. A T-shaped groove is opened on the surface of the processing platform. The bottom end of the positioning block is connected to the processing platform through the T-shaped groove. A scale ruler is fixedly installed on the side surface of the outer wall of the positioning block.

[0017] Preferably, linear rolling bearings are provided between the slider and the horizontal guide rail, the vertical guide rail and the vertical lifting guide rail. Reinforcing ribs and positioning pins are respectively provided at the connection parts between the horizontal guide rail and the machine frame, the vertical guide rail and the horizontal guide rail, and the vertical lifting guide rail and the vertical guide rail.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the multi-degree-of-freedom positioning mechanism of the present invention, precise positioning of the tool in three-dimensional space is achieved, the problem of positioning drift caused by mechanical clearance during multi-axis linkage is solved, the repeat positioning error of complex surface cutting is reduced, and the processing efficiency is improved. 2. Through the annular coolant distributor and the atomizing nozzle group connected by universal joints of the present invention, adaptive cooling of the cutting point and dissipation of vibration energy are achieved, the problem of superposition of thermal deformation and chatter during high-speed cutting is solved, and the tool life is prolonged. 3. Through the closed-loop control system of the present invention, motion compensation visual positioning is achieved, the problem that mechanical positioning is difficult to meet the flexible production requirements of multi-variety workpieces is solved, and the equipment utilization rate during changeover production is improved. 4. Through the centrifugal separator of the present invention, efficient separation of metal chips and coolant is achieved, the problem of clogging of pipelines by micro-cutting chips is solved, the maintenance cycle of the filtration system is prolonged, and the amount of hazardous waste treatment is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the front view structural schematic diagram of the present invention; Figure 2 is the three-dimensional motion mechanism structural schematic diagram of the present invention; Figure 3 is the conical surface locking mechanism structural schematic diagram of the present invention; Figure 4 is the cutting module structural schematic diagram of the present invention; Figure 5 Schematic diagram of the chip collection container structure of the present invention; Figure 6 Schematic diagram of the adaptive clamping assembly structure of the present invention; Figure 7 Schematic diagram of the processing platform structure of the present invention.

[0020] In the figure: 1, frame; 2, processing platform; 3, multi-degree-of-freedom positioning mechanism; 4, three-dimensional motion mechanism; 5, transverse guide rail; 6, longitudinal guide rail; 7, vertical lifting guide rail; 8, cutting module; 9, mounting seat; 10, tool head; 11, dynamic cooling system; 12, taper locking mechanism; 13, taper sleeve; 14, hydraulic drawbar; 15, annular coolant distributor; 16, atomizing nozzle group; 17, universal joint; 18, light source assembly; 19, motion controller; 20, main pipeline; 21, branch pipeline; 22, centrifugal separator; 23, chip collection container; 24, separation chamber; 25, spiral guide vane; 26, chip discharge valve; 27, adaptive clamping assembly; 28, jaw; 29, linear motor; 30, cylinder; 31, shock-absorbing support foot; 32, transverse slide rail; 33, positioning block; 34, swing arm. Specific embodiments

