阅读说明：本技术 一种基于机器人的全自动玻璃钢管道相贯线铣削装置 (Full-automatic FRP pipe says intersecting line milling unit based on robot ) 是由 高伟 徐海洋 倪庆婷 王星淳 张�杰 汤嘉立 岳永海 刘文叶 刘伟 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种基于机器人的全自动玻璃钢管道相贯线铣削装置,包括多轴运动机构和用于铣削切割的铣削机头,以及横轴运动机构、管件运动机构和管件旋转机构,多轴运动机构固定安装于横轴运动机构的表面,管件旋转机构的底面与管件运动机构的输出端固定连接。本发明中,通过设置多轴连臂式铣削机头结构与管件运动结构进行联动式编程控制,分别利用多轴运动机构和管件运动机构调整铣削机头的铣削倾角进行相贯线铣削面的弧线运动铣削以及利用管件运动机构和管件旋转机构进行管件的运动校偏转调整铣削接触面,达到管件和机头的统一,有效提升铣削精度以及进行不同角度相贯面的铣削,提高该铣削机器人的实用性。(The invention discloses a robot-based full-automatic glass steel pipeline intersecting line milling device which comprises a multi-axis movement mechanism, a milling machine head for milling and cutting, a cross axis movement mechanism, a pipe fitting movement mechanism and a pipe fitting rotating mechanism, wherein the multi-axis movement mechanism is fixedly arranged on the surface of the cross axis movement mechanism, and the bottom surface of the pipe fitting rotating mechanism is fixedly connected with the output end of the pipe fitting movement mechanism. According to the milling robot, the multi-axis linkage type milling machine head structure and the pipe fitting movement structure are arranged for linkage type programming control, the multi-axis movement mechanism and the pipe fitting movement mechanism are respectively used for adjusting the milling inclination angle of the milling machine head to perform arc motion milling of an intersecting line milling surface, the pipe fitting movement mechanism and the pipe fitting rotation mechanism are used for performing motion correction deflection adjustment of the pipe fitting to mill a contact surface, the unification of the pipe fitting and the machine head is achieved, the milling precision is effectively improved, milling of intersecting surfaces with different angles is effectively performed, and the practicability of the milling robot is improved.)

1. The utility model provides a full-automatic FRP pipe says intersecting line milling unit based on robot, includes multiaxis kinematic mechanism (400) and is used for milling the milling head (500) of cutting, its characterized in that still includes: the device comprises a transverse shaft movement mechanism (100), a pipe fitting movement mechanism (200) and a pipe fitting rotation mechanism (300), wherein the multi-shaft movement mechanism (400) is fixedly installed on the surface of the transverse shaft movement mechanism (100), the bottom surface of the pipe fitting rotation mechanism (300) is fixedly connected with the output end of the pipe fitting movement mechanism (200), and the input ends of the transverse shaft movement mechanism (100), the pipe fitting movement mechanism (200), the pipe fitting rotation mechanism (300) and the multi-shaft movement mechanism (400) are electrically connected with a PLC (programmable logic controller);

the transverse-axis movement mechanism (100) comprises a translation sliding rail (110), a translation driving motor (120) and a movement base (130), the movement base (130) is slidably mounted on the surface of the translation sliding rail (110), the bottom surface of the movement base (130) is fixedly connected with a driving rack (112) located on the surface of the translation sliding rail (110), two ends of the bottom surface of the translation sliding rail (110) are fixedly provided with supporting machine legs (111), one side of each supporting machine leg (111) is fixedly provided with the translation driving motor (120), and the output end of each translation driving motor (120) is in transmission engagement with the bottom surface of the driving rack (112);

the pipe fitting movement mechanism (200) comprises a fixed frame (210), a first pipe fitting translation assembly (220) and a second pipe fitting translation assembly (230) which are fixed above the fixed frame (210), a connecting seat (240) is arranged on the top surface of the second pipe fitting translation assembly (230), the first pipe fitting translation assembly (220) and the second pipe fitting translation assembly (230) are identical in structure and perpendicular to each other in arrangement direction, the first pipe fitting translation assembly (220) is connected with the second pipe fitting translation assembly (230) through the connecting seat (240), and the pipe fitting rotation mechanism (300) is fixed on the top surface of the first pipe fitting translation assembly (220);

