Milling robot

Abstract

The utility model relates to the technical field of milling, and discloses a milling robot which comprises a mechanical arm, a milling power head is arranged on one side of the mechanical arm, the milling power head comprises a connecting block, a main shaft driving motor is arranged in the connecting block in a sliding mode, a milling drill bit is fixedly arranged at the output end of the main shaft driving motor, and the main shaft driving motor is connected with the milling drill bit. A feeding driving motor is fixedly arranged on one side of the connecting block, a tool beating cylinder is fixedly arranged at the upper end of the connecting block, and a fixing mechanism is arranged at the lower end of the mechanical arm. According to the utility model, the main shaft driving motor is started to drive the milling drill bit to rotate so as to achieve the cutting function of main motion, and meanwhile, the feeding driving motor accurately regulates and controls the position movement of the milling power head relative to a workpiece according to the preset feeding amount and feeding speed, so that the feeding motion is realized; therefore, the milling operation of the workpiece is completed, the cutting stability is ensured, and the size precision of milling is also ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to milling processing technical field especially relates to a kind of milling processing robots. BACKGROUND

[0002] In the high-end manufacturing industry such as aerospace, large components such as spacecraft cabin, satellite structure usually have the characteristics of super large size, complex surface, weak structural rigidity, high precision requirement, etc. These characteristics pose a severe challenge to the performance of processing equipment. Therefore, exploring a revolutionary manufacturing mode, developing high-performance processing equipment, and breaking through the existing processing technology bottleneck have become an urgent need. Milling robots can meet the high-efficiency and high-quality processing needs of large and complex components.

[0003] Traditional manufacturing modes often have many limitations. For example, in some manufacturing scenarios, high-end large-stroke five-axis special machine tools have certain processing advantages, but the introduction of such machine tools is often costly, which makes many enterprises hesitate. Another common manufacturing mode is manual operation, but manual operation is relatively low in efficiency, and when milling and other operations are performed, workers need to be in a harsh working environment for a long time, which not only poses a potential threat to the health of workers, but also makes it difficult to ensure processing accuracy and production efficiency.

[0004] Therefore, the skilled person in the art provides a milling robot to solve the problems raised in the background art. SUMMARY

[0005] The purpose of the utility model is to solve the shortcomings in the prior art and provide a milling robot. The milling power head makes the overall processing efficiency high, the overall cost is low, and it has high flexibility and flexibility.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] A kind of milling robot, including mechanical arm, the mechanical arm one side is provided with milling power head, the milling power head includes connecting block, main shaft drive motor is slidably arranged in the connecting block, milling drill bit is fixedly arranged at the output end of the main shaft drive motor, feed drive motor is fixedly arranged on the one side of the connecting block, and the connecting block upper end is fixedly provided with a tool changing cylinder;

[0008] The lower end of the mechanical arm is provided with a fixing mechanism, and the fixing mechanism includes a base fixedly arranged at the lower end of the mechanical arm.

[0009] Further, the connecting block is rotatably arranged on the one side of the mechanical arm.

[0010] Further, the connecting block rear end one side is fixedly provided with a drag chain.

[0011] Furthermore, the other side of the cable chain is fixedly mounted on the side of the feed drive motor near the robotic arm.

[0012] Furthermore, multiple screws are slidably arranged inside the base, and each of the upper ends of the screws is threaded with a nut.

[0013] Furthermore, a corrugated pipe is fixedly installed at the upper end of the robotic arm.

[0014] Furthermore, both ends of the connecting block are threaded with lifting rings.

[0015] This utility model has the following beneficial effects:

[0016] 1. The milling robot proposed in this utility model starts the spindle drive motor when milling a workpiece, driving the milling drill bit to rotate, thereby achieving the main cutting function. At the same time, the feed drive motor precisely controls the position movement of the milling power head relative to the workpiece according to the preset feed amount and feed speed, thereby realizing the feed motion and completing the milling operation of the workpiece. This not only ensures the stability of cutting, but also ensures the dimensional accuracy of milling. When it is necessary to change the milling drill bit, the old drill bit can be easily removed and the new drill bit can be installed by activating the tool-removing cylinder. After the tool change is completed, the tool-removing cylinder returns to its original position, causing the milling drill bit to be clamped, further shortening the non-machining time and improving the overall efficiency of the production line.

[0017] 2. The milling robot proposed in this utility model has a fixing mechanism that uses a simple screw and nut connection to achieve rapid fixing and installation of the robot, improving the convenience of equipment installation, debugging and position adjustment. At the same time, the modular design facilitates future maintenance and upgrades, reducing maintenance costs and time. Attached Figure Description

[0018] Figure 1 This is an isometric schematic diagram of the entire utility model;

[0019] Figure 2 This is a front view schematic diagram of the present utility model;

[0020] Figure 3 This is a bottom-view axonometric schematic diagram of the present invention;

[0021] Figure 4 This utility model Figure 3 Enlarged diagram of point A in the diagram.

