阅读说明：本技术 一种回转对称结构舱体涂层封闭式自动切削机器人切削装置 (Closed automatic cutting robot cutting device for capsule coating with rotary symmetric structure ) 是由 刘漪涛 张逊 于 2021-11-26 设计创作，主要内容包括：一种回转对称结构舱体涂层封闭式自动切削机器人切削装置,其特征在于,包括有机器人系统(2)、数控车床及机床工具(4)、液压卡紧装置(5)、防尘罩(1)、通风除尘设备(3)和监视系统(7)；本发明比五轴数控加工机床有如下优势：1)自由度多,且均位于同一个加工臂上,因此具有良好的可达到性,加工过程中变位次数可大大减少；2)设备价格远低于多轴数控加工机床；3)六关节串联式机器人轴承封闭性强,没有导轨、光栅尺等易损的精密器件,可在高粉尘的环境下正常工作。(A rotary symmetrical structure cabin coating closed type automatic cutting robot cutting device is characterized by comprising a robot system (2), a numerical control lathe and machine tool (4), a hydraulic clamping device (5), a dust cover (1), a ventilation and dust removal device (3) and a monitoring system (7); compared with a five-axis numerical control machining tool, the invention has the following advantages: 1) the degree of freedom is more, and the two machining arms are positioned on the same machining arm, so that the accessibility is good, and the deflection times in the machining process can be greatly reduced; 2) the equipment price is far lower than that of a multi-axis numerical control processing machine tool; 3) the six-joint tandem robot has strong bearing closure, does not have vulnerable precise devices such as a guide rail and a grating ruler, and can normally work in a high-dust environment.)

1. A rotary symmetrical structure cabin coating closed type automatic cutting robot cutting device is characterized by comprising a robot system (2), a numerical control lathe and machine tool (4), a hydraulic clamping device (5), a dust cover (1), a ventilation and dust removal device (3) and a monitoring system (7);

the numerical control lathe and a machine tool (4) are fixed on the ground, the robot system (2) is installed behind the numerical control lathe and the machine tool (4), the hydraulic clamping device (5) is installed on the numerical control lathe and the machine tool (4), the monitoring system (7) is installed on the inner wall of the dust cover (1) and a CNC control panel of a three-axis numerical control lathe in the numerical control lathe and the machine tool (4), the dust cover (1) covers the upper surface and the periphery of the numerical control lathe and the machine tool (4), and the moving part of the six-joint robot (2-2) of the robot system (2), the three-axis numerical control lathe (4-1) of the numerical control lathe and the machine tool (4), the machine tool (4-2), the hydraulic clamping device (5) and the dustproof camera (7-1) of the monitoring system (7) are sealed; the air suction port of the ventilation and dust removal equipment (3) is connected in the dust cover (1).

2. The closed automatic cutting robot cutting device for coating of a capsule body with a rotationally symmetrical structure is characterized in that the three-axis numerically controlled lathe (4-1) is fixed on the ground; a machine tool (4-2) is fixed on a middle carriage of the three-axis numerical control lathe (4-1) through a door-shaped machine tool fixing frame (4-2-6); a pneumatic abrasive belt grinding machine (4-2-1) of the machine tool (4-2) is arranged on the left side of the machine tool fixing frame (4-2-6); two sets of guide rod cylinders (4-2-5) of the machine tool (4-2) are arranged on the top surface of the machine tool fixing frame (4-2-6) in parallel; a high-speed pneumatic main shaft (4-2-3) of a machine tool (4-2) and a turning tool (4-2-4) of the machine tool (4-2) are respectively arranged on the two sets of guide rod cylinders (4-2-5); a woodworking graver (4-2-2) of a machine tool (4-2) is arranged on a chuck of a high-speed pneumatic main shaft (4-2-3).