the pipe fitting rotating mechanism (300) comprises a supporting plate (310), elastic clamping blocks (320) and deflection steering gears (330), wherein the elastic clamping blocks (320) are installed at two ends of the supporting plate (310) in a sliding mode, the deflection steering gears (330) are fixed at one ends of the supporting plate (310), and driving rollers (331) are fixedly sleeved at output ends of the deflection steering gears (330).

2. The robot-based full-automatic FRP pipe intersecting line milling device of claim 1, wherein the multi-axis movement mechanism (400) comprises a first shaft seat (410), a second connecting arm (420) and a third connecting arm (430), the first shaft seat (410), the second connecting arm (420) and the third connecting arm (430) are identical in structure and respectively comprise an arm connecting steering engine (411) and a movement arm (412), one end of the first shaft seat (410) is fixedly connected with one end of the second connecting arm (420), the output end of the second connecting arm (420) is fixedly connected with one end of the third connecting arm (430), the output end of the third connecting arm (430) is provided with a headstock (431), and the milling handpiece (500) is fixed on the surface of the headstock (431) and is positioned right above the pipe fitting rotating mechanism (300).

3. The robot-based full-automatic FRP pipe intersecting line milling device according to claim 2, characterized in that the output end of the first shaft seat (410) is fixedly connected with a fixed shaft seat (413), the bottom surface of the fixed shaft seat (413) is provided with a 360-degree deflection motor, and the deflection motor is fixedly connected with the top surface of the moving base (130).

4. The robot-based full-automatic FRP pipe intersecting line milling device of claim 1, characterized in that, the bottom surface of the motion base (130) is provided with a plurality of pulleys, the relative inner sides of the pulleys are in sliding butt joint with the two sides of the translation slide rail (110), the motion base (130) and the surface of the translation slide rail (110) are horizontally arranged, the driving rack (112) is of a metal rack structure, and the output end of the translation driving motor (120) is fixedly sleeved with driving teeth which are meshed with the bottom surface of the driving rack (112).

5. The robot-based full-automatic FRP pipe intersecting line milling device according to claim 1, wherein the first pipe fitting translation assembly (220) and the second pipe fitting translation assembly (230) both comprise a screw rod fixing guide frame (221), a guide rod (222), a moving screw rod (223) and moving end frames (224) fixed at both ends of the moving screw rod (223), a screw rod motor (225) is fixedly installed at one side of the moving end frames (224), the output end of the screw rod motor (225) is fixedly connected with the moving screw rod (223) penetrating through the surface of the moving end frames (224), a threaded sleeve hole matched with the moving screw rod (223) is formed in the surface of the screw rod fixing guide frame (221), and the bottom surface of the screw rod fixing guide frame (221) is fixedly connected with the surface of the connecting seat (240).

6. The robot-based full-automatic FRP pipe intersecting line milling device according to claim 5, characterized in that the screw rod guide frame (221) of the second pipe fitting translation assembly (230) is fixed on the surface of the fixed frame (210), and the top surface of the screw rod guide frame (221) of the first pipe fitting translation assembly (220) is fixedly connected with the bottom surface of the support pallet (310).

7. The robot-based full-automatic FRP pipe intersecting line milling device according to claim 1, characterized in that, the both ends of the top surface of the supporting plate (310) are provided with clamping groove rails (311), the number of the elastic clamping blocks (320) is four, and two of the elastic clamping blocks are symmetrically distributed in the clamping groove rails (311) at both ends, and the opposite inner sides of each group of the elastic clamping blocks (320) are provided with extension springs which are in a stretching state.

8. The robot-based full-automatic FRP pipe intersecting line milling device according to claim 1, characterized in that the inside of the elastic clamping block (320) is provided with an arc-shaped clamping groove, a ball is embedded and mounted on the surface of the arc-shaped clamping groove, the driving roller (331) is a rubber component, and the periphery of the driving roller (331) and the bottom surface of the arc-shaped clamping groove of the elastic clamping block (320) are located at the same horizontal height.

