Machining track simulation device and machining robot

Abstract

The utility model belongs to the field of machining, and relates to a machining track simulation device which comprises a clamping body, a laser distance measuring sensor and a quick plug. And the laser distance measuring sensor is arranged on the clamping body and is connected with the quick plug. The utility model provides the machining track simulation device and the machining robot, which can ensure that the machining cutter does not interfere with a part and prevent the part or the cutter from being damaged.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical processing, and relates to a trajectory simulation device, in particular to a processing trajectory simulation device and a machining robot. Background Art

[0002] After the electric spindle is integrated at the end of the six-axis robot and a milling cutter is installed, the offline program can be executed to replace the machining equipment for support removal and / or rough machining of rough blanks with low requirements for metal 3D printing, which can make up for the low degree of freedom, difficulty in system construction and low overall efficiency of machining equipment. However, the operation range of each axis of the six-axis robot is very large, and the range of motion is larger after series connection. The robot arm is long and the line speed is high. Accidents such as collisions and injuries of six-axis robots are common in the industry. At present, the offline programming of six-axis robots is not particularly mature, and the program may be abnormal. Moreover, the robot group formed by the six-axis robots in series has poor rigidity and is not as accurate as machining equipment. The editing program may have errors with the actual situation. In addition, when the six-axis robot is installed with a machining tool and runs the program, there may be interference with the parts, and the program simulation confirmation cannot be performed. Until the automatic program processing, it may cause safety accidents such as part damage, equipment collision, and even injury due to system construction errors or program abnormalities. Utility Model Content

[0003] In order to solve the above technical problems existing in the background technology, the utility model provides a processing trajectory simulation device and a machining robot which can ensure that there is no interference between the processing tool and the part and prevent damage to the part or the tool.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A processing trajectory simulation device, characterized in that: the processing trajectory simulation device comprises a clamping body, a laser distance measuring sensor and a quick-connect plug; the laser distance measuring sensor is arranged on the clamping body and connected to the quick-connect plug.

[0006] The end of the clamping body is provided with a laser transmission hole; the outgoing laser emitted by the laser ranging sensor passes through the laser transmission hole.

[0007] The machining trajectory simulation device further comprises a clamping section connected to the clamping body; the axis of the clamping section is parallel to the emitted laser, for example, coaxial or parallel.

[0008] The clamping body is connected with the clamping section via a diameter-changing boss.

[0009] The outer diameter of the clamping body is greater than the outer diameter of the clamping section.

[0010] The machining trajectory simulation device further comprises a machined tool handle; the clamping section extends into the machined tool handle along the axial direction of the machined tool handle.

[0011] The machined tool handle stops at the reducing boss.

[0012] A machining robot includes an electric spindle, characterized in that the machining robot also includes a machining trajectory simulation device as described above, which is arranged on the electric spindle and is coaxial with the electric spindle.

[0013] The above-mentioned machining robot is a six-axis robot.

[0014] The advantages of the utility model are:

[0015] The utility model provides a processing trajectory simulation device and a machining robot, the processing trajectory simulation device includes a clamping body, a laser distance sensor and a quick-connect plug, wherein the laser distance sensor is arranged on the clamping body and connected to the quick-connect plug. The laser distance sensor is used to emit laser and detect distance. Within the effective detection distance, the laser emitted by the laser distance sensor is emitted from the clamping body. By replacing the machining tool with the laser, the abnormal confirmation of the processing program can be completed without actual contact with the part (that is, the pre-positioning or simulation of the tool is completed), which can ensure that the processing tool will not abnormally operate and swing greatly during the formal processing process, avoiding accidental collision accidents. At the same time, through the running path of the laser point on the surface of the part, it is preliminarily judged whether the processing trajectory has a large deviation on the processing surface to prevent damage to the part or even collision with the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the processing trajectory simulation device provided by the utility model;

[0017] Figure 2 It is a structural schematic diagram of a machining trajectory simulation device provided by the utility model and equipped with an auxiliary tool handle;

[0018] Figure 3 It is a schematic diagram of the use state of installing the machining trajectory simulation device provided by the utility model on a six-axis robot;

[0019] in:

[0020] 1- clamping section; 2- laser distance measuring sensor; 3- quick-connect plug; 4- clamping body; 41- laser transmission hole; 42- output laser; 43- reflected laser; 5- machined tool holder; 6- electric spindle; 7- six-axis robot. DETAILED DESCRIPTION

[0021] See also Figure 1The utility model provides a machining trajectory simulation device, comprising a clamping body 4, a laser distance sensor 2 and a quick-connect plug 3; the laser distance sensor 2 is arranged on the clamping body 4 and connected to the quick-connect plug 3. A laser transmission hole 41 is arranged at the end of the clamping body 4; an output laser 42 emitted by the laser distance sensor 2 passes through the laser transmission hole 41.

[0022] The principle of the utility model is to use the outgoing laser 42 emitted by the laser distance measuring sensor 2 to replace the physical tool for machining to run the program to simulate the processing trajectory in the manual state, and then switch the milling cutter to run the program to process parts in the automatic state after confirming that there is no abnormality in the trajectory.

[0023] In order to facilitate the use or clamping of the machining trajectory simulation device provided by the present invention, the machining trajectory simulation device provided by the present invention further includes a clamping section 1 connected to a clamping body 4; the axial direction of the clamping section 1 is parallel to the axial direction of the outgoing laser 42, for example, the two are parallel, or the axial direction of the clamping section 1 is coaxial with the outgoing laser 42. The clamping body 4 is connected to the clamping section 1 via a reducing boss. Exemplarily, the outer diameter of the clamping body 4 is greater than the outer diameter of the clamping section 1.