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, terms such as "installation", "provided with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0024] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 7 , an embodiment provided by the present invention: an integrated device for positioning and cutting automotive fasteners, including a frame 1 and a processing platform 2. The processing platform 2 is arranged at the top end of the outer wall of the frame 1. A multi-degree-of-freedom positioning mechanism 3 is arranged at the top end of the outer wall of the processing platform 2. A three-dimensional motion mechanism 4 is fixedly installed at the top end of the outer wall of the frame 1. The three-dimensional motion mechanism 4 includes a transverse guide rail 5, a longitudinal guide rail 6, and a vertical lifting guide rail 7. The transverse guide rail 5 is fixedly installed at the edge of the top end of the outer wall of the frame 1 and extends horizontally along one side edge of the frame 1. The longitudinal guide rail 6 is installed at the top end of the outer wall of the transverse guide rail 5 through a set of sliders and extends longitudinally in a direction perpendicular to the transverse guide rail 5 to form a cross structure. The vertical lifting guide rail 7 is installed on the side surface of the outer wall of the longitudinal guide rail 6 through another set of sliders. The sliding end of the vertical lifting guide rail 7 is rigidly fixed to the base of the cutting module 8 through a flange. The cutting module 8 includes a mounting seat 9, a tool bit 10, and a dynamic cooling system 11. The dynamic cooling system 11 includes an annular coolant distributor 15 and a group of atomizing nozzles 16. The mounting seat 9 is set in a T-shaped structure. The bottom end of the outer wall of the mounting seat 9 is fixedly installed at the top end of the outer wall of the base. A quick-change interface is arranged at the top end of the outer wall of the mounting seat 9. The quick-change interface connects the tool shank of the tool bit 10 through a conical surface locking mechanism 12. The bottom end of the outer wall of the mounting seat 9 is welded and installed at the top end of the outer wall of the base. The annular coolant distributor 15 is nested around the outer wall of the mounting seat 9. The annular coolant distributor 15 is hinged to the outer wall of the base through a bracket. Each nozzle of the atomizing nozzle group 16 is connected to the annular coolant distributor 15 through a universal joint 17. A coolant pipeline is arranged on the side surface of the outer wall of the vertical lifting guide rail 7, and the coolant pipeline communicates with the base through a rotary joint. A vortex generator is fixedly installed at the outlet of the atomizing nozzle group 16. The liquid inlet pipe of the nozzle is connected to a proportional valve through a quick-change interface. The control end of the proportional valve is connected to the output end of the closed-loop control system through a cable. Shock-absorbing feet 31 are provided at the bottom end of the frame 1. A disc spring is fixedly installed on the inner wall of the housing of the universal joint 17. The inner wall of the chip collection container 23 is connected to a swing arm 34 through a rotating shaft. A serrated scraping blade is welded to the end of the swing arm 34. The outer end of the rotating shaft extends to the outer wall of the container and is fixedly installed with a handle. Further, first, the shock-absorbing feet 31 absorb ground vibration through internal hydraulic dampers. When the frame 1 is subjected to an external impact, the disc spring generates a two-way elastic deformation within the housing of the universal joint 17 to attenuate the amplitude. Then, the air cylinder 30 pushes the piston rod to extend, driving the clamping jaw 28 to contact the hexagonal surface of the bolt through the universal joint 17. The pressure sensor embedded inside the clamping jaw 28 detects a sudden change in pressure at the moment of contact, triggering the linear motor 29 to finely adjust the closing amount of the clamping jaw 28 until the clamping force feedback by the pressure sensor reaches the set value, and the anti-slip texture on the inner surface of the clamping jaw 28 fits the surface of the bolt. The servo motor on the transverse guide rail 5 drives the ball screw, causing the longitudinal guide rail 6 to move along the X-axis above the workpiece. The vertical lifting guide rail 7 controls the Z-axis to descend through a harmonic reducer. The tool bit 10 pauses at a position 2 mm away from the surface of the workpiece. The hydraulic drawbar 14 pushes the taper sleeve 13 to contract, generating an interference fit between the outer taper surface of the tool shank and the inner taper surface of the sleeve. The silicone composite material of the vibration damping layer wraps the tool shank to attenuate the cutting vibration. The rotating base of the multi-degree-of-freedom positioning mechanism 3 rotates by 1.5°. The servo motor on the transverse guide rail 5 drives the mounting seat of the multi-degree-of-freedom positioning mechanism 3 to move, aligning the axis of the bolt with the axis of the tool bit.

[0025] Finally, the vertical lifting guide rail 7 drives the cutting module 8 to descend. The outer taper surface of the tool shank of the tool bit 10 is docked with the taper sleeve 13 of the mounting seat 9. The hydraulic drawbar 14 axially tightens the tool shank. The vibration damping layer inside the mounting seat wraps the tool shank to absorb high-frequency vibration. The transverse guide rail 5 is rigidly connected to the frame 1 through linear rolling bearings. The X-axis direction of the transverse guide rail 5 is driven by a servo motor to move the ball screw, driving the tool bit to feed laterally. The longitudinal guide rail 6 is coupled with the cross-slide structure of the transverse guide rail 5 through a slider. The Y-axis direction is independently driven by another group of servo motors, forming a plane rectangular coordinate system with the transverse guide rail 5. The linkage between the transverse guide rail 5 and the longitudinal guide rail 6 is driven by the motion controller 19. The vertical lifting guide rail 7 is connected to the side of the longitudinal guide rail 6 through a slider, and the Z-axis direction is synchronously driven by a third servo motor for axial feed.