Technical Field

The invention relates to the technical field of machine tool machining, in particular to a full-automatic glass steel pipeline intersecting line milling device based on a robot.

Background

The FRP pipe product has the advantages of light weight, corrosion resistance, good designability and the like, so that the FRP pipe product can be widely applied to the fields of petroleum, chemical engineering, ships, municipal water supply and drainage and the like. The intersecting structure formed by splicing the pipelines generally exists in a large and complex pipeline system, so that the spliced intersecting line of the glass fiber reinforced plastic pipeline after being wound and formed needs to be cut, the traditional manual mode is generally adopted for cutting the intersecting line of the glass fiber reinforced plastic pipeline, the defects of poor cutting quality, large precision error, low processing efficiency and the like exist in the manual mode, the field working environment is severe, the labor intensity is high, and dust generated by cutting causes great harm to the body of workers.

The existing FRP pipe intersecting line milling still uses the traditional CNC milling robot for operation, no special intersecting line milling equipment exists, four-axis, five-axis or even more complex CNC automatic robots are adopted for milling in order to realize complex surface and complex intersecting curve milling, the four-axis and five-axis milling machine tool is complex in control operation, the programming algorithm is complex, the fault tolerance rate is low, the equipment structure is complex and high in cost, in the process of machining intersecting surfaces below 30 degrees of inclination angle, the surface of a pipe fitting is milled at an angle which is too narrow for one-time forming, the position of the pipe fitting needs to be manually readjusted and recalibrated, the machining quality and the machining efficiency of products are seriously influenced, and certain defects exist.

In view of the above, the present invention provides a full-automatic apparatus for milling intersecting line of glass fiber reinforced plastic pipe based on robot, which is designed to solve the problems of the prior art that complicated intersecting surfaces such as small angle cannot be used for milling and the work efficiency is low and the glass fiber reinforced plastic pipe cannot be formed at one time.

Disclosure of Invention

The present invention is directed to solving one of the technical problems of the prior art or the related art.

Therefore, the technical scheme adopted by the invention is as follows: the utility model provides a full-automatic FRP pipe says intersecting line milling unit based on robot, includes multiaxis kinematic mechanism and is used for milling the milling head of cutting, still includes: the device comprises a transverse shaft movement mechanism, a pipe fitting movement mechanism and a pipe fitting rotation mechanism, wherein the multi-shaft movement mechanism is fixedly arranged on the surface of the transverse shaft movement mechanism, the bottom surface of the pipe fitting rotation mechanism is fixedly connected with the output end of the pipe fitting movement mechanism, and the input ends of the transverse shaft movement mechanism, the pipe fitting rotation mechanism and the multi-shaft movement mechanism are electrically connected with a PLC (programmable logic controller); the transverse shaft movement mechanism comprises a translation sliding rail, a translation driving motor and a movement base, the movement base is slidably mounted on the surface of the translation sliding rail, the bottom surface of the movement base is fixedly connected with a driving rack positioned on the surface of the translation sliding rail, two ends of the bottom surface of the translation sliding rail are fixedly provided with supporting machine feet, one side of each supporting machine foot is fixedly provided with the translation driving motor, and the output end of each translation driving motor is in transmission engagement with the bottom surface of the driving rack; the pipe fitting movement mechanism comprises a fixed frame, a first pipe fitting translation assembly and a second pipe fitting translation assembly, wherein the first pipe fitting translation assembly and the second pipe fitting translation assembly are fixed above the fixed frame; the pipe fitting rotating mechanism comprises a supporting plate, elastic clamping blocks and a deflection steering engine, the elastic clamping blocks are slidably mounted at two ends of the supporting plate, the deflection steering engine is fixed at one end of the supporting plate, and a driving roller is fixedly sleeved at the output end of the deflection steering engine.

