Intelligent mechanical scraping device for machine tool

Abstract

The application discloses an intelligent machine tool mechanical scraping device, which comprises a multi-degree-of-freedom manipulator, one end of the multi-degree-of-freedom manipulator is connected with a mounting seat, a pitch angle adjusting mechanism for adjusting the angle of a scraping tool is arranged in the mounting seat, a tool discharge control mechanism for controlling the speed and depth of tool discharge is arranged on the pitch angle adjusting mechanism, and the tool discharge control mechanism is connected with a tool mounting feedback mechanism; the tool mounting feedback mechanism comprises a tool head seat, the tool head seat is connected with the tool discharge control mechanism, a mounting opening is arranged on the tool head seat, a MEMS mechanical sensor is further arranged in the mounting opening, the MEMS mechanical sensor is connected with a central control unit, and a CCD industrial camera is arranged on the tool head seat. The application can automatically identify red lead powder on a machine tool, and can perform a scraping effect on the machine tool according to the position of the red lead powder. Moreover, the speed, direction, pattern and thickness of the scraping tool can be automatically adjusted, and the intelligence and self-adaptation are better.

Description

Technical Field

[0001] This invention belongs to the field of machine tool processing technology, and specifically relates to an intelligent machine tool mechanical scraper device. Background Technology

[0002] In the machinery manufacturing industry, scraping operations are generally required for mating surfaces with high quality and precision requirements. Scraping is a further processing operation on the surface of a workpiece after grinding. For example, it can scrape off the tiny protrusions on the workpiece surface to obtain a smoother surface, or scrape the workpiece surface to form a pattern that meets the requirements. Scraping technology is mainly used to remove the bearing surface of a machine tool. The grooves in the scraping can store or retain lubricating oil, which reduces friction and wear when the mating surfaces slide in contact, and improves the precision and life of the sliding surfaces.

[0003] As disclosed in utility model publication CN218461071U, an automatic scraping machine for CNC machine tools includes: a six-degree-of-freedom robot; a mounting component comprising a scraper mounting base, a robot mounting base, and reinforcing components, wherein the scraper mounting base and the robot mounting base are approximately L-shaped, the reinforcing components are fixedly connected to the scraper mounting base and the robot mounting base, the six-degree-of-freedom robot is connected to the robot mounting base; and an electric scraper fixed to the scraper mounting base. This solution can automatically perform scraping operations.

[0004] However, the above technical solution has the following shortcomings: 1. It cannot automatically identify the sampling of red lead powder on the machine tool, and therefore cannot automatically identify the scraping position, which reduces the accuracy of scraping position identification; 2. During the scraping process, the angle, speed, direction, scraping pattern, and thickness of the scraped layer of the scraper cannot be automatically adjusted based on the scraper information feedback; 3. At the same time, it cannot quickly position and disassemble the scraper, making scraper disassembly and assembly inconvenient. Therefore, we propose an intelligent machine tool mechanical scraper device. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent machine tool mechanical scraping device to solve the problems mentioned in the background art, which are that the prior art cannot automatically identify the sampling of red lead powder on the machine tool, and thus cannot automatically identify the scraping position, reducing the accuracy of scraping position identification; during the scraping process, it cannot automatically adjust the angle, speed, direction, scraping pattern, and thickness of the scraping layer based on the scraper information feedback; at the same time, it cannot quickly position and disassemble the scraper, making scraper disassembly and assembly inconvenient.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent machine tool mechanical scraper device, comprising a multi-degree-of-freedom manipulator, one end of which is connected to a mounting base, a pitch angle adjustment mechanism for adjusting the scraper angle is provided in the mounting base, a scraper control mechanism for controlling the scraper speed and depth is provided on the pitch angle adjustment mechanism, and the scraper control mechanism is connected to a tool installation feedback mechanism; The tool mounting feedback mechanism includes a tool head holder, which is connected to a tool delivery control mechanism. The tool head holder has a mounting port, and a MEMS mechanical sensor is also installed inside the mounting port. The MEMS mechanical sensor is connected to a central control unit, which is connected to a CCD industrial camera. The CCD industrial camera is mounted on the tool head holder. A support component for positioning the shovel is also installed inside the mounting port, and a locking component for fixing the shovel is also installed on the tool head holder.

