阅读说明：本技术 一种移动铣床系统及孔系加工方法 (Mobile milling machine system and hole machining method ) 是由 段斌 祁鹏飞 张鹤祥 胡向阳 于 2021-09-17 设计创作，主要内容包括：一种移动铣床系统及孔系加工方法,包括移动铣床、定位基准A、定位基准B,移动铣床上设置有工作主轴,工作主轴上设置有铣刀；移动铣床上还设置有行走轮、激光跟踪定位组件；移动铣床工作时,移动铣床、定位基准A、定位基准B分离设置,移动铣床设置在待加工的大尺寸钢板上,通过行走轮在大尺寸钢板上自由移动；定位基准A、定位基准B分别固定设置在大尺寸钢板的两角,移动铣床通过激光跟踪定位组件测量与定位基准A、定位基准B的距离与夹角,定位自身坐标与待加工孔的坐标保持关联,然后将自身固定设置在大尺寸钢板上,通过铣刀进行孔或槽的加工。(A mobile milling machine system and a hole system processing method comprise a mobile milling machine, a positioning reference A and a positioning reference B, wherein a working spindle is arranged on the mobile milling machine, and a milling cutter is arranged on the working spindle; the movable milling machine is also provided with a travelling wheel and a laser tracking positioning component; when the movable milling machine works, the movable milling machine, the positioning datum A and the positioning datum B are separately arranged, and the movable milling machine is arranged on a large-size steel plate to be processed and freely moves on the large-size steel plate through the travelling wheels; the positioning datum A and the positioning datum B are respectively and fixedly arranged at two corners of the large-size steel plate, the movable milling machine measures the distance and the included angle between the movable milling machine and the positioning datum A and the positioning datum B through the laser tracking positioning assembly, the self-positioning coordinate is kept associated with the coordinate of the hole to be machined, then the movable milling machine is fixedly arranged on the large-size steel plate, and the hole or the groove is machined through the milling cutter.)

1. A mobile milling machine system is characterized in that: the device comprises a mobile milling machine (1), a positioning reference A (2) and a positioning reference B (3), wherein the mobile milling machine (1), the positioning reference A (2) and the positioning reference B (3) are arranged separately; a laser tracking and positioning component (1.3) is arranged on the movable milling machine (1), the movable milling machine (1) measures the distance and the included angle between the movable milling machine and a positioning datum A (2) and a positioning datum B (3) through the laser tracking and positioning component (1.3), and the coordinates of the movable milling machine and the coordinates of the hole to be machined are kept related;

the mobile milling machine (1) comprises a rotary seat (1.1), a two-degree-of-freedom workbench (1.2) and a laser tracking and positioning component (1.3), wherein the two-degree-of-freedom workbench (1.2) is fixedly arranged at the upper part of the rotary seat (1.1), and the laser tracking and positioning component (1.3) is fixedly arranged on the two-degree-of-freedom workbench (1.2); the two-degree-of-freedom workbench (1.2) is provided with a working main shaft (4), and a milling cutter is arranged on the working main shaft (4); when the movable milling machine (1) works, the movable milling machine freely moves on a steel plate, positions the coordinates of the movable milling machine and the coordinates of a hole to be machined through the laser tracking positioning assembly (1.3) to keep correlation and fix the movable milling machine on the steel plate; the rotary seat (1.1) drives the two-degree-of-freedom workbench (1.2) to do rotary motion, the two-degree-of-freedom workbench (1.2) does horizontal and vertical motion, various complex curve motions of the working spindle (3) are realized, and the working spindle (4) drives a milling cutter to mill holes of a steel plate to be processed;

the rotary seat (1.1) comprises a base (1.1.1), a lifting magnetic seat (1.1.2), a rotary table (1.1.3), a rotary table driving device (1.1.4) and a travelling wheel (1.1.5); the base (1.1.1) comprises an upper ring plate and a lower ring plate which are fixedly connected through a plurality of supporting plates; a plurality of lifting magnetic force seats (1.1.2) and walking wheels (1.1.5) are fixedly arranged on the lower ring plate; a rotary table (1.1.3) is fixedly arranged on the upper ring plate, and the rotary table (1.1.3) is driven by a rotary table driving device (1.1.4) to rotate;

the lifting magnetic base (1.1.2) comprises a lifting driving mechanism and a magnetic base, and the lifting driving mechanism drives the magnetic base to do lifting motion.