The present invention in a preferred example may be further configured to: the multi-axis movement mechanism comprises a first shaft seat, a second connecting arm and a third connecting arm, the first shaft seat, the second connecting arm and the third connecting arm are identical in structure and respectively comprise a connecting arm steering engine and a movement arm, the first shaft seat and the second connecting arm are fixedly connected, the second connecting arm is fixedly connected with the third connecting arm, the third connecting arm is provided with a headstock, and the milling machine head is fixed on the surface of the headstock and is positioned right above the pipe fitting rotating mechanism.

By adopting the technical scheme, the multi-axis movement mechanism is a three-axis CNC (computer numerical control) machine arm structure in the prior art, multi-axis movement is carried out through programming of the PLC, the milling machine head and the surface of a workpiece are guided to be attached and contacted to mill the workpiece, and the three-axis machine arm is simple in structure and easy to control.

Furthermore, the output end of the first shaft seat is fixedly connected with a fixed shaft seat, the bottom surface of the fixed shaft seat is provided with a 360-degree deflection motor, the deflection motor is fixedly connected with the top surface of the moving base, the fixed shaft seat is used for fixing the mechanical operating arm and installing the milling machine head, and the multi-shaft moving mechanism is used for guiding the movement of the milling machine head.

The present invention in a preferred example may be further configured to: the bottom surface of motion base is equipped with and evenly is equipped with a plurality of pulleys, the relative inboard of pulley and the both sides slip butt of translation slide rail, the motion base is the level with the surface of translation slide rail and arranges, the fixed cover of output that drives the rack and be metal rack structure and translation driving motor has connect with the drive tooth that drives rack bottom surface intermeshing.

By adopting the technical scheme, the stability of the motion base is improved by utilizing the pulley on the bottom surface of the motion base, the continuity of the motion base and the multi-axis motion mechanism in the translation motion is kept, the calculation difference of the motion advance is avoided, the translation motion of the motion base and the multi-axis motion mechanism is carried out by the translation driving motor, the continuous milling can be carried out on different parts of the pipe fitting, and the multi-hole milling operation is carried out.

The present invention in a preferred example may be further configured to: the first pipe fitting translation subassembly and the second pipe fitting translation subassembly are respectively including the lead screw decide guide frame, guide bar and motion lead screw and be fixed in the motion end frame at motion lead screw both ends, one side fixed mounting of motion end frame has the lead screw motor, the motion lead screw on motion end frame surface is run through to the output fixedly connected with of lead screw motor, the threaded sleeve hole with motion lead screw looks adaptation is seted up on the surface of guide frame is decided to the lead screw, the bottom surface of guide frame is decided to the lead screw is connected with the fixed surface of connecting seat.

By adopting the technical scheme, the first pipe fitting translation assembly and the second pipe fitting translation assembly are respectively utilized to drive the pipe fitting rotating mechanism and the pipe fitting to perform longitudinal and transverse movement in a two-dimensional plane, the multi-axis movement mechanism and the milling machine head are better matched to perform milling input control, the movement algorithm of the multi-axis movement mechanism is simplified, and the fault tolerance rate is improved.

Furthermore, a lead screw guide frame of the second pipe fitting translation assembly is fixed on the surface of the fixing frame, and the top surface of the lead screw guide frame of the first pipe fitting translation assembly is fixedly connected with the bottom surface of the supporting plate.

Through adopting above-mentioned technical scheme, carry out the connection of two sets of not equidirectional lead screw structures through the connecting seat to carry out the free two-dimensional planar motion of pipe fitting.

The present invention in a preferred example may be further configured to: the supporting plate is characterized in that clamping groove rails are arranged at two ends of the top surface of the supporting plate, the number of the elastic clamping blocks is four, every two of the elastic clamping blocks are symmetrically distributed in the clamping groove rails at the two ends, and an extension spring is arranged on the inner side of each elastic clamping block and is in a stretching state.

Through adopting above-mentioned technical scheme, utilize the elasticity clamp splice at extension spring pulling both ends to be close to each other and carry out the centre gripping to the pipe fitting fixed, the location pipe fitting places the position.