[0007] Preferably, the bearing assembly includes a bearing plate disposed within the mounting opening. Positioning plates are also disposed on both sides of the bearing plate. The positioning plates are movably disposed within the positioning opening. A cylinder is also disposed within the positioning opening. One end of the piston rod of the cylinder is connected to the positioning plate, which can position the installation of the blade and simultaneously raise and lower the blade.

[0008] Preferably, an electromagnet plate is also provided inside the support plate, the electromagnet plate being used to attract the shovel blade.

[0009] Preferably, the locking assembly includes a first locking claw and a second locking claw, which are respectively disposed in corresponding storage slots. A first nut and a second nut are respectively disposed on the first locking claw and the second locking claw. The first nut and the second nut are respectively disposed on both sides of a bidirectional ball screw. The bidirectional ball screw is disposed in a groove, which is disposed on one side of the mounting opening. The rotation of the bidirectional ball screw can simultaneously control the movement of the first locking claw and the second locking claw, and lock and fix the tail of the shovel.

[0010] Preferably, one end of the bidirectional ball screw is also connected to the output shaft of a first drive motor located on one side of the cutter head seat. The first drive motor is also connected to a central control unit, which can automatically control the rotation direction of the bidirectional ball screw.

[0011] Preferably, the blade extension control mechanism includes a support plate, on which a vibration hydraulic cylinder is mounted. One end of the piston rod of the vibration hydraulic cylinder is connected to the blade head seat. The vibration hydraulic cylinder is connected to a shock generator via an oil supply line. The shock generator is mounted on the support plate. A connecting frame is also provided at the bottom of the support plate. The shock generator can control the reciprocating extension distance and force of the piston rod of the vibration hydraulic cylinder, thereby controlling the blade extension force and distance of the shovel.

[0012] Preferably, the shock generator is also connected to a second drive motor, which is mounted on a support plate and is also connected to a central control unit, which can automatically control the second drive motor and control the oil inlet or outlet of the shock generator.

[0013] Preferably, the pitch angle adjustment mechanism includes an adjustment port, which is disposed on the mounting base. A drive shaft is rotatably disposed within the adjustment port. The drive shaft is connected to the mounting base through a transmission structure and is also connected to a connecting frame.

[0014] Preferably, the transmission structure includes a third drive motor, which is mounted on a mounting base. A first bevel gear is mounted on the output shaft of the third drive motor. The first bevel gear meshes with a second bevel gear, which is located on one side of the transmission shaft. The third drive motor is connected to a central control unit. Through the transmission between the first and second bevel gears, the angle of the transmission shaft can be controlled, thereby automatically adjusting the angle of the blade.

[0015] Preferably, the multi-degree-of-freedom manipulator includes a base, a counterweight plate on the base, a fourth drive motor for adjusting the angle of the counterweight plate on the base, a mounting plate on the counterweight plate, a main arm on one side of the mounting plate, a sixth drive motor for controlling the angle of the main arm on the mounting plate, a bearing plate at the end of the main arm, a secondary arm on the bearing plate, a fifth drive motor for adjusting the angle of the secondary arm on the main arm, and the secondary arm is connected to the mounting base, enabling automatic adjustment of the position and angle of the blade according to the position of the machine tool.

[0016] Compared with the prior art, the beneficial effects of the present invention are: (1) This application can automatically identify red lead powder on machine tools using a CCD industrial camera, and perform scraping action on the machine tool at the location of red lead powder based on the identification result.

[0017] (2) This application can automatically adjust the speed, direction, scraping pattern, and scraping layer thickness of the scraper based on the scraper data fed back by the MEMS mechanical sensor, making it more intelligent and adaptive.