2. The mobile milling machine system of claim 1, wherein: the two-degree-of-freedom workbench (1.2) comprises a horizontal guide rail seat assembly (1.2.1), a horizontal driving mechanism (1.2.2) and a vertical driving mechanism (1.2.3);

the horizontal guide rail seat assembly (1.2.1) comprises a horizontal guide rail seat (1.2.1.1), a horizontal guide rail (1.2.1.2) and a horizontal sliding block (1.2.1.3); the horizontal guide rail seat (1.2.1.1) is fixedly arranged at the upper part of the rotary table (1.1.3), two groups of horizontal guide rails (1.2.1.2) and horizontal sliding blocks (1.2.1.3) are arranged in parallel, the horizontal guide rails (1.2.1.2) are fixedly arranged at the upper part of the horizontal guide rail seat (1.2.1.1), and the horizontal sliding blocks (1.2.1.3) are in sliding connection with the horizontal guide rails (1.2.1.2);

the horizontal driving mechanism (1.2.2) comprises a horizontal driving motor (1.2.2.1), a horizontal driving lead screw (1.2.2.2) and a horizontal sliding seat (1.2.2.3); a screw nut is fixedly arranged in the middle of the horizontal sliding seat (1.2.2.3), fin plates (1.2.2.3.1) are arranged on two sides of the upper part of the horizontal sliding seat, and a dovetail groove (1.2.2.3.2) is arranged on the side surface of the horizontal sliding seat; the horizontal sliding seat (1.2.2.3) is fixedly connected with the horizontal sliding block (1.2.1.3) through a fin plate (1.2.2.3.1) and is connected with the horizontal driving screw rod (1.2.2.2) through a screw rod nut; the horizontal driving screw rod (1.2.2.2) is connected with the horizontal driving motor (1.2.2.1) through a coupler;

the vertical driving mechanism (1.2.3) comprises a vertical driving motor (1.2.3.1), a vertical driving screw rod (1.2.3.2), a vertical sliding seat (1.2.3.3) and a vertical driving mechanism bottom plate (1.2.3.4); the vertical driving mechanism bottom plate (1.2.3.4) is fixedly arranged at the upper part of the horizontal sliding seat (1.2.2.3); a worm wheel and a worm are meshed on the vertical driving mechanism bottom plate (1.2.3.4), the worm wheel is fixedly connected with a vertical driving screw rod (1.2.3.2), and the worm is fixedly connected with a vertical driving motor (1.2.3.1) through a coupler; a screw nut is fixedly arranged on the vertical sliding seat (1.2.3.3), and the vertical sliding seat (1.2.3.3) is connected with a vertical driving screw (1.2.3.2) through the screw nut; dovetail guide rails are arranged on the side edges of the vertical sliding seats (1.2.3.3), and the dovetail guide rails of the vertical sliding seats (1.2.3.3) are arranged in dovetail grooves (1.2.2.3.2) of the horizontal sliding seats (1.2.2.3) in a sliding mode.

3. The mobile milling machine system of claim 1, wherein: the laser tracking and positioning assembly (1.3) comprises a gantry frame (1.3.1), a laser tracker seat (1.3.2) and a laser tracker (1.3.3); the portal frame (1.3.1) is fixedly arranged on the upper part of the horizontal guide rail seat (1.2.1.1), the laser tracker seat (1.3.2) is fixedly arranged in the middle of the upper part of the portal frame (1.3.1), and the laser tracker (1.3.3) is fixedly arranged on the laser tracker seat (1.3.2).

4. The mobile milling machine system of claim 3, wherein: two laser trackers (1.3.3) are arranged up and down; the rotating shafts of the two laser trackers (1.3.3) are coaxially arranged, and the rotating shafts are coincided with the rotary axis of the rotary table (1.1.3).

5. The mobile milling machine system of claim 1, wherein: the positioning reference A (2) comprises a reference seat (2.1), a reference rod (2.2) and a laser target ball A (2.3); the reference seat (2.1) is a right-angle positioning block, the reference rod (2.2) is fixedly arranged on the upper end face of the reference seat (2.1), and the laser target ball A (2.3) is fixedly arranged on the upper end face of the reference rod (2.2); a reference magnetic base (2.1.1) is also fixedly arranged on the reference base (2.1); the positioning datum B (3) and the positioning datum A (2) have the same structure, and the positioning datum B (3) is provided with a laser target ball B (3.3).