The present invention in a preferred example may be further configured to: the inboard of elasticity clamp splice is equipped with the arc draw-in groove, and the surface embedding of arc draw-in groove installs the ball, drive roller is the rubber material component, drive roller's periphery and the bottom surface of elasticity clamp splice arc draw-in groove are located same level.

Through adopting above-mentioned technical scheme, through the motion transmission on the activity butt on ball and pipe fitting surface and drive roller under the centre gripping of elasticity clamp splice for the pipe fitting can carry out the angular rotation under control, mills of different angle faces, compensaties the limitation of multiaxis motion, carries out the looks through face of the different position angles of arbitrary pipe fitting and mills, improve equipment practicality.

The beneficial effects obtained by the invention are as follows:

1. according to the milling robot, the multi-axis linkage type milling machine head structure and the pipe fitting movement structure are arranged for linkage type programming control, the multi-axis movement mechanism and the pipe fitting movement mechanism are respectively used for adjusting the milling inclination angle of the milling machine head to perform arc motion milling of an intersecting line milling surface, the pipe fitting movement mechanism and the pipe fitting rotation mechanism are used for performing motion correction deflection adjustment of the pipe fitting to mill a contact surface, the unification of the pipe fitting and the machine head is achieved, the milling precision is effectively improved, milling of intersecting surfaces with different angles is effectively performed, and the practicability of the milling robot is improved.

2. According to the invention, the pipe fitting motion mechanism and the pipe fitting rotation mechanism are used for carrying out active motion of the pipe fitting, and the intersecting joint surface of the pipe fitting is exposed and adjusted, so that the motion limitation of the multi-axis arm milling robot is compensated, thus different surfaces of the same pipe fitting can be milled conveniently, manual adjustment is not needed in one-step forming, the automation of the whole milling operation is realized, repeated calibration is not needed, and the working efficiency is improved.

3. According to the milling device, an adjustable pipe supporting structure is adopted, the elastic clamping blocks are used for clamping the surface of a pipe in a relative motion mode, the deflection steering engine drives the driving roller to rotate in the milling process, the motion track of the multi-axis motion mechanism is simplified, complexity of a programming control algorithm is reduced, and accordingly working stability of the whole device is improved.

Drawings

FIG. 1 is a schematic overall structure diagram of one embodiment of the present invention;

FIG. 2 is a schematic diagram of a cross-axis motion mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic view of a pipe movement mechanism and pipe rotation mechanism mounting configuration of one embodiment of the present invention;

FIG. 4 is a schematic view of a pipe motion mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic view of a first tubular translation assembly according to one embodiment of the present invention;

FIG. 6 is a schematic structural view of a pipe rotating mechanism according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a multi-axis motion mechanism according to an embodiment of the present invention.

Reference numerals:

100. a transverse axis movement mechanism; 110. translating the slide rail; 120. a translation drive motor; 130. a motion base; 111. supporting the machine leg; 112. a drive rack;

200. a pipe movement mechanism; 210. a fixed mount; 220. a first tubular translation assembly; 230. a second tubular translation assembly; 240. a connecting seat; 221. a lead screw guide frame; 222. a guide bar; 223. a motion screw rod; 224. a moving end frame; 225. a screw motor;

300. a pipe fitting rotating mechanism; 310. a support pallet; 320. an elastic clamping block; 330. a deflection steering engine; 311. clamping the groove rail; 331. driving the roller;

400. a multi-axis motion mechanism; 410. a first shaft seat; 420. a second link arm; 430. a third link arm; 411. an arm connecting steering engine; 412. a motion arm; 413. a fixed shaft seat; 431. a headstock;

500. and (5) milling a machine head.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

It is to be understood that this description is made only by way of example and not as a limitation on the scope of the invention.

The invention discloses a full-automatic glass steel pipeline intersecting line milling device based on a robot, which is provided by some embodiments and is described in the following with the accompanying drawings.