[0018] (3) This application can position the shovel blade during installation and can automatically lock the shovel blade. The shovel blade can be installed and fixed quickly, and the shovel blade can be disassembled quickly. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2This is a schematic diagram of the overall structure of the installation rental seat in this invention; Figure 3 This is a schematic diagram of a half-section of the cutter head holder in this invention; Figure 4 This is a top view cross-sectional structural diagram of the cutter head holder in this invention; Figure 5 for Figure 4 Schematic diagram of the cross-sectional structure at point AA; Figure 6 This is a top view cross-sectional structural diagram of the pitch angle adjustment mechanism in this invention; Figure 7 This is a schematic diagram illustrating the overall working principle of the present invention; In the diagram: 1. Tool mounting feedback mechanism; 2. Tool delivery control mechanism; 3. Pitch angle adjustment mechanism; 4. Mounting base; 5. Secondary boom; 6. Bearing plate; 7. Fifth drive motor; 8. Main boom; 9. Mounting plate; 10. Sixth drive motor; 11. Counterweight plate; 12. Fourth drive motor; 13. Base; 14. Shovel; 101. Tool holder; 102. CCD industrial camera; 103. MEMS mechanical sensor; 104. Bearing plate; 105. Mounting port; 106. Groove; 107. Bidirectional ball screw; 108. ... 109. First drive motor; 110. First nut; 111. Second nut; 112. Second locking claw; 113. Electromagnetic plate; 114. Positioning plate; 115. Positioning port; 116. Cylinder; 201. Vibration hydraulic cylinder; 202. Oil pipeline; 203. Shock generator; 204. Support plate; 205. Connecting frame; 206. Second drive motor; 301. Transmission shaft; 302. Second bevel gear; 303. Third drive motor; 304. First bevel gear; 305. Cavity; 306. Adjustment port. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1 Please see Figures 1-5 The present invention provides a technical solution: an intelligent machine tool mechanical scraper device, including a multi-degree-of-freedom manipulator, one end of which is connected to the mounting base 4, and the tool delivery control mechanism 2 is connected to the tool installation feedback mechanism 1. The tool mounting feedback mechanism 1 includes a tool head holder 101, which is connected to the tool delivery control mechanism 2. The tool head holder 101 is provided with a mounting port 105, and a MEMS mechanical sensor 103 is also provided in the mounting port 105. The MEMS mechanical sensor 103 is connected to the central control unit, which is connected to the CCD industrial camera 102. The CCD industrial camera 102 is mounted on the tool head holder 101. A bearing component for positioning the shovel 14 is also provided in the mounting port 105, and a locking component for fixing the shovel 14 is also provided on the tool head holder 101.

[0022] The support assembly includes a support plate 104, which is disposed in the mounting port 105. Positioning plates 114 are also disposed on both sides of the support plate 104. The positioning plates 114 are movably disposed in the positioning port 115. A cylinder 116 is also disposed in the positioning port 115. One end of the piston rod of the cylinder 116 is connected to the positioning plate 114, which can position the installation of the blade 14 and raise and lower the blade 14. An electromagnet plate 113 is also disposed in the support plate 104, which is used to attract the blade 14.

[0023] As a specific embodiment of this application, the locking assembly includes a first locking claw 108 and a second locking claw 112. The first locking claw 108 and the second locking claw 112 are respectively disposed in corresponding storage slots. A first nut 110 and a second nut 111 are respectively disposed on the first locking claw 108 and the second locking claw 112. The first nut 110 and the second nut 111 are respectively disposed on both sides of the bidirectional ball screw 107. The bidirectional ball screw 107 is disposed in the groove 106. The groove 106 is disposed on one side of the mounting opening 105. The rotation of the bidirectional ball screw 107 can simultaneously control the movement of the first locking claw 108 and the second locking claw 112, and lock and fix the tail of the scraper 14. One end of the bidirectional ball screw 107 is also connected to the output shaft of the first drive motor 109 located on one side of the cutter head seat 101. The first drive motor 109 is also connected to the central control unit, which can automatically control the rotation direction of the bidirectional ball screw 107.