[0026] Please refer to Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 7, an embodiment provided by the present invention: an integrated device for positioning and cutting automotive fasteners. The sliding end of the vertical lifting guide rail 7 is rigidly fixed to the base of the cutting module 8 through a flange. The cutting module 8 includes a mounting seat 9, a tool head 10, and a dynamic cooling system 11. The dynamic cooling system 11 includes an annular coolant distributor 15 and an atomizing nozzle group 16. The mounting seat 9 is set in a T-shaped structure. The bottom end of the outer wall of the mounting seat 9 is fixedly installed at the top end of the outer wall of the base. A quick-change interface is provided at the top end of the outer wall of the mounting seat 9. The quick-change interface connects the tool shank of the tool head 10 through a conical surface locking mechanism 12. The bottom end of the outer wall of the mounting seat 9 is welded and installed at the top end of the outer wall of the base. The annular coolant distributor 15 is nested around the outer wall of the mounting seat 9. The annular coolant distributor 15 is hinged to the outer wall of the base through a bracket. Each nozzle of the atomizing nozzle group 16 is connected to the annular coolant distributor 15 through a universal joint 17. A coolant pipeline is provided on the side surface of the outer wall of the vertical lifting guide rail 7. The coolant pipeline is connected to the base through a rotary joint; The conical surface locking mechanism 12 includes a tapered sleeve 13 and a hydraulic pull rod 14. The inner conical surface of the tapered sleeve 13 fits with the outer conical surface of the tool shank. The hydraulic pull rod 14 penetrates through the base and extends into the interior of the mounting seat 9. A vibration damping layer is provided inside the mounting seat 9. The vibration damping layer covers the periphery of the clamping section of the tool shank; An eddy current generator is fixedly installed at the outlet of the atomizing nozzle group 16. The liquid inlet pipe of the nozzle is connected to a proportional valve through a quick-change interface. The control end of the proportional valve is connected to the output end of the closed-loop control system through a cable. Shock-absorbing feet 31 are provided at the bottom end of the frame 1. A disc spring is fixedly installed on the inner wall of the outer shell of the universal joint 17. The inner wall of the chip collection container 23 is connected to a swing arm 34 through a rotating shaft. A serrated scraping blade is welded to the end of the swing arm 34. The outer end of the rotating shaft extends to the outer wall of the container and is fixedly installed with a handle; Further, first, the annular coolant distributor 15 is connected to the external liquid supply system through a rotary joint. The coolant is input from the coolant pipeline on the side of the vertical lifting guide rail 7 and enters the internal annular flow channel of the base through the rotary joint. The annular flow channel adopts a gradually expanding structure, and the diameter from the inlet to the outlet gradually increases, so as to reduce the flow velocity. When the coolant flows to the annular coolant distributor 15, it enters in three ways. A buffer chamber is arranged at the inlet end of the annular coolant distributor 15. A rectangular outer layer ring chamber, a trapezoidal middle layer ring chamber and a circular inner layer ring chamber are arranged inside the annular coolant distributor 15. The outer layer ring chamber receives the coolant from the main channel, and the kinetic energy is converted into static pressure energy. The outlet is connected to the atomizing nozzle group 16 through a quick-change joint. When the coolant reaches the nozzle outlet, it first passes through a vortex generator, and then generates centrifugal force to thin the liquid film. The middle layer ring chamber receives the bypass channel, and a guide vane is arranged in the flow channel to generate a swirling effect, and is injected into the internal coolant hole of the tool holder along the axis of the tool, and is accelerated in the spiral flow channel inside the tool tip. The inner layer ring chamber accommodates the feedback channel, and a turbine flowmeter is arranged inside the inner layer ring chamber. The turbine flowmeter monitors the flow data and feeds it back to the closed-loop system. When the tool tip 10 starts cutting, the closed-loop control system real-time collects the spindle load current signal. The proportional valve first opens the basic flow according to the preset program. The coolant is accelerated through the spiral flow channel in the inner cavity of the annular distributor from the main pipeline, and the vortex generator stands by.

[0027] Then, in the rough machining stage, the infrared temperature sensor installed inside the tool holder detects abnormal temperature. The infrared temperature sensor sends a signal to the motion controller 19. The motion controller 19 sends a modulation signal to the proportional valve. The driving valve core of the proportional valve raises the opening degree, and the coolant flow rate increases. At the same time, the oil drain port at the piston rod end of the hydraulic cylinder is closed, and the oil pressure pushes the piston to overcome the pre-tightening force of the return spring and starts to extend. The piston rod pushes the support seat of the annular distributor 15 along the guide post to move downward through the ball hinge joint. During the downward movement, the annular distributor 15 nested on the outer wall of the mounting seat 9 synchronously adjusts the bending angle of the universal joint 17, and the micro stepping motor inside the universal joint 17 drives the nozzle axis to deflect by 12°, so that the atomizing nozzle group 16 approaches the cutting point.