Referring to fig. 1 to 7, the full-automatic glass fiber reinforced plastic pipeline intersecting line milling device based on the robot provided by the invention comprises a multi-axis motion mechanism 400 and a milling head 500 for milling and cutting, and further comprises: the device comprises a transverse axis movement mechanism 100, a pipe fitting movement mechanism 200 and a pipe fitting rotation mechanism 300, wherein the multi-axis movement mechanism 400 is fixedly arranged on the surface of the transverse axis movement mechanism 100, the bottom surface of the pipe fitting rotation mechanism 300 is fixedly connected with the output end of the pipe fitting movement mechanism 200, and the input ends of the transverse axis movement mechanism 100, the pipe fitting movement mechanism 200, the pipe fitting rotation mechanism 300 and the multi-axis movement mechanism 400 are electrically connected with a PLC (programmable logic controller); the transverse-axis movement mechanism 100 comprises a translation sliding rail 110, a translation driving motor 120 and a movement base 130, the movement base 130 is slidably mounted on the surface of the translation sliding rail 110, the bottom surface of the movement base 130 is fixedly connected with a driving rack 112 positioned on the surface of the translation sliding rail 110, two ends of the bottom surface of the translation sliding rail 110 are fixedly provided with supporting machine feet 111, one side of each supporting machine foot 111 is fixedly provided with the translation driving motor 120, and the output end of each translation driving motor 120 is in transmission engagement with the bottom surface of the driving rack 112; the pipe movement mechanism 200 comprises a fixed frame 210, and a first pipe translation assembly 220 and a second pipe translation assembly 230 which are fixed above the fixed frame 210, wherein the top surface of the second pipe translation assembly 230 is provided with a connecting seat 240, the first pipe translation assembly 220 and the second pipe translation assembly 230 have the same structure and are perpendicular to each other in arrangement direction, the first pipe translation assembly 220 and the second pipe translation assembly 230 are connected through the connecting seat 240, and the pipe rotation mechanism 300 is fixed on the top surface of the first pipe translation assembly 220; the pipe fitting rotating mechanism 300 comprises a supporting plate 310, elastic clamping blocks 320 and deflection steering gears 330, wherein the elastic clamping blocks 320 are installed at two ends of the supporting plate 310 in a sliding mode, the deflection steering gears 330 are fixed at one ends of the supporting plate 310, and driving rollers 331 are fixedly sleeved at output ends of the deflection steering gears 330.

In this embodiment, the multi-axis movement mechanism 400 includes a first shaft seat 410, a second link arm 420 and a third link arm 430, the first shaft seat 410, the second link arm 420 and the third link arm 430 have the same structure and each include a link arm steering gear 411 and a movement arm 412, one end of the first shaft seat 410 is fixedly connected with one end of the second link arm 420, an output end of the second link arm 420 is fixedly connected with one end of the third link arm 430, an output end of the third link arm 430 is provided with a headstock 431, and the milling head 500 is fixed on the surface of the headstock 431 and is located right above the pipe rotation mechanism 300.

Specifically, the multi-axis movement mechanism 400 is a three-axis CNC robot arm structure in the prior art, performs multi-axis movement through programming of a PLC controller, guides the milling head 500 to be attached to the surface of a workpiece to be milled, and is simple in structure and easy to operate.

Further, a fixed shaft seat 413 is fixedly connected to an output end of the first shaft seat 410, a 360-degree deflection motor is arranged on a bottom surface of the fixed shaft seat 413, the deflection motor is fixedly connected to a top surface of the moving base 130, the fixed shaft seat 413 and the machine head seat 431 are respectively used for fixing the mechanical operation arm and installing the milling machine head, and the multi-axis moving mechanism 400 is used for guiding the movement of the milling machine head 500.

In this embodiment, a plurality of pulleys are uniformly disposed on the bottom surface of the moving base 130, opposite inner sides of the pulleys are in sliding contact with two sides of the sliding rail 110, the moving base 130 and the surface of the sliding rail 110 are horizontally arranged, the driving rack 112 is a metal rack structure, and driving teeth meshed with the bottom surface of the driving rack 112 are fixedly sleeved on an output end of the translation driving motor 120.