6. The mobile milling machine system of claim 1, wherein: the travelling wheels (1.1.5) are Mecanum wheels.

7. The method for machining the hole system of the mobile milling machine system according to claim 1, wherein the method comprises the following steps: the method comprises the following steps:

s1, when the mobile milling machine and the hole system processing method work, a positioning reference A2 is fixedly arranged at the lower left corner of a large-size steel plate 5 to be processed, a positioning reference B3 is fixedly arranged at the lower right corner of the large-size steel plate 5 to be processed, the positioning reference A is taken as the origin of a large-size steel plate hole system coordinate system, the connecting line of the positioning reference A2 and the positioning reference B3 is the X axis of the large-size steel plate hole system coordinate system, and an AXY (axial X-axis Y) of a mobile milling machine mobile coordinate system is established; inputting the coordinates and the size of the hole system of the large-size steel plate 5 to be processed into the movable milling machine 1, and then placing the movable milling machine 1 on the large-size steel plate 5 to be processed in the direction that the optical axis of the laser tracker 1.3.3 faces the connecting line of the positioning reference A2 and the positioning reference B3;

s2, starting the movable milling machine 1, executing initialization, and establishing a machining coordinate system SX 'Y' of the movable milling machine 1; then the lower laser tracker 1.3.3 rotates clockwise to detect the rotation angle of the lower laser tracker 1.3.3 and the distance between the lower laser tracker 1.3.3 and the positioning reference A2; meanwhile, the upper laser tracker 1.3.3 rotates and detects in the anticlockwise direction, and the rotating angle of the upper laser tracker 1.3.3 and the distance between the upper laser tracker 1.3.3 and the positioning reference B3 are detected; at the moment, the movable milling machine 1 obtains a processing coordinate system SX 'Y' through the detected triangle SAB and establishes a preliminary connection with a movable milling machine moving coordinate system AXY; the lifting magnetic base 1.1.2 works, and the movable milling machine 1 is fixed on the steel plate 4; the movable milling machine 1 controls the rotary turntable 1.1.3, and simultaneously the upper and lower side laser trackers 1.3.3 synchronously rotate and track the positioning reference A2 and the positioning reference B3, and finally the following conditions are achieved: the method comprises the following steps of (1) crossing over 1=90 degrees-1 ' and (2) crossing over 90 degrees-2 ', enabling an X ' axis of a processing coordinate system SX ' Y ' to be parallel to an X axis of a moving milling machine coordinate system AXY, and completing positioning calibration of the processing coordinate system SX ' Y ' and the moving milling machine coordinate system AXY;

s3, the mobile milling machine 1 relieves the work of the lifting magnetic base 1.1.2, the mobile milling machine 1 is driven by the traveling wheel 1.1.5 to translate to a first hole site according to the hole system coordinate of the large-size steel plate 5 to be processed, the lifting magnetic base 1.1.2 works, the mobile milling machine 1 is fixed on the steel plate 4, and then the positioning and calibration of the processing coordinate system SX 'Y' and the mobile milling machine mobile coordinate system AXY are carried out again; after the positioning calibration is finished, the movable milling machine 1 starts the rotary table 1.1.3, the two-degree-of-freedom workbench 1.2 and the working spindle 4 to work, and a first hole is machined;

and S4, after the first hole is machined, moving the milling machine 1 to repeat the process of S3, and machining the second hole, the third hole and the subsequent holes until all the holes are machined.

Technical Field

The invention relates to the technical field of processing equipment for large steel plates, in particular to a movable milling machine system and a hole system processing method.

Background

The existing steel plate part hole system is processed by adopting laser cutting, and the laser cutting has higher hole site processing precision and hole surface quality; however, when the steel plate is too large to be arranged on a laser cutting machine for processing a hole system, only the steel plate can be processed by flame cutting or plasma cutting after scribing; the hole system processed by flame cutting or plasma cutting by the scribing method has large position error, low diameter precision and poor surface quality, and only through holes or through grooves can be processed, so the existing processing method of the large-size steel plate hole system cannot meet the design requirement, and no finish machining equipment for the large-size steel plate hole system, blind holes and special-shaped grooves exists at present, so that no better solution is provided for the problem at present.

Disclosure of Invention

In order to overcome the defects in the background art, the invention discloses a mobile milling machine system and a hole system processing method, wherein the mobile milling machine system comprises a mobile milling machine, a positioning reference A and a positioning reference B which are separately arranged; the movable milling machine is provided with a laser tracking and positioning assembly, the movable milling machine measures the distance and the included angle between the movable milling machine and the positioning datum A and the positioning datum B through the laser tracking and positioning assembly, and the self-positioning coordinates are kept associated with the coordinates of the hole to be machined, so that the machining position degree and the machining precision of the hole system of the large-size steel plate are guaranteed.