[0024] See also Figure 2 The machining trajectory simulation device provided by the utility model also includes a machined tool handle 5; the clamping section 1 extends into the machined tool handle 5 along the axial direction of the machined tool handle 5, and the machined tool handle 5 stops on the diameter-changing boss.

[0025] The laser distance sensor 2 is used to emit an outgoing laser 42, and at the same time, the outgoing laser 42 is reflected by the parts to form a reflected laser 43, and the reflected laser 43 is used to detect the distance. Within the effective detection distance, the outgoing laser 42 emitted by the laser distance sensor 2 is emitted from the laser through hole 41 at the bottom of the clamping body 4 and coincides with the axis of the clamping body 4, otherwise the detection simulation deviation is detected. At the same time, the reflected light should be avoided at the bottom of the clamping body 4, and the receiving path of the reflected laser 43 should not be blocked. Since there is an obvious variable diameter boss on the clamping body 4, at the same time, the plane where the radial direction of the variable diameter boss is located is used as the reference plane to close the machine tool handle 5, ensuring that the clamping position is fixed each time the clamping is clamped, and at the same time ensuring that the extended length of the clamping body 4 is a known constant. The power signal line of the laser distance sensor 2 can be connected to an external power supply or a PC through a quick plug. For example, taking a PC as an example, the measured distance data is transmitted to the computer display terminal in real time while providing power.

[0026] See also Figure 3The utility model also provides a machining robot, including an electric spindle 6, and the machining robot also includes a machining trajectory simulation device as described above, which is arranged on the electric spindle 6 and coaxial with the electric spindle 6. Exemplarily, the machining robot can be a six-axis robot 7. When in use, the electric spindle 6 at the end of the machining robot can quickly switch the tool and the machining trajectory simulation device from the tool library, which is very convenient to use.

[0027] by Figure 3 Taking the machining robot shown as an example, the working method of the utility model is: when using the robot integrated electric spindle to mill the surface support of the part blank, the part is clamped and fixed to build a system, and after editing the program with offline programming software and importing it into the robot, the processing trajectory simulation device is first installed on the machining tool handle 5. Each time it is installed, the reducing boss of the clamping body 4 is used for positioning, so that the clamping length is uniquely fixed, ensuring that the extended length is shorter than the machining tool and does not contact the part. Then the robot electric spindle grabs the tool handle installed with the processing trajectory simulation device from the tool library, and completes the connection between the robot end and the processing trajectory simulation device through the quick-connect plug 3. The control end turns on the laser sensor power signal, and the laser ranging sensor 2 emits laser normally.

[0028] In the manual mode of the robot, the electric spindle 6 is not rotated, and only the robot processing path program is run slowly. Since the physical length of the processing trajectory simulation device is shorter than the processing tool, it is ensured that there is no contact and interference with the parts during the simulation processing to avoid collision, and a laser beam is emitted to illuminate the parts. The laser point moves slowly on the surface of the part along the processing program. If there is an abnormality, the operation is stopped immediately, which can effectively prevent the robot from colliding. At the same time, the movement of the laser point on the surface of the processed part can visually confirm whether there is any deviation in the processing trajectory in the direction parallel to the processing surface, and ensure that the parts are not cut. All distance data measured by the laser ranging sensor 2 on the entire path are transmitted to the robot PLC end through the signal line, and then combined with the effective length of the processing trajectory simulation device and the length of the machining tool, it can be obtained whether the processing trajectory has a collision risk in the cutting depth direction. The processing program is further optimized in the cutting depth direction. After ensuring that there are no abnormalities in all directions, switch back to the machining tool, and operate the electric spindle in automatic mode for rapid cutting.

Claims

1. A machining trajectory simulation device, characterized in that: The processing trajectory simulation device comprises a clamping body (4), a laser distance measuring sensor (2) and a quick-connect plug (3); the laser distance measuring sensor (2) is arranged on the clamping body (4) and connected to the quick-connect plug (3).

2. The processing trajectory simulation device according to claim 1, characterized in that: A laser transmission hole (41) is provided at the end of the clamping body (4); the outgoing laser (42) emitted by the laser distance measuring sensor (2) passes through the laser transmission hole (41).

3. The processing trajectory simulation device according to claim 2, characterized in that: The processing trajectory simulation device also includes a clamping section (1) connected to the clamping body (4); the axial direction of the clamping section (1) is parallel to the axial direction of the emitted laser (42).

4. The processing trajectory simulation device according to claim 3, characterized in that: The axis of the clamping section (1) is coaxial with or parallel to the axis of the emitted laser (42).

5. The processing trajectory simulation device according to claim 4, characterized in that: The clamping body (4) is connected to the clamping section (1) via a diameter-reducing boss.

6. The processing trajectory simulation device according to claim 5, characterized in that: The outer diameter of the clamping body (4) is greater than the outer diameter of the clamping section (1).

7. The processing trajectory simulation device according to claim 4, 5 or 6, characterized in that: The machining trajectory simulation device also includes a machined tool handle (5); the clamping section (1) extends into the machined tool handle (5) along the axial direction of the machined tool handle (5).

8. The machining trajectory simulation device according to claim 7, characterized in that: The machined tool handle (5) stops on the diameter-changing boss.

9. A machining robot, comprising an electric spindle (6), characterized in that: The machining robot further comprises a machining trajectory simulation device as claimed in any one of claims 1 to 8, which is arranged on the electric spindle (6) and is coaxial with the electric spindle (6).

10. The machining robot according to claim 9, characterized in that: The machining robot is a six-axis robot (7).

Images