[0028] Finally, the sheet chips generated by cutting fly under the action of centrifugal force and are captured by the branch pipeline 21 arranged at an angle of 30°. The negative pressure fan sucks the air-chip mixture into the main pipeline 20. When the chips flow through the centrifugal separator 22, the spiral guide vane 25 makes the air flow form a vortex. The iron chips impact the inner wall of the separation chamber 24 under the action of the Coriolis force. The magnetic filter screen adsorbs the residual iron powder. The purified air flow returns to the processing area through the top return pipe to form a cycle. Manually rotate the handle to drive the swing arm 34 to rotate, and the serrated scraping blade pushes the chips accumulated at the conical bottom of the chip collection container 23 towards the chip discharge valve 26. When the weight of the container reaches the set value, the strain type weighing sensor installed on the container support structure transmits a signal to the motion controller 19. The motion controller 19 receives the signal and transmits it to the PLC. The pneumatic actuator transmits through the spline coupling to the chip discharge valve rotating shaft to open the valve plate, and the chips fall into the lower collection box.

[0029] Please refer to Figure 1 、 Figure 2 、 Figure 5 and Figure 6 ,An embodiment provided by the present invention: An integrated device for positioning and cutting automotive fasteners. Inside the inner edge of the outer wall of the processing platform 2, a main pipeline 20 is embedded. Branch pipelines 21 are circumferentially and equidistantly distributed in the working area of the cutting module 8. The main pipeline 20 and the branch pipelines 21 are annularly distributed to form a negative pressure adsorption channel. The suction inlet of the branch pipeline 21 is inclined at 30° towards the cutting point of the tool head 10; the main pipeline 20 is rigidly connected to the top end of the outer wall of the centrifugal separator 22 through a flange interface. The bottom end of the outer wall of the centrifugal separator 22 is threadedly connected to the chip collection container 23. A separation chamber 24 is provided at the top end of the inner wall of the centrifugal separator 22. A spiral guide vane 25 is provided on the inner wall of the separation chamber 24. The inclination angle of the spiral guide vane 25 is 15° - 20°. An air inlet is provided on the side wall of the separation chamber 24. The air inlet is tangentially aligned with the axis of the main pipeline 20. An air flow outlet is provided at the lower end of the outer wall of the centrifugal separator 22. A magnetic filter screen is fixedly installed at the front end of the air flow outlet. The air flow outlet is communicated with a negative pressure fan; A buckle is provided at the top end of the outer wall of the chip collection container 23. The claw of the buckle is embedded in the annular groove provided at the low end of the centrifugal separator 22. A connecting rod inside the buckle is connected to a handle. The handle is provided on the outer wall of the buckle. A chip discharge valve 26 is fixedly installed at the bottom end of the inner wall of the chip collection container 23. The chip discharge valve 26 is connected to a pneumatic actuator through a rotating shaft. The pneumatic actuator is connected to the motion controller 19 through a data cable; Further, first, the main pipeline 20 inside the inner edge of the processing platform 2 is rigidly connected to the top end of the centrifugal separator 22 through a flange interface. The bolts are tightened in three times in a diagonal order. The branch pipelines 21 are circumferentially and equidistantly distributed. Their suction inlets are inclined at 30° towards the cutting point of the tool head 10. The distance between each suction inlet and the cutting point is calibrated by a laser rangefinder. The claw of the buckle at the top end of the chip collection container 23 is aligned with the annular groove at the bottom end of the centrifugal separator 22. The handle is pressed downwards. The connecting rod drives the claw to rotate 90° and embed into the groove to form a mechanical lock; Then, when the tool head 10 cuts into the fastener material, the chips generated by cutting fly with the coolant. The suction inlet of the branch pipeline 21 faces the cutting point at an inclined angle of 30°. A directional air flow is formed by the pressure difference generated by the negative pressure fan. The chips are sucked into the branch pipeline 21. The inclination of the suction inlet makes the included angle between the movement direction of the chips and the air flow direction ≤ 45°. The capture efficiency is increased to more than 95%. The chip-containing air flow enters the separation chamber 24 tangentially through the main pipeline 20 and makes a high-speed rotational movement along the spiral guide vane 25. The metal chips are thrown towards the inner wall of the separation chamber by the centrifugal force and slide down along the wall surface to the chip collection container 23. The non-metallic impurities pass through the central area of the separation chamber with the air flow and are filtered by the magnetic filter screen at the lower air flow outlet; Finally, the motion controller 19 sends an instruction to the pneumatic actuator, increasing the air pressure to drive the rotation of the shaft of the chip discharge valve 26 by 90° to open the valve. The debris in the chip collection container 23 is discharged into the waste bin below under the action of gravity. After that, the negative pressure fan first reduces the rotational speed to blow the residual debris in the main pipeline 20 and the branch pipeline 21 to the centrifugal separator 22. The rotating handle unlocks the chip collection container 23, and after taking it out, the buckle claws and the groove of the centrifugal separator 22 are wiped with anhydrous ethanol.