Specifically, the stability of the motion base 130 is improved by using the pulleys on the bottom surface of the motion base 130, the continuity of the motion base 130 and the multi-axis motion mechanism 400 in the translation motion is maintained, the calculated difference of the motion advance is avoided, and the translation motion of the motion base 130 and the multi-axis motion mechanism 400 is performed by the translation driving motor 120, so that continuous milling can be performed on different parts of the pipe fitting, and the multi-hole milling operation is performed.

In this embodiment, each of the first pipe fitting translation assembly 220 and the second pipe fitting translation assembly 230 includes a screw rod fixing guide frame 221, a guide rod 222, a moving screw rod 223 and a moving end frame 224 fixed at two ends of the moving screw rod 223, a screw rod motor 225 is fixedly installed at one side of the moving end frame 224, the moving screw rod 223 penetrating through the surface of the moving end frame 224 is fixedly connected to an output end of the screw rod motor 225, a threaded sleeve hole matched with the moving screw rod 223 is formed in the surface of the screw rod fixing guide frame 221, and the bottom surface of the screw rod fixing guide frame 221 is fixedly connected with the surface of the connecting base 240.

Specifically, the first pipe translation assembly 220 and the second pipe translation assembly 230 are respectively used for driving the pipe rotation mechanism 300 and the pipe to perform longitudinal and transverse movement in a two-dimensional plane, the multi-axis movement mechanism 400 and the milling machine head 500 are better matched for milling advance control, the movement algorithm of the multi-axis movement mechanism 400 is simplified, and the fault tolerance rate is improved.

Further, the lead screw guide 221 of the second tube translating assembly 230 is fixed on the surface of the fixing frame 210, and the top surface of the lead screw guide 221 of the first tube translating assembly 220 is fixedly connected with the bottom surface of the supporting plate 310.

Concretely, carry out the connection of two sets of not equidirectional lead screw structures through connecting seat 240 to carry out the free two-dimensional planar motion of pipe fitting, utilize pipe fitting motion mechanism 200 to carry out the motion school of pipe fitting and deflect the adjustment and mill the contact surface, reach the unity of pipe fitting and aircraft nose, effectively promote to mill the precision and carry out milling of different angles looks through the face.

In this embodiment, the two ends of the top surface of the supporting plate 310 are provided with clamping groove tracks 311, the number of the elastic clamping blocks 320 is four, and two of the elastic clamping blocks 320 are symmetrically distributed in the clamping groove tracks 311 at the two ends, and the opposite inner sides of each group of the elastic clamping blocks 320 are provided with extension springs, and the extension springs are in a stretching state.

Specifically, the elastic clamping blocks 320 at two ends are pulled by the extension springs to be close to each other to clamp and fix the pipe fitting, the position of the pipe fitting is located, the deflection steering engine 330 drives the driving roller 331 to rotate the pipe fitting, the movement track of the multi-axis movement mechanism 400 is simplified, the complexity of a programming control algorithm is reduced, and the working stability of the whole device is improved.

In this embodiment, the inner side of the elastic clamping block 320 is provided with an arc-shaped slot, and a ball is embedded in the surface of the arc-shaped slot, the driving roller 331 is a rubber member, and the outer periphery of the driving roller 331 and the bottom surface of the arc-shaped slot of the elastic clamping block 320 are located at the same horizontal height.

Specifically, through the movable butt on ball and pipe fitting surface and the motion transmission of drive roller 331 under the centre gripping of elasticity clamp splice 320 for the pipe fitting can carry out the angular rotation under control, carry out milling of different angular surfaces, compensate the limitation of multiaxis motion 400 motion, carry out the face of intersecting of the different position angles of arbitrary pipe fitting and mill, improve equipment practicality, one shot forming need not artifical adjustment, realize the whole automation of controlling of milling, need not repeated calibration, improve work efficiency.

In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "mounted," "connected," "fixed," and the like are used broadly and encompass, for example, a fixed connection, a removable connection, or an integral connection, and a connection may be a direct connection or an indirect connection via intermediate media. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It will be understood that when an element is referred to as being "mounted to," "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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