[0024] During the installation of the scraper 14, the scraper 14 is placed on the support plate 104, and its end abuts against the mounting opening 105. The scraper 14 is held in place by the electromagnet plate 113. The retraction of the cylinder 116 moves the positioning plate 114, which in turn moves the support plate 104, which in turn moves the scraper 14. Once the scraper 14 is in contact with the top of the mounting opening 105, the MEMS force sensor 103 detects the pressure information of the scraper 14. The first drive motor 109 is controlled by the central control unit to run. The first drive motor 109 drives the bidirectional ball screw 107 to rotate. The first nut 110 and the second nut 111 move in opposite directions. The first nut 110 drives the first locking pawl 108 to move, and the second nut 111 drives the second locking pawl 112 to move. When the first locking pawl 108 and the second locking pawl 112 are in contact with both sides of the blade 14, the first locking pawl 108 and the second locking pawl 112 automatically lock the blade 14.

[0025] When disassembling the shovel blade 14, the first drive motor 109 controls the bidirectional ball screw 107 to rotate in the opposite direction. The first locking pawl 108 and the second locking pawl 112 release the shovel blade 14. At the same time, the cylinder 116 extends and cuts off the circuit of the electromagnet plate 113, so the shovel blade 14 is completely released and can be disassembled.

[0026] Example 2 Please see Figure 2 and Figure 7 The pitch angle adjustment mechanism 3 is equipped with a blade extension control mechanism 2 for controlling the blade extension speed and depth. The blade extension control mechanism 2 includes a support plate 204, on which a vibration hydraulic cylinder 201 is mounted. One end of the piston rod of the vibration hydraulic cylinder 201 is connected to the blade head seat 101. The vibration hydraulic cylinder 201 is connected to a shock generator 203 through an oil supply line 202. The shock generator 203 is mounted on the support plate 204. A connecting frame 205 is also mounted at the bottom of the support plate 204. The shock generator 203 can control the reciprocating extension distance and force of the piston rod of the vibration hydraulic cylinder 201, thereby controlling the blade extension force and distance of the shovel 14. The shock generator 203 is also connected to a second drive motor 206, which is mounted on the support plate 204. The second drive motor 206 is also connected to a central control unit, which can automatically control the second drive motor 206 and control the oil inlet or outlet of the shock generator 203.

[0027] When the scraper 14 performs scraping operations on the machine tool, the CCD industrial camera 102 first acquires images of the machine tool and sends them to the central control unit for processing. The red lead powder area in the image is identified. Based on the identified red lead powder area, the scraping path of the scraper 14 is adjusted by the multi-degree-of-freedom manipulator. When the scraper 14 is working, the MEMS mechanical sensor 103 detects the force, acceleration and other information of the scraper 14 during the scraping process. The central control unit processes and analyzes the force, acceleration and other information of the scraper 14 during the scraping process, and controls the second drive motor 206 to run based on the analysis results. The shock wave generator 203 rotates continuously under the drive of the second drive motor 206. As the valve core rotates, the piston chamber is continuously alternately connected with the high-pressure pipeline interface and the return oil pipeline interface in the oil supply pipeline 202. When connected to the high-pressure pipeline interface, high-pressure oil enters the piston chamber, causing the excitation hydraulic cylinder 201 to form a differential cylinder. The piston moves upward under the pressure difference between the upper and lower chambers. When connected to the return oil pipeline interface, the liquid in the piston chamber is immediately depressurized and discharged. At this time, the excitation hydraulic cylinder 201 moves downward under the action of the high-pressure liquid in the rod chamber. In this way, with the continuous rotation of the shock waver 203, the piston chamber is periodically subjected to high-pressure inflow and low-pressure outflow, causing the piston and piston rod of the excitation hydraulic cylinder 201 to drive the load to reciprocate continuously. Through the reciprocating movement of the piston rod in the excitation hydraulic cylinder 201, the cutter head seat 101 is driven to reciprocate, and the reciprocating movement of the cutter head seat 101 drives the blade 14 to reciprocate. Through the precise alternating control of the oil inflow and return flow by the shock waver 203, the reciprocating speed and distance of the piston rod in the excitation hydraulic cylinder 201 can be precisely adjusted, and the cutting speed and depth of the blade 14 can be automatically adjusted.