3. The closed automatic cutting robot cutting device for the capsule coating with the rotationally symmetrical structure is characterized in that a robot fixing frame (2-1) of a robot system (2) is fixed behind a numerical control lathe and a machine tool (4) through a ground anchor (2-4), a bottom plate of a six-joint robot (2-2) is fixed in the middle of a cross beam at the upper part of the robot fixing frame (2-1), and the six-joint robot (2-2) is aligned with a processing area of the three-axis numerical control lathe (4-1); the robot tool (2-3) is fixed on a flange of the robot wrist joint (2-2-1) through a hoop (2-3-1) by screws, and a three-edge 90-degree chamfer milling cutter (2-3-3) of the robot tool (2-3) is fixed in a taper hole of the high-speed air-cooled electric spindle (2-3-2) through a spring sleeve.

4. The closed automatic cutting robot cutting device for the capsule coating with the rotationally symmetrical structure as claimed in claim 1 or 2, characterized in that a hydraulic cylinder of a hydraulic chuck (5-1) of the hydraulic clamping device (5) is mounted in a main shaft of a three-axis numerically controlled lathe (4-1), the bottom surface of the chuck of the hydraulic chuck (5-1) is closely attached to the end surface of the main shaft of the three-axis numerically controlled lathe (4-1), and is fixed with the main shaft of the three-axis numerically controlled lathe (4-1) through bolts; the hydraulic cylinder of the hydraulic center (5-2) is arranged in a tailstock taper hole of the three-axis numerical control lathe (4-1), the tip end part is exposed out of the end face of the tailstock taper hole, and the fixed center (5-3) is arranged in a round hole in the center of the hydraulic chuck (5-1).

5. The closed automatic cutting robot cutting device for the capsule coating with the rotationally symmetrical structure is characterized in that a dust cover (1) is arranged on the periphery of the cutting device, the lower portion of a cover body (1-1) of the dust cover (1) is fixed with a three-axis numerically controlled lathe (4-1), the rear portion of the cover body (1-1) is fixed with a robot fixing frame (2-1) and surrounds the movement area of the three-axis numerically controlled lathe (4-1) and the movement area of a six-joint robot (2-2); the upper left shielding door (1-2) and the upper right shielding door (1-6) are arranged on the inner wall of the upper part of the cover body (1-1), and the lower left shielding door (1-4) and the lower right shielding door (1-7) are arranged on the outer wall of the lower part of the cover body (1-1); the clapboard (1-3) is arranged above a headstock of the three-axis numerical control lathe (4-1); the cylinder body of the air cylinder (1-9) is arranged on the outer wall of the middle part of the cover body (1-1), and the piston rod of the air cylinder (1-9) is respectively fixed with the right side of the top of the left lower shielding door (1-4) and the left side of the top of the right lower shielding door (1-7); the travel switch (1-8) is arranged on the inner wall of the cover body (1-1) and is positioned at the left lower corner of the upper left shielding door (1-2) in an open state; connecting bolts (1-10) are respectively arranged at the lower right corner of the outer wall of the upper left shielding door (1-2) and the lower left corner of the outer wall of the upper right shielding door (1-6), and pin rods are respectively inserted into holes at the upper right corner of the lower left shielding door (1-4) and the upper left corner of the lower right shielding door (1-7).

6. The closed automatic cutting robot cutting device for the capsule coating with the rotational symmetric structure according to claim 1 or 2, characterized in that the ventilation and dust removal equipment (3) is installed behind the tool (4) of the numerical control lathe and the machine tool, the filter type dust remover (3-3) is installed at the right side or the left side of the rear part of the closed automatic cutting robot cutting device for the capsule coating with the rotational symmetric structure, and two ventilation pipe joints (3-1) are installed on the outer wall of the rectangular bulge at the rear part of the cover body (1-1) and are respectively aligned with the two air suction ports of the rectangular bulge; the corrugated pipe (3-2) is respectively connected with the two ventilating pipe joints (3-1) and the filter type dust remover (3-3).