[0030] Please refer to Figure 1 、 Figure 6 and Figure 7 For an embodiment provided by the present invention: an integrated device for positioning and cutting automotive fasteners, the multi-degree-of-freedom positioning mechanism 3 includes two sets of adaptive clamping components 27; the adaptive clamping component 27 includes a pneumatic-electric hybrid drive, a jaw 28 and a pressure sensor. The inner surface of the jaw 28 is provided with anti-slip textures. The pneumatic-electric hybrid drive is composed of a linear motor 29 and a cylinder 30 connected in series. The piston rod of the cylinder 30 is coaxially connected to the mover of the linear motor 29. The end of the jaw 28 is hinged to the end of the piston rod through a universal joint 17. The closing trajectory of the jaw 28 is controlled by the displacement of the linear motor 29. The pressure sensor is embedded inside the clamping surface of the jaw 28, and the data line of the pressure sensor passes through the hollow channel of the piston rod and is connected to the PLC. A micro encoder is arranged inside the rotating base provided at the bottom of the jaw 28; A slider is arranged at the bottom of the base at the bottom of the outer wall of the adaptive clamping component 27. The slider is connected to the nut of the ball screw. Both ends of the ball screw are fixedly installed on the bottom end of the outer wall of the processing platform 2 through bearing seats. The axis of the ball screw is parallel to the X-axis of the processing platform 2. One end of the ball screw is connected to a servo motor through a flange coupling. The servo motor is fixedly installed on the side of the outer wall of the processing platform 2 through a bracket; A transverse slide rail 32 is fixedly installed on the surface layer of the outer wall of the processing platform 2. The transverse slide rail 32 is driven and connected to the servo motor through the ball screw. A T-shaped groove is provided on the surface of the processing platform 2. The bottom end of the positioning block 33 is connected to the processing platform 2 through the T-shaped groove. A scale is fixedly installed on the side of the outer wall of the positioning block 33; Further, first, a ball screw is installed at the bottom of the processing platform 2 in the direction parallel to the X-axis. Both ends of the ball screw are fixed by angular contact bearings. The servo motor is rigidly connected to the ball screw through a flange coupling. A rubber buffer gasket is arranged inside the coupling to absorb the start-stop impact. The ball screw nut and the slider at the bottom of the adaptive clamping component 27 are connected in a pre-tightening manner. Two transverse slide rails 32 are laid along the X-axis direction on the surface of the processing platform 2, and the surface of the slide rail is hardened; Then, the linear motor 29 drives the mover to move forward, drives the gripper 28 to approach the workpiece through the universal joint 17. A disc spring is arranged inside the universal joint to compensate for the axis deviation. When the pressure sensor detects that the contact force reaches the specified threshold, it transmits a signal to the PLC. After receiving the signal from the pressure sensor, the PLC generates a control instruction and sends it to the pneumatic control valve of the cylinder 30 and the driver of the linear motor 29 respectively. The cylinder 30 is ventilated to push the piston rod, outputting a clamping force. The linear motor 29 synchronously switches to the position holding mode to compensate for the stroke error of the cylinder 30. The sensor embedded in the clamping surface of the gripper 28 collects the contact pressure, and the data line passes through the hollow channel in the center of the piston rod and is connected to the PLC after shielding treatment. When it is detected that the pressure fluctuation exceeds ±50N, the PLC adjusts the opening of the cylinder proportional valve through the PID algorithm to maintain the set clamping force.

[0031] Finally, slide the positioning block 33 along the T-shaped groove according to the scale of the scale ruler. The bottom surface of the positioning block 33 is provided with a polytetrafluoroethylene wear-resistant layer, and the fit clearance with the T-shaped groove of the platform is controlled within 0.02 - 0.05mm. When the locking bolt applies torque, the positioning block 33 undergoes elastic deformation to form an interference fit; the workpiece approaches the positioning block 33, and the micro encoder feeds back the angle of the rotating base. Combining with the position signal of the servo motor, the motion controller establishes a workpiece coordinate system. The X-axis positioning is driven by the servo motor to drive the ball screw to move the clamping assembly to the preset coordinates of the positioning block 33; during the cutting process, if the axial force of the tool suddenly increases, the PLC sends an instruction to the linear motor 29 to increase the displacement to compensate for the slight elastic deformation of the gripper 28.