In order to realize the purpose, the invention adopts the following technical scheme: a mobile milling machine system and a hole system processing method comprise a mobile milling machine, a positioning reference A and a positioning reference B; when the movable milling machine and the hole series processing method work, the movable milling machine, the positioning reference A and the positioning reference B are separately arranged, and the movable milling machine is arranged on a large-size steel plate to be processed and freely moves on the large-size steel plate; the positioning datum A and the positioning datum B are respectively and fixedly arranged at two corners of the large-size steel plate, the mobile milling machine measures the distance and the included angle between the mobile milling machine and the positioning datum A and the positioning datum B through the laser tracking positioning assembly, the self-positioning coordinate is in association with the coordinate of the hole to be machined, and then the self-positioning coordinate is fixedly arranged on the large-size steel plate to machine the hole or the groove;

the movable milling machine comprises a rotary seat, a two-degree-of-freedom workbench and a laser tracking and positioning component, wherein the two-degree-of-freedom workbench is fixedly arranged at the upper part of the rotary seat, and the laser tracking and positioning component is fixedly arranged on the two-degree-of-freedom workbench; the two-degree-of-freedom workbench is provided with a working main shaft, and a milling cutter is arranged on the working main shaft; when the movable milling machine works, the movable milling machine freely moves on the steel plate, positions the coordinates of the movable milling machine by the laser tracking positioning assembly, keeps the coordinates associated with the coordinates of the hole to be machined, and fixes the movable milling machine on the steel plate; the revolving seat drives the two-degree-of-freedom workbench to do rotary motion, the two-degree-of-freedom workbench does horizontal and vertical motion, the revolving seat is linked with the two-degree-of-freedom workbench to realize various complex curve motions of the working spindle, and the working spindle drives the milling cutter to mill holes or grooves of a steel plate to be machined;

furthermore, the rotary seat comprises a base, a lifting magnetic seat, a rotary table driving device and a travelling wheel; the base comprises an upper ring plate and a lower ring plate which are fixedly connected through a plurality of supporting plates; the lower ring plate is fixedly provided with a plurality of lifting magnetic force seats and walking wheels, and the walking wheels drive the rotary seats to move in any direction when working, so that the movable milling machine can move flexibly on the large-size steel plate; a rotary table is fixedly arranged on the upper ring plate and is driven by a rotary table driving device to rotate, the rotary table adopts a rotary supporting structure, and the rotary table driving device drives the rotary table to rotate through a gear;

the lifting magnetic base comprises a lifting driving mechanism and a magnetic base, and the lifting driving mechanism drives the magnetic base to do lifting motion; when the movable milling machine moves on the large-size steel plate, the magnetic base is at the uppermost position, and when the movable milling machine moves in place on the large-size steel plate, the lifting driving mechanism drives the magnetic base to descend until the magnetic base is contacted with the large-size steel plate; the magnetic base is an electromagnetic magnetic base, when the magnetic base is contacted with the large-size steel plate, a power supply of the magnetic base is switched on, and the magnetic base fixes the movable milling machine on the large-size steel plate through magnetic adsorption.

Furthermore, the two-degree-of-freedom workbench comprises a horizontal guide rail seat assembly, a horizontal driving mechanism and a vertical driving mechanism;

the horizontal guide rail seat assembly comprises a horizontal guide rail seat, a horizontal guide rail and a horizontal sliding block, and the horizontal guide rail and the horizontal sliding block are standard parts; the horizontal guide rail seat is fixedly arranged at the upper part of the rotary table, two groups of horizontal guide rails and horizontal sliding blocks are arranged in parallel, the horizontal guide rails are fixedly arranged at the upper part of the horizontal guide rail seat, and the horizontal sliding blocks are connected with the horizontal guide rails in a sliding manner to realize linear motion in the horizontal direction;

the horizontal driving mechanism comprises a horizontal driving motor, a horizontal driving lead screw and a horizontal sliding seat; a screw nut is fixedly arranged in the middle of the horizontal sliding seat, fin plates are arranged on two sides of the upper part of the horizontal sliding seat, and dovetail grooves are formed in the side surfaces of the horizontal sliding seat; the horizontal sliding base is fixedly connected with the horizontal sliding block through a fin plate and is connected with a horizontal driving screw rod through a screw rod nut; the horizontal driving screw rod is connected with a horizontal driving motor through a coupler; the horizontal driving motor rotates to drive the horizontal driving lead screw to rotate, the lead screw nut converts the rotary motion of the horizontal driving lead screw into linear motion, and the lead screw nut drives the horizontal sliding seat to do linear motion in the horizontal direction;

the vertical driving mechanism comprises a vertical driving motor, a vertical driving screw rod, a vertical sliding seat and a vertical driving mechanism bottom plate; the vertical driving mechanism bottom plate is fixedly arranged at the upper part of the horizontal sliding seat; a worm wheel and a worm are meshed on the bottom plate of the vertical driving mechanism, the worm wheel is fixedly connected with a vertical driving lead screw, and the worm is fixedly connected with a vertical driving motor through a coupler; a screw nut is fixedly arranged on the vertical sliding seat, and the vertical sliding seat is connected with a vertical driving screw through the screw nut; a dovetail guide rail is arranged on the side edge of the vertical sliding seat, and the dovetail guide rail of the vertical sliding seat is arranged in a dovetail groove of the horizontal sliding seat in a sliding manner; the vertical driving motor rotates, the worm and the turbine are meshed to convert the rotation motion into the rotation motion of the vertical driving lead screw, the lead screw nut converts the rotation motion of the vertical driving lead screw into the linear motion, and the lead screw nut drives the vertical sliding seat to do the linear motion in the vertical direction.