7. The closed automatic cutting robot cutting device for coating of the capsule body with the rotationally symmetric structure according to claim 1 or 2, characterized in that two dustproof cameras (7-1) of the monitoring system (7) are respectively installed at the upper part of the cover body (1-1) for monitoring the working state of the six-joint robot (2-2), and are installed at the lower part of the cover body (1-1) for monitoring the working state of a three-axis numerically controlled lathe (4-1) in the lower space of the closed automatic cutting robot cutting device for coating of the capsule body with the rotationally symmetric structure; the dustproof camera (7-1) is arranged on the upper part of the cover body (1-1), the installation position ensures that the visual field can cover the operation area of the six-joint robot (2-2), and the operation of the six-joint robot (2-2) and the product hoisting operation are not hindered; the dustproof camera (7-1) is arranged at the lower part of the cover body (1-1), the installation position ensures that the visual field can cover the work piece and the operation area of the carriage in the three-axis numerically controlled lathe (4-1), and the work piece clamping and tool setting operation is not hindered; the monitoring screen (7-2) is arranged above a CNC control panel of the three-axis numerically controlled lathe (4-1).

Technical Field

The invention discloses a closed automatic cutting robot cutting device for a capsule coating with a rotary symmetric structure, relates to an automatic cutting robot cutting device, and particularly relates to a closed automatic cutting robot cutting device for the capsule coating with the rotary symmetric structure.

Background

The outer surface of the rotary symmetrical structure cabin body is covered with a heat-proof coating for resisting the erosion of high-speed airflow and strong pneumatic heating in flight. In the coating process of the heat-proof coating, machining allowances are left on the outer surface of the coating, the edges of a window and a hole, and the machining allowances are removed by cutting to meet the requirements of the shape and the size of a design drawing.

The cutting process of the heat-proof coating has the following characteristics: firstly, the shape of the product is complex, particularly, the edges of a window and a hole are high-order curves, and the product cannot be finished by a common machine tool and only can be processed by a manual or numerical control processing technology; the cutting powder contains silicon dioxide and is powdery, so that the breathing system of an operator can be damaged by long-term contact, and meanwhile, the cutting powder enters gaps of processing equipment, so that the equipment is abraded and the processing precision is reduced; and thirdly, the processing elements are more and are positioned on the whole circumference of the cabin body, the shaft is changed for many times in the processing process, and the requirement on the accessibility of processing equipment is high.

At present, the technological allowance of the heat-proof coating is removed by adopting the following three cutting technological methods: firstly, the manual grinding process has low processing efficiency and poor precision, and operators directly contact with processing dust, so that the damage to health is great and the pollution to the operating environment is great; secondly, a five-axis turning and milling composite machining center is adopted for machining, although machining precision and efficiency are high, equipment is expensive, requirements on working environment are strict, and cutting dust greatly damages key components of the equipment, such as guide rails, bearings, grating rulers, sensors and the like; and thirdly, machining the surface of the outer circle by adopting a numerical control lathe, and then turning to a five-axis numerical control milling machine to machine the window and the hole edge.

The robot cutting device disclosed in the prior art can not perform turning and milling combined machining, only can perform milling and grinding machining, can not perform turning machining on a large-area rotary surface, is low in machining speed, small in machining amount and low in efficiency, and simultaneously, due to the structural characteristics of a six-joint series robot, namely poor rigidity, the circular runout precision of the machined rotary surface can not meet the requirements of an aircraft.

Disclosure of Invention

The invention aims to provide a closed automatic cutting robot cutting device for cabin coating with a rotary symmetric structure, which can automatically perform turning and milling composite cutting processing on cabin coating and can realize the isolation of operators from harmful dust.