[0028] Example 3 Please see Figure 2 and Figure 6 The mounting base 4 is equipped with a pitch angle adjustment mechanism 3 for adjusting the angle of the blade 14. The pitch angle adjustment mechanism 3 includes an adjustment port 306, which is mounted on the mounting base 4. A transmission shaft 301 is rotatably mounted inside the adjustment port 306. The transmission shaft 301 is connected to the mounting base 4 through a transmission structure and is also connected to the connecting frame 205. The transmission structure includes a third drive motor 303, which is mounted on the mounting base 4. A first bevel gear 304 is mounted on the output shaft of the third drive motor 303. The first bevel gear 304 meshes with a second bevel gear 302, which is located on one side of the transmission shaft 301. The third drive motor 303 is connected to the central control unit. Both the first bevel gear 304 and the second bevel gear 302 are rotatably mounted in a cavity 305, which is located on one side of the mounting base 4. Through the transmission of the first bevel gear 304 and the second bevel gear 302, the angle of the transmission shaft 301 can be controlled, thereby automatically adjusting the angle of the blade 14.

[0029] MEMS force sensor 103 detects information such as force and acceleration during the scraping process of scraper 14. The central control unit processes and analyzes the information such as force and acceleration during the scraping process of scraper 14, and controls the third drive motor 303 to run based on the analysis results. The third drive motor 303 drives the first bevel gear 304 to rotate, the first bevel gear 304 drives the second bevel gear 302 to rotate, the second bevel gear 302 drives the transmission shaft 301 to rotate, the transmission shaft 301 drives the support plate 204 to rotate through the connecting bracket 205, the support plate 204 drives the pitch angle of the cutter head seat 101 to adjust, and the cutter head seat 101 adjusts the pitch angle of the scraper.

[0030] Furthermore, the multi-degree-of-freedom manipulator includes a base 13, a counterweight plate 11 mounted on the base 13, a fourth drive motor 12 for adjusting the angle of the counterweight plate 11, a mounting plate on the counterweight plate 11, a main arm 8 mounted on one side of the mounting plate 9, a sixth drive motor 10 for controlling the angle of the main arm 8 mounted on the mounting plate 9, a bearing plate 6 mounted at the end of the main arm 8, a secondary arm 5 mounted on the bearing plate 6, a fifth drive motor 7 for adjusting the angle of the secondary arm 5 mounted on the main arm 8, the secondary arm 5 being connected to the mounting base 4, and capable of automatically adjusting the position and angle of the blade 14 according to the position of the machine tool. The central processing unit in this application is also connected to the fourth drive motor 12, the fifth drive motor 7, and the sixth drive motor 10.

[0031] MEMS force sensor 103 detects the force, acceleration and other information during the scraping process of scraper 14. The central control unit processes and analyzes the force, acceleration and other information during the scraping process of scraper 14, and controls the operation of fourth drive motor 12, fifth drive motor 7 and sixth drive motor 10 according to the analysis results. It also adjusts multiple degrees of freedom of main arm 8 and auxiliary arm 5, and adjusts multiple positions and angles of mounting base 4. During the follow-up movement of mounting base 4, scraper 14 performs scraping operation on the machine tool surface and automatically adjusts the scraping pattern on the machine tool surface.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent machine tool mechanical scraper device, comprising a multi-degree-of-freedom manipulator, characterized in that: One end of the multi-degree-of-freedom manipulator is connected to the mounting base (4). The mounting base (4) is provided with a pitch angle adjustment mechanism (3) for adjusting the angle of the shovel (14). The pitch angle adjustment mechanism (3) is provided with a cutter control mechanism (2) for controlling the cutter speed and depth. The cutter control mechanism (2) is connected to the cutter installation feedback mechanism (1). The tool installation feedback mechanism (1) includes a tool head seat (101), which is connected to the tool delivery control mechanism (2). The tool head seat (101) is provided with an installation port (105). The installation port (105) is also provided with a MEMS mechanical sensor (103). The MEMS mechanical sensor (103) is connected to a central control unit. The central control unit is connected to a CCD industrial camera (102). The CCD industrial camera (102) is installed on the tool head seat (101). The installation port (105) is also provided with a bearing component for positioning the shovel (14). The tool head seat (101) is also provided with a locking component for fixing the shovel (14).