[0032] Please refer to Figure 1 、 Figure 2 and Figure 6 As shown in Linear rolling bearings are provided between the slider and the transverse guide rail 5, longitudinal guide rail 6, and vertical lifting guide rail 7. Reinforcing ribs and positioning pins are respectively provided at the connection parts between the transverse guide rail 5 and the machine frame 1, longitudinal guide rail 6 and transverse guide rail 5, and vertical lifting guide rail 7 and longitudinal guide rail 6; Further, first, industrial cameras are installed on both sides of the processing platform 2, and the optical axes of the two cameras form a 75° angle. A stereo vision coordinate system is established based on the principle of triangulation.

[0033] Then, the four groups of light source components 18 outside the industrial camera lens are controlled by pulse width modulation, and high-brightness illumination is synchronously triggered at the moment of camera exposure. Each circle of LEDs is arranged in a concentric circle manner, with the inner circle having a light-emitting angle of 15° and the outer circle having a light-emitting angle of 60°. The light is collimated into a parallel beam parallel to the camera optical axis through a Fresnel lens. When installing, a laser calibrator is used to adjust the LED array so that the center of the illumination spot coincides with the center of the camera field of view; after the workpiece is placed on the processing platform 2, the two cameras simultaneously capture RGB images and transmit them to the image processing unit through Ethernet. The image processing unit transmits the X / Y / Z coordinates and yaw angle of the workpiece to the closed-loop control system through a wireless network. The multi-axis motion control card in the motion controller 19 of the closed-loop control system analyzes the data packet, and the discrete position instructions: the X-axis servo motor receives the AB phase signal and drives the transverse guide rail 5 to move. The Y-axis uses a protocol to control the synchronous dual motors of the longitudinal guide rail 6, and the Z-axis vertical lifting guide rail 7 receives the absolute position instruction through a communication protocol; Finally, the main station interface of the motion controller 19 is connected to the multi-degree-of-freedom positioning mechanism 3 through a shielded twisted pair. The pneumatic and electric hybrid drive of the multi-degree-of-freedom positioning mechanism 3 receives an analog signal. The air cylinder 30 is pressurized with air to approach the workpiece and then switches to the linear motor 29 to step. The transverse guide rail 5 and longitudinal guide rail 6 of the three-dimensional motion mechanism 4 move smoothly through linear rolling bearings. Under the constraint of the reinforcing ribs and positioning pins, the transverse guide rail 5 and longitudinal guide rail 6 of the three-dimensional motion mechanism 4 drive the vertical lifting guide rail 7 to reach the cutting starting point with an S-shaped acceleration and deceleration curve.

[0034] Working principle: First, the industrial camera on the processing platform 2 takes an image of the fastener. The image processing unit determines the position through a calibration algorithm. The motion controller 19 drives the pneumatic and electric hybrid drive of the multi-degree-of-freedom positioning mechanism 3. The linear motor 29 and the air cylinder 30 are connected in series to adjust the closing trajectory of the clamping jaw 28. The adaptive clamping component 27 is moved along the ball screw through the slider to the target position. The pressure sensor inside the clamping surface feeds back the signal to the PLC, and the micro encoder monitors the angle of the rotating base.

[0035] Then, the lateral guide rail 5 of the three-dimensional motion mechanism 4 drives the longitudinal guide rail 6 to move horizontally along the slider, and the longitudinal guide rail 6 drives the vertical lifting guide rail 7 to move longitudinally along another set of sliders. The vertical lifting guide rail 7 is rigidly connected to the base of the cutting module 8 through a flange, driving the tool head 10 fixed to the mounting seat 9 and the conical locking mechanism 12 to reach the cutting point; the annular coolant distributor 15 of the dynamic cooling system 11 sprays coolant through the atomizing nozzle group 16, and the proportional valve adjusts the flow rate through a closed-loop control system.

[0036] Finally, the chips generated by cutting enter the main pipe 20 through the suction port of the branch pipe 21 inclined at 30°. The spiral guide vane 25 of the centrifugal separator 22 guides the airflow to rotate tangentially, and the chips are centrifugally settled in the separation chamber 24 into the chip collection container 23. The magnetic filter screen adsorbs metal particles, and the negative pressure fan maintains the airflow circulation; the swing arm 34 of the chip collection container 23 drives the serrated scraper to clean the inner wall through the handle, and the pneumatic actuator controls the chip discharge valve 26. After the buckle is released, the chip collection container 23 is separated for cleaning.