Furthermore, the laser tracking positioning assembly comprises a gantry frame, a laser tracker seat and a laser tracker; the gantry frame is fixedly arranged at the upper part of the horizontal guide rail seat and is parallel to the length direction of the horizontal guide rail seat; the laser tracker seat is fixedly arranged in the middle of the upper part of the gantry frame, the laser tracker is fixedly arranged on the laser tracker seat, and when the laser tracker is at an initial position, the optical axis of the laser tracker is vertical to the length direction of the horizontal guide rail seat.

Further, two laser trackers are arranged; the rotating shafts of the two laser trackers are coaxially arranged and coincide with the rotary axis of the rotary table; when the mobile milling machine carries out milling operation, the mobile milling machine has a processing coordinate system of the mobile milling machine, and the processing coordinate system is defined as: the rotation axis of the rotary table is an original point S, the length direction of the horizontal guide rail seat is an X 'axis, the optical axis of the laser tracker at the initial position is a Y' axis, and a processing coordinate system SX 'Y' of the mobile milling machine is established.

Further, the positioning reference A comprises a reference seat, a reference rod and a laser target ball A; the reference seat is a right-angle positioning block, the reference rod is fixedly arranged on the upper end face of the reference seat, and the laser target ball A is fixedly arranged on the upper end face of the reference rod; a reference magnetic base is also fixedly arranged on the reference base; the positioning reference B is the same as the positioning reference A in structure and is provided with a laser target ball B; when the mobile milling machine and the hole system processing method work, the positioning reference A and the positioning reference B are positioned and arranged at two corners of the large-size steel plate with the same side length through the reference seats and are fixedly connected with the large-size steel plate through the reference magnetic seat; and establishing a rectangular coordinate system AXY moved by the movable milling machine by taking the positioning reference A as the origin of the large-size steel plate hole system coordinate system and the connecting line of the positioning reference A and the positioning reference B as the X axis of the large-size steel plate hole system coordinate system.

Furthermore, the traveling wheels are Mecanum wheels, and the Mecanum wheels enable the mobile milling machine to have very flexible translation performance on a large-size steel plate.

A method of machining a mobile milling machine system comprising the steps of:

s1, when the mobile milling machine and the hole system processing method work, a positioning reference A2 is fixedly arranged at the lower left corner of a large-size steel plate 5 to be processed, a positioning reference B3 is fixedly arranged at the lower right corner of the large-size steel plate 5 to be processed, the positioning reference A is taken as the origin of a large-size steel plate hole system coordinate system, the connecting line of the positioning reference A2 and the positioning reference B3 is the X axis of the large-size steel plate hole system coordinate system, and an AXY (axial X-axis Y) of a mobile milling machine mobile coordinate system is established; inputting the coordinates and the size of the hole system of the large-size steel plate 5 to be processed into the movable milling machine 1, and then placing the movable milling machine 1 on the large-size steel plate 5 to be processed in the direction that the optical axis of the laser tracker 1.3.3 faces the connecting line of the positioning reference A2 and the positioning reference B3;

s2, starting the movable milling machine 1, executing initialization, and establishing a machining coordinate system SX 'Y' of the movable milling machine 1; then the lower laser tracker 1.3.3 rotates clockwise to detect the rotation angle of the lower laser tracker 1.3.3 and the distance between the lower laser tracker 1.3.3 and the positioning reference A2; meanwhile, the upper laser tracker 1.3.3 rotates and detects in the anticlockwise direction, and the rotating angle of the upper laser tracker 1.3.3 and the distance between the upper laser tracker 1.3.3 and the positioning reference B3 are detected; at the moment, the movable milling machine 1 obtains a processing coordinate system SX 'Y' through the detected triangle SAB and establishes a preliminary connection with a movable milling machine moving coordinate system AXY; the lifting magnetic base 1.1.2 works, and the movable milling machine 1 is fixed on the steel plate 4; the movable milling machine 1 controls the rotary turntable 1.1.3, and simultaneously the upper and lower side laser trackers 1.3.3 synchronously rotate and track the positioning reference A2 and the positioning reference B3, and finally the following conditions are achieved: the method comprises the following steps of (1) crossing over 1=90 degrees-1 ' and (2) crossing over 90 degrees-2 ', enabling an X ' axis of a processing coordinate system SX ' Y ' to be parallel to an X axis of a moving milling machine coordinate system AXY, and completing positioning calibration of the processing coordinate system SX ' Y ' and the moving milling machine coordinate system AXY;