[0022] Legend:

[0023] 1. Robotic arm; 2. Fixing mechanism; 3. Milling power head; 4. Bellows; 5. Lifting ring; 201. Base; 202. Nut; 203. Screw; 301. Tool-changing cylinder; 302. Feed drive motor; 303. Connecting block; 304. Spindle drive motor; 305. Milling drill bit; 306. Cable chain. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Reference Figures 1-4 One embodiment provided by this utility model:

[0026] A milling robot includes a robotic arm 1, a milling power head 3 on one side of the robotic arm 1, the milling power head 3 including a connecting block 303, a spindle drive motor 304 slidably disposed inside the connecting block 303, a milling drill bit 305 fixedly disposed at the output end of the spindle drive motor 304, a feed drive motor 302 fixedly disposed on one side of the connecting block 303, a tool-removing cylinder 301 fixedly disposed at the upper end of the connecting block 303, one side of the connecting block 303 rotatably disposed on one side of the robotic arm 1, a drag chain 306 fixedly disposed on one side of the rear end of the connecting block 303, the other side of the drag chain 306 fixedly disposed on the side of the feed drive motor 302 near the robotic arm 1, a bellows 4 fixedly disposed at the upper end of the robotic arm 1, and lifting rings 5 ​​threadedly connected to both the front and rear ends of the connecting block 303;

[0027] A fixing mechanism 2 is provided at the lower end of the robotic arm 1. The fixing mechanism 2 includes a base 201. The upper end of the base 201 is fixedly installed at the lower end of the robotic arm 1. Multiple screws 203 are slidably arranged inside the base 201. Nuts 202 are threadedly connected to the upper ends of the multiple screws 203.

[0028] Specifically, the spindle drive motor 304 is the core power source of the milling power head 3. Its output end drives the milling drill bit 305 to rotate through a fixed connection, realizing the milling of the workpiece. The precise control of the spindle drive motor 304 and the feed drive motor 302 enables high-precision milling, meeting the processing requirements of complex parts. The feed drive motor 302 drives the spindle drive motor 304 and the milling drill bit 305 to move linearly in a specific direction, realizing the feed milling of the workpiece, controlling the processing depth and position, reducing energy loss in intermediate transmission links, and improving power transmission efficiency. This provides more stable and powerful milling power, ensuring processing quality and efficiency. The tool-changing cylinder 301 is used for quick replacement of the milling drill bit 305. When the milling drill bit 305 needs to be replaced, the tool-changing cylinder 301 works, generating a pulling force to loosen the connection between the milling drill bit 305 and the spindle drive motor 304, making it convenient for the operator to remove the old tool and install the new one. The tool is then reset by the tool-resetting cylinder 301, which re-clamps the tool, improving both tool changing efficiency and production efficiency. The cable chain 306 protects the cables and air pipes connecting the spindle drive motor 304 and the feed drive motor 302. During the movement of the milling power head 3, the cable chain 306 can flexibly bend and extend to prevent the lines from being pulled or worn. The lifting ring 5 facilitates the hoisting and handling of the milling power head 3 during installation and maintenance, ensuring operational safety. Before processing, offline programming software is used to configure the machining path and optimize the running trajectory according to the machining content. The robot configures the required tool according to the program, drives the tool-resetting cylinder 301 to move to the required machining position, and the power head drives the tool to feed, completing the machining. The base 201 is the basic component of the fixing mechanism 2. By tightening the nut 202, the screw 203 is fixed in the required position, thereby fixing the position of the robotic arm 1. The base 201 can also provide stable support for the robotic arm 1.

[0029] Working principle: The robotic arm 1 drives the milling head 3 to the designated position. When milling is required, the spindle drive motor 304 starts, driving the milling drill bit 305 to rotate through its output end, realizing the main cutting function. At the same time, the feed drive motor 302 precisely controls the position movement of the milling head 3 relative to the workpiece according to the preset feed amount and feed speed, completing the feed motion, thereby realizing the milling of the workpiece. When it is necessary to replace the milling drill bit 305, the tool-removing cylinder 301 starts to release the milling drill bit 305 from the spindle, making it easy to remove the old drill bit and install the new drill bit, thus changing the tool. After completion, the cutter cylinder 301 resets, allowing the milling drill bit 305 to be clamped and fixed on the spindle again, ready for the next machining. The cable chain 306 can orderly retract and extend cables and pipes, ensuring that cables and pipes do not become tangled or twisted, guaranteeing the normal operation of the equipment, and providing a stable power supply and signal transmission for each component. The corrugated pipe 4 fixed at the upper end of the robotic arm 1 is used to protect the internal cables and air lines. When the milling robot is placed on the ground, the base 201 is first placed in a suitable position, then the screw 203 is inserted, and then the nut 202 is tightened to fix the entire robot.

[0030] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A milling robot comprising a robot arm (1), characterized in that: The mechanical arm (1) is provided with a milling power head (3) on one side, the milling power head (3) comprises a connecting block (303), a main shaft driving motor (304) is slidably arranged in the connecting block (303), a milling drill bit (305) is fixedly arranged at the output end of the main shaft driving motor (304), a feeding driving motor (302) is fixedly arranged on one side of the connecting block (303), and a tool knocking cylinder (301) is fixedly arranged on the upper end of the connecting block (303). The lower end of the mechanical arm (1) is provided with a fixing mechanism (2), the fixing mechanism (2) comprises a base (201), and the base (201) is fixedly arranged at the lower end of the mechanical arm (1).

2. A milling robot according to claim 1, characterized in that: The connecting block (303) is rotatably arranged on one side of the mechanical arm (1).

3. A milling robot according to claim 1, characterized in that: The connecting block (303) is rotatably arranged on one side of the mechanical arm (1).

4. A milling robot according to claim 3, characterized in that: The connecting block (303) is rotatably arranged on one side of the mechanical arm (1).

5. A milling robot according to claim 1, characterized in that: The base (201) is slidably provided with a plurality of screw rods (203), and the outer upper end of each screw rod (203) is threadedly connected with a nut (202).

6. A milling robot according to claim 1, characterized in that: The upper end of the mechanical arm (1) is fixedly provided with a bellows (4).

7. A milling robot according to claim 1, characterized in that: The connecting block (303) is rotatably arranged on one side of the mechanical arm (1). The connecting block (303) is rotatably arranged on one side of the mechanical arm (1).

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