[0037] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. An integrated equipment for positioning and cutting of automotive fasteners, characterized in that: It includes a frame (1) and a processing platform (2). The processing platform (2) is arranged at the top end of the outer wall of the frame (1). A multi-degree-of-freedom positioning mechanism (3) is arranged at the top end of the outer wall of the processing platform (2). A three-dimensional motion mechanism (4) is fixedly installed at the top end of the outer wall of the frame (1). The three-dimensional motion mechanism (4) includes a transverse guide rail (5), a longitudinal guide rail (6) and a vertical lifting guide rail (7). The transverse guide rail (5) is fixedly installed at the edge of the top end of the outer wall of the frame (1). The transverse guide rail (5) extends horizontally along one side edge of the frame (1). The longitudinal guide rail (6) is installed at the top end of the outer wall of the transverse guide rail (5) through a set of sliders. The longitudinal guide rail (6) extends longitudinally in a direction perpendicular to the transverse guide rail (5) to form a cross structure. The vertical lifting guide rail (7) is installed at the side surface of the outer wall of the longitudinal guide rail (6) through another set of sliders.

2. The integrated positioning and cutting device for automotive fasteners according to claim 1, characterized in that: The sliding end of the vertical lifting guide rail (7) is rigidly fixed to the base of the cutting module (8) through a flange. The cutting module (8) includes a mounting seat (9), a tool bit (10) and a dynamic cooling system (11). The dynamic cooling system (11) includes an annular coolant distributor (15) and an atomizing nozzle group (16). The mounting seat (9) is arranged in a T-shaped structure. The bottom end of the outer wall of the mounting seat (9) is fixedly installed at the top end of the outer wall of the base. A quick-change interface is arranged at the top end of the outer wall of the mounting seat (9). The quick-change interface is connected to the tool shank of the tool bit (10) through a conical surface locking mechanism (12). The bottom end of the outer wall of the mounting seat (9) is welded and installed at the top end of the outer wall of the base. The annular coolant distributor (15) is nested around the outer wall of the mounting seat (9). The annular coolant distributor (15) is hinged to the outer wall of the base through a bracket. Each nozzle of the atomizing nozzle group (16) is connected to the annular coolant distributor (15) through a universal joint. A coolant pipeline is arranged at the side surface of the outer wall of the vertical lifting guide rail (7). The coolant pipeline is connected to the base through a rotary joint.

3. An integrated equipment for positioning and cutting of automotive fasteners according to claim 2, characterized in that: The conical surface locking mechanism (12) includes a tapered sleeve (13) and a hydraulic pull rod (14). The inner conical surface of the tapered sleeve (13) fits with the outer conical surface of the tool shank. The hydraulic pull rod (14) penetrates through the base and extends into the interior of the mounting seat (9). A vibration damping layer is arranged inside the mounting seat (9). The vibration damping layer covers the periphery of the clamping section of the tool shank.

4. The integrated equipment for positioning and cutting of automotive fasteners according to claim 1, characterized in that: Industrial cameras are fixedly installed on both sides of the outer wall of the processing platform (2) through brackets. The included angle between the optical axes of the two cameras on both sides is 60° - 90°. A light source assembly (18) is fixedly installed around the lens of the industrial camera. The light source assembly (18) is composed of four groups of annular light-emitting diode arrays. The illumination direction of the light-emitting diode array is coaxial with the optical axis of the camera. The industrial camera is connected to the image processing unit via Ethernet. The image processing unit has a built-in calibration algorithm. The image processing unit is connected to the closed-loop control system via wireless network. The closed-loop control system includes a motion controller (19), a PLC, and a communication bus. The motion controller (19) is connected to the PLC via the communication bus. The motion controller (19) is connected to the multi-degree-of-freedom positioning mechanism (3) and the three-dimensional motion mechanism (4) via a communication protocol. The main body of the motion controller (19) is set as a multi-axis motion control card. A chip is soldered on the circuit board of the multi-axis motion control card. The circuit board is provided with a plug to connect to the main station interface. The main station interface is connected to the pneumatic-electric hybrid drive of the multi-degree-of-freedom positioning mechanism (3) and the servo motor of the three-dimensional motion mechanism (4) via a cable.