s3, the mobile milling machine 1 relieves the work of the lifting magnetic base 1.1.2, the mobile milling machine 1 is driven by the traveling wheel 1.1.5 to translate to a first hole site according to the hole system coordinate of the large-size steel plate 5 to be processed, the lifting magnetic base 1.1.2 works, the mobile milling machine 1 is fixed on the steel plate 4, and then the positioning and calibration of the processing coordinate system SX 'Y' and the mobile milling machine mobile coordinate system AXY are carried out again; after the positioning calibration is finished, the movable milling machine 1 starts the rotary table 1.1.3, the two-degree-of-freedom workbench 1.2 and the working spindle 4 to work, and a first hole is machined;

and S4, after the first hole is machined, moving the milling machine 1 to repeat the process of S3, and machining the second hole, the third hole and the subsequent holes until all the holes are machined.

Due to the adoption of the technical scheme, the invention has the following beneficial effects: the invention discloses a mobile milling machine system and a hole system processing method, which comprise a mobile milling machine, a positioning reference A and a positioning reference B, wherein a working spindle is arranged on the mobile milling machine, and a milling cutter is arranged on the working spindle; the movable milling machine is also provided with a travelling wheel and a laser tracking positioning component; when the movable milling machine and the hole system machining method work, the movable milling machine, the positioning datum A and the positioning datum B are arranged separately, the movable milling machine is arranged on a large-size steel plate to be machined and can move freely on the large-size steel plate through travelling wheels, the positioning datum A and the positioning datum B are respectively and fixedly arranged at two corners of the large-size steel plate, the movable milling machine measures the distance and the included angle between the movable milling machine and the positioning datum A and the positioning datum B through a laser tracking positioning assembly, the self-positioning coordinate is kept associated with the coordinate of a hole to be machined, then the movable milling machine is fixedly arranged on the large-size steel plate, and the hole or the groove is machined through the milling cutter; the mobile milling machine system and the hole system processing method disclosed by the invention are positioned by the laser tracking positioning component, the positioning reference A and the positioning reference B, and have the advantage of high positioning precision, so that the position precision of large-size steel plate hole system processing is ensured; meanwhile, the milling cutter is driven by the working spindle to process various through holes, blind holes and special-shaped grooves on the steel plate to be processed, so that the processing precision of the holes or the grooves is high, the quality is good, and the problems of processing position degree and processing precision of large-size steel plate hole systems are solved.

Drawings

FIG. 1 is a schematic view of the working states of a mobile milling machine and a hole machining method;

FIG. 2 is a schematic view of the external appearance of the mobile milling machine;

FIG. 3 is an external view of the turret;

FIG. 4 is an external view of a two-degree-of-freedom workbench;

FIG. 5 is a schematic exterior view of a horizontal rail housing assembly;

FIG. 6 is an external view of the horizontal driving mechanism;

FIG. 7 is an external view of the vertical driving mechanism;

FIG. 8 is an external view of the laser tracking positioning assembly;

FIG. 9 is an external view of a positioning reference A;

FIG. 10 is a plan view of the working state of the moving milling machine and the hole machining method;

fig. 11 is a schematic diagram of the coordinate positioning principle of the mobile milling machine.

In the figure: 1. moving the milling machine; 1.1, a rotary seat; 1.1.1, a base; 1.1.2, lifting magnetic base; 1.1.3, a rotary table; 1.1.4, a rotary table driving device; 1.1.5, a traveling wheel; 1.2, a double-freedom-degree workbench; 1.2.1, a horizontal rail seat component; 1.2.1.1, a horizontal guide rail seat; 1.2.1.2, horizontal guide rail; 1.2.1.3, horizontal sliding block; 1.2.2, a horizontal driving mechanism; 1.2.2.1, a horizontal driving motor; 1.2.2.2, horizontally driving a lead screw; 1.2.2.3, a horizontal sliding seat; 1.2.2.3.1, a fin plate; 1.2.2.3.2, dovetail grooves; 1.2.3, a vertical driving mechanism; 1.2.3.1, vertically driving a motor; 1.2.3.2, vertically driving a lead screw; 1.2.3.3, a vertical slide; 1.2.3.4, a vertical driving mechanism bottom plate; 1.3, a laser tracking and positioning component; 1.3.1, a gantry frame; 1.3.2, a laser tracker base; 1.3.3, a laser tracker; 2. positioning a reference A; 2.1, a reference seat; 2.1.1, a reference magnetic base; 2.2, a reference rod; 2.3, laser target ball A; 3. positioning a reference B; 3.3, laser target ball B; 4. a working spindle; 5. and (3) a steel plate.