2. The intelligent machine tool mechanical scraper device according to claim 1, characterized in that: The supporting component includes a supporting plate (104), which is disposed in the mounting port (105). Positioning plates (114) are also disposed on both sides of the supporting plate (104). The positioning plates (114) are movably disposed in the positioning port (115). A cylinder (116) is also disposed in the positioning port (115). One end of the piston rod of the cylinder (116) is connected to the positioning plate (114).

3. The intelligent machine tool mechanical scraper device according to claim 2, characterized in that: An electromagnet plate (113) is also provided inside the bearing plate (104), which is used to attract the shovel blade (14).

4. The intelligent machine tool mechanical scraper device according to claim 1, characterized in that: The locking assembly includes a first locking claw (108) and a second locking claw (112). The first locking claw (108) and the second locking claw (112) are respectively disposed in corresponding storage slots. The first locking claw (108) and the second locking claw (112) are respectively provided with a first nut (110) and a second nut (111). The first nut (110) and the second nut (111) are respectively disposed on both sides of a bidirectional ball screw (107). The bidirectional ball screw (107) is disposed in a groove (106). The groove (106) is disposed on one side of the mounting opening (105).

5. The intelligent machine tool mechanical scraper device according to claim 4, characterized in that: One end of the bidirectional ball screw (107) is also connected to the output shaft of the first drive motor (109) located on one side of the cutter head seat (101), and the first drive motor (109) is also connected to the central control unit.

6. The intelligent machine tool mechanical scraper device according to claim 1, characterized in that: The cutting control mechanism (2) includes a support plate (204), on which a vibration hydraulic cylinder (201) is provided. One end of the piston rod of the vibration hydraulic cylinder (201) is connected to the cutter head seat (101). The vibration hydraulic cylinder (201) is connected to the shock wave generator (203) through an oil supply line (202). The shock wave generator (203) is provided on the support plate (204). A connecting frame (205) is also provided at the bottom of the support plate (204).

7. The intelligent machine tool mechanical scraper device according to claim 6, characterized in that: The shock generator (203) is also connected to a second drive motor (206), which is mounted on a support plate (204) and is also connected to a central control unit.

8. The intelligent machine tool mechanical scraper device according to claim 1, characterized in that: The pitch angle adjustment mechanism (3) includes an adjustment port (306), which is set on the mounting base (4). A transmission shaft (301) is rotatably arranged inside the adjustment port (306). The transmission shaft (301) is connected to the mounting base (4) through a transmission structure, and the transmission shaft (301) is connected to the connecting frame (205).

9. The intelligent machine tool mechanical scraper device according to claim 8, characterized in that: The transmission structure includes a third drive motor (303), which is mounted on a mounting base (4). A first bevel gear (304) is mounted on the output shaft of the third drive motor (303). The first bevel gear (304) meshes with a second bevel gear (302). The second bevel gear (302) is mounted on one side of the transmission shaft (301). The third drive motor (303) is connected to the central control unit.

10. An intelligent machine tool mechanical scraper device according to any one of claims 1-9, characterized in that: The multi-degree-of-freedom manipulator includes a base (13), a counterweight plate (11) is provided on the base (13), a fourth drive motor (12) is provided on the base (13) for adjusting the angle of the counterweight plate (11), a mounting plate (204) is provided on the counterweight plate (11), a main arm (8) is provided on one side of the mounting plate (9), a sixth drive motor (10) for controlling the angle of the main arm (8) is also provided on the mounting plate (9), a bearing plate (6) is provided at the end of the main arm (8), a secondary arm (5) is provided on the bearing plate (6), a fifth drive motor (7) for adjusting the angle of the secondary arm (5) is also provided on the main arm (8), and the secondary arm (5) is connected to the mounting base (4).

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