5. An integrated device for positioning and cutting automotive fasteners according to claim 1, characterized in that: The main pipeline (20) is embedded inside the inner edge of the outer wall of the processing platform (2). The branch pipelines (21) are circumferentially and equidistantly distributed around the working area of the cutting module (8). The main pipeline (20) and the branch pipelines (21) are annularly distributed to form a negative pressure adsorption channel. The suction inlet of the branch pipeline (21) is inclined at 30° towards the cutting point of the cutter head (10). The main pipeline (20) is rigidly connected to the top end of the outer wall of the centrifugal separator (22) through a flange interface. The bottom end of the outer wall of the centrifugal separator (22) is connected to the chip collection container (23) through threads. A separation chamber (24) is provided at the top end of the inner wall of the centrifugal separator (22). A spiral guide vane (25) is provided on the inner wall of the separation chamber (24). The inclination angle of the spiral guide vane (25) is 15°-20°. An air inlet is provided on the side wall of the separation chamber (24). The air inlet is tangentially aligned with the axis of the main pipeline (20). An air flow outlet is provided at the lower end of the outer wall of the centrifugal separator (22). A magnetic filter screen is fixedly installed at the front end of the air flow outlet. The air flow outlet is connected to a negative pressure fan.

6. The integrated positioning and cutting device for automotive fasteners according to claim 5, characterized in that: A buckle is provided at the top end of the outer wall of the chip collection container (23). The claw of the buckle is embedded in the annular groove provided at the lower end of the centrifugal separator (22). The connecting rod in the buckle is connected to a handle. The handle is provided on the outer wall of the buckle. A chip discharge valve (26) is fixedly installed at the bottom end of the inner wall of the chip collection container (23). The chip discharge valve (26) is connected to a pneumatic actuator through a rotating shaft. The pneumatic actuator is connected to the motion controller (19) through a data line.

7. An integrated device for positioning and cutting automotive fasteners according to claim 1, characterized in that: The multi-degree-of-freedom positioning mechanism (3) includes two groups of adaptive clamping components (27). The adaptive clamping component (27) includes a pneumatic-electric hybrid drive, a jaw (28), and a pressure sensor. The inner surface of the jaw (28) is provided with anti-slip textures. The pneumatic-electric hybrid drive is composed of a linear motor (29) and a cylinder (30) connected in series. The piston rod of the cylinder (30) is coaxially connected to the mover of the linear motor (29). The end of the jaw (28) is hinged to the end of the piston rod through a universal joint (17). The closing trajectory of the jaw (28) is controlled by the displacement of the linear motor (29). The pressure sensor is embedded inside the clamping surface of the jaw (28). The data line of the pressure sensor passes through the hollow channel of the piston rod and is connected to the PLC. A micro encoder is provided inside the rotating base provided at the bottom end of the jaw (28).

8. An integrated positioning and cutting device for automotive fasteners according to claim 2, characterized in that: A vortex generator is fixedly installed at the outlet of the atomizing nozzle group (16). The liquid inlet pipe of the nozzle is connected to a proportional valve through a quick-change interface, and the control end of the proportional valve is connected to the output end of a closed-loop control system through a cable. Shock-absorbing feet (31) are provided at the bottom end of the frame (1), and a disc spring is fixedly installed on the inner wall of the housing of the universal joint (17). The inner wall of the chip collection container (23) is connected to a swing arm (34) through a rotating shaft. A serrated scraping blade is welded to the end of the swing arm (34), and the outer end of the rotating shaft extends to the outer wall of the container and is fixedly installed with a handle.

9. An integrated device for positioning and cutting automotive fasteners according to claim 7, characterized in that: A slider is provided at the bottom of the base at the bottom end of the outer wall of the adaptive clamping assembly (27). The slider is connected to the nut of a ball screw. Both ends of the ball screw are fixedly installed on the bottom end of the outer wall of the processing platform (2) through bearing seats. The axis of the ball screw is parallel to the X-axis of the processing platform (2). One end of the ball screw is connected to a servo motor through a flange coupling, and the servo motor is fixedly installed on the side of the outer wall of the processing platform (2) through a bracket. A transverse slide rail (32) is fixedly installed on the surface layer of the outer wall of the processing platform (2). The transverse slide rail (32) is driven and connected to the servo motor through a ball screw. A T-shaped groove is provided on the surface of the processing platform (2). The bottom end of the positioning block (33) is connected to the processing platform (2) through the T-shaped groove, and a scale ruler is fixedly installed on the side surface of the outer wall of the positioning block (33).

10. An integrated device for positioning and cutting automotive fasteners according to claim 1, characterized in that: Linear rolling bearings are provided between the slider and the transverse guide rail (5), the longitudinal guide rail (6) and the vertical lifting guide rail (7). Reinforcing ribs and positioning pins are respectively provided at the connecting parts of the transverse guide rail (5) and the frame (1), the longitudinal guide rail (6) and the transverse guide rail (5), and the vertical lifting guide rail (7) and the longitudinal guide rail (6).

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