Detailed Description

The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.

A mobile milling machine system and a hole system processing method comprise a mobile milling machine 1, a positioning reference A2 and a positioning reference B3;

the mobile milling machine 1 comprises a rotary seat 1.1, a two-degree-of-freedom workbench 1.2 and a laser tracking and positioning component 1.3, wherein the two-degree-of-freedom workbench 1.2 is fixedly arranged at the upper part of the rotary seat 1.1, and the laser tracking and positioning component 1.3 is fixedly arranged on the two-degree-of-freedom workbench 1.2; the two-degree-of-freedom workbench 1.2 is provided with a working main shaft 4, and a milling cutter is arranged on the working main shaft 4;

the rotary seat 1.1 comprises a base 1.1.1, a lifting magnetic seat 1.1.2, a rotary table 1.1.3, a rotary table driving device 1.1.4 and a travelling wheel 1.1.5; the base 1.1.1 comprises an upper ring plate and a lower ring plate which are fixedly connected through a plurality of supporting plates; the lower ring plate is fixedly provided with four lifting magnetic bases 1.1.2 and four walking wheels 1.1.5, and the four lifting magnetic bases 1.1.2 and the four walking wheels 1.1.5 are uniformly distributed on the lower ring plate around the rotation axis of the revolving table 1.1.3; a rotary table 1.1.3 is fixedly arranged on the upper ring plate, and the rotary table 1.1.3 is driven by a rotary table driving device 1.1.4 to rotate; the lifting magnetic base 1.1.2 comprises a lifting driving mechanism and a magnetic base, and the lifting driving mechanism drives the magnetic base to do lifting motion;

the two-degree-of-freedom workbench 1.2 comprises a horizontal guide rail seat assembly 1.2.1, a horizontal driving mechanism 1.2.2 and a vertical driving mechanism 1.2.3; the horizontal guide rail seat assembly 1.2.1 comprises a horizontal guide rail seat 1.2.1.1, a horizontal guide rail 1.2.1.2 and a horizontal sliding block 1.2.1.3; the horizontal guide rail seat 1.2.1.1 is fixedly arranged at the upper part of the rotary table 1.1.3, the horizontal guide rails 1.2.1.2 and the horizontal sliding blocks 1.2.1.3 are arranged in parallel in two groups, the horizontal guide rails 1.2.1.2 are fixedly arranged at the upper part of the horizontal guide rail seat 1.2.1.1, and the horizontal sliding blocks 1.2.1.3 are in sliding connection with the horizontal guide rails 1.2.1.2; the horizontal driving mechanism 1.2.2 comprises a horizontal driving motor 1.2.2.1, a horizontal driving screw rod 1.2.2 and a horizontal sliding seat 1.2.2.3; a screw nut is fixedly arranged in the middle of the horizontal sliding seat 1.2.2.3, fins 1.2.2.3.1 are arranged on two sides of the upper part of the horizontal sliding seat, and a dovetail groove 1.2.2.3.2 is arranged on the side surface of the horizontal sliding seat; the horizontal sliding seat 1.2.2.3 is fixedly connected with the horizontal sliding block 1.2.1.3 through a fin 1.2.2.3.1 and is connected with the horizontal driving screw rod 1.2.2.2 through a screw rod nut; the horizontal driving screw rod 1.2.2.2 is connected with the horizontal driving motor 1.2.2.1 through a coupler; the vertical driving mechanism 1.2.3 comprises a vertical driving motor 1.2.3.1, a vertical driving screw rod 1.2.3.2, a vertical sliding seat 1.2.3.3 and a vertical driving mechanism bottom plate 1.2.3.4; the vertical driving mechanism bottom plate 1.2.3.4 is fixedly arranged on the upper part of the horizontal sliding seat 1.2.2.3; a worm wheel and a worm are meshed with the vertical driving mechanism bottom plate 1.2.3.4, the worm wheel is fixedly connected with the vertical driving screw rod 1.2.3.2, and the worm is fixedly connected with the vertical driving motor 1.2.3.1 through a coupler; a screw nut is fixedly arranged on the vertical sliding seat 1.2.3.3, and the vertical sliding seat 1.2.3.3 is connected with a vertical driving screw 1.2.3.2 through the screw nut; dovetail guide rails are arranged on the side edges of the vertical sliding bases 1.2.3.3, and the dovetail guide rails of the vertical sliding bases 1.2.3.3 are arranged in the dovetail grooves 1.2.2.3.2 of the horizontal sliding bases 1.2.2.3 in a sliding manner;

the laser tracking and positioning component 1.3 comprises a gantry frame 1.3.1, a laser tracker seat 1.3.2 and a laser tracker 1.3.3; the gantry frame 1.3.1 is fixedly arranged at the upper part of the horizontal guide rail seat 1.2.1.1, the laser tracker seat 1.3.2 is fixedly arranged in the middle of the upper part of the gantry frame 1.3.1, and the laser tracker 1.3.3 is fixedly arranged on the laser tracker seat 1.3.2; two laser trackers 1.3.3 are arranged; the rotating shafts of the two laser trackers 1.3.3 are coaxially arranged and coincide with the revolving axis of the revolving platform 1.1.3;

the positioning datum A2 comprises a datum seat 2.1, a datum rod 2.2 and a laser target ball A2.3; the reference seat 2.1 is a right-angle positioning block, the reference rod 2.2 is fixedly arranged on the upper end face of the reference seat 2.1, and the laser target ball A2.3 is fixedly arranged on the upper end face of the reference rod 2.2; a reference magnetic base 2.1.1 is also fixedly arranged on the reference base 2.1; the positioning reference B3 has the same structure as the positioning reference A2, and the positioning reference B3 is provided with a laser target ball B3.3.

The working process of the mobile milling machine and the hole machining method is described in detail below with reference to the accompanying drawings 1, 10 and 11 of the specification:

s1, when the mobile milling machine and the hole system processing method work, a positioning reference A2 is fixedly arranged at the lower left corner of a large-size steel plate 5 to be processed, a positioning reference B3 is fixedly arranged at the lower right corner of the large-size steel plate 5 to be processed, the positioning reference A is taken as the origin of a large-size steel plate hole system coordinate system, the connecting line of the positioning reference A2 and the positioning reference B3 is the X axis of the large-size steel plate hole system coordinate system, and an AXY (axial X-axis Y) of a mobile milling machine mobile coordinate system is established; inputting the coordinates and the size of the hole system of the large-size steel plate 5 to be processed into the movable milling machine 1, and then placing the movable milling machine 1 on the large-size steel plate 5 to be processed in the direction that the optical axis of the laser tracker 1.3.3 faces the connecting line of the positioning reference A2 and the positioning reference B3;

s2, starting the movable milling machine 1, executing initialization, and establishing a machining coordinate system SX 'Y' of the movable milling machine 1; then the lower laser tracker 1.3.3 rotates clockwise to detect the rotation angle of the lower laser tracker 1.3.3 and the distance between the lower laser tracker 1.3.3 and the positioning reference A2; meanwhile, the upper laser tracker 1.3.3 rotates and detects in the anticlockwise direction, and the rotating angle of the upper laser tracker 1.3.3 and the distance between the upper laser tracker 1.3.3 and the positioning reference B3 are detected; at the moment, the movable milling machine 1 obtains a processing coordinate system SX 'Y' through the detected triangle SAB and establishes a preliminary connection with a movable milling machine moving coordinate system AXY; the lifting magnetic base 1.1.2 works, and the movable milling machine 1 is fixed on the steel plate 4; the movable milling machine 1 controls the rotary turntable 1.1.3, and simultaneously the upper and lower side laser trackers 1.3.3 synchronously rotate and track the positioning reference A2 and the positioning reference B3, and finally the following conditions are achieved: the method comprises the following steps of (1) crossing over 1=90 degrees-1 ' and (2) crossing over 90 degrees-2 ', enabling an X ' axis of a processing coordinate system SX ' Y ' to be parallel to an X axis of a moving milling machine coordinate system AXY, and completing positioning calibration of the processing coordinate system SX ' Y ' and the moving milling machine coordinate system AXY;

s3, the mobile milling machine 1 relieves the work of the lifting magnetic base 1.1.2, the mobile milling machine 1 is driven by the traveling wheel 1.1.5 to translate to a first hole site according to the hole system coordinate of the large-size steel plate 5 to be processed, the lifting magnetic base 1.1.2 works, the mobile milling machine 1 is fixed on the steel plate 4, and then the positioning and calibration of the processing coordinate system SX 'Y' and the mobile milling machine mobile coordinate system AXY are carried out again; after the positioning calibration is finished, the movable milling machine 1 starts the rotary table 1.1.3, the two-degree-of-freedom workbench 1.2 and the working spindle 4 to work, and a first hole is machined;

and S4, after the first hole is machined, moving the milling machine 1 to repeat the process of S3, and machining the second hole, the third hole and the subsequent holes until all the holes are machined.

The present invention is not described in detail in the prior art.