A rotary symmetrical structure cabin coating closed type automatic cutting robot cutting device is characterized by comprising a robot system 2, a numerical control lathe and machine tool 4, a hydraulic clamping device 5, a dust cover 1, a ventilation and dust removal device 3 and a monitoring system 7;

the numerical control lathe and machine tool 4 are fixed on the ground, the robot system 2 is arranged behind the numerical control lathe and machine tool 4, the hydraulic clamping device 5 is arranged on the numerical control lathe and machine tool 4, the monitoring system 7 is arranged on the inner wall of the dust cover 1 and a CNC control panel of a three-axis numerical control lathe in the numerical control lathe and machine tool 4, the dust cover 1 covers the upper surface and the periphery of the numerical control lathe and machine tool 4, and the six-joint robot 2-2 of the robot system 2, the moving part of the three-axis numerical control lathe 4-1 of the numerical control lathe and machine tool 4, the machine tool 4-2, the hydraulic clamping device 5 and the dustproof camera 7-1 of the monitoring system 7 are sealed; the air suction port of the ventilation and dust removal device 3 is connected to the dust cover 1.

The three-axis numerically controlled lathe 4-1 is fixed on the ground; a machine tool 4-2 is fixed on a middle carriage of a three-axis numerical control lathe 4-1 through a door-shaped machine tool fixing frame 4-2-6; a pneumatic abrasive belt sander 4-2-1 of the machine tool 4-2 is arranged on the left side of a machine tool fixing frame 4-2-6; two sets of guide rod air cylinders 4-2-5 of the machine tool 4-2 are parallelly arranged on the top surface of a machine tool fixing frame 4-2-6; a high-speed pneumatic main shaft 4-2-3 of a machine tool 4-2 and a turning tool 4-2-4 of the machine tool 4-2 are respectively arranged on two sets of guide rod cylinders 4-2-5; a woodworking graver 4-2-2 of a machine tool 4-2 is arranged on a chuck of a high-speed pneumatic main shaft 4-2-3.

A robot fixing frame 2-1 of the robot system 2 is fixed behind a numerical control lathe and a machine tool 4 through a ground anchor 2-4, and a bottom plate of the six-joint robot 2-2 is fixed in the middle of a cross beam at the upper part of the robot fixing frame 2-1, so that the six-joint robot 2-2 is aligned with a processing area of the three-axis numerical control lathe 4-1; the robot tool 2-3 is fixed on a flange of the robot wrist joint 2-2-1 through a hoop 2-3-1 by screws, and a three-edge 90-degree chamfer milling cutter 2-3-3 of the robot tool 2-3 is fixed in a taper hole of the high-speed air-cooled electric spindle 2-3-2 through a spring ferrule.

A hydraulic cylinder of a hydraulic chuck 5-1 of the hydraulic clamping device 5 is arranged in a main shaft of the three-axis numerically controlled lathe 4-1, the bottom surface of the chuck of the hydraulic chuck 5-1 is tightly attached to the end surface of the main shaft of the three-axis numerically controlled lathe 4-1, and is fixed with the main shaft of the three-axis numerically controlled lathe 4-1 through a bolt; the hydraulic cylinder of the hydraulic center 5-2 is arranged in a tailstock taper hole of the three-axis numerical control lathe 4-1, the top point part is exposed out of the end face of the tailstock taper hole, and the fixed center 5-3 is arranged in a round hole in the center of the hydraulic chuck 5-1.

The dust cover 1 is arranged on the periphery of the cutting device, the lower part of a cover body 1-1 of the dust cover 1 is fixed with a three-axis numerical control lathe 4-1, and the rear part of the cover body 1-1 is fixed with a robot fixing frame 2-1 and surrounds the motion area of the three-axis numerical control lathe 4-1 and the motion area of a six-joint robot 2-2; the upper left shielding door 1-2 and the upper right shielding door 1-6 are arranged on the inner wall of the upper part of the cover body 1-1, and the lower left shielding door 1-4 and the lower right shielding door 1-7 are arranged on the outer wall of the lower part of the cover body 1-1; the partition plate 1-3 is arranged above a headstock of a three-axis numerical control lathe 4-1; the cylinder body of the cylinder 1-9 is arranged on the outer wall of the middle part of the cover body 1-1, and the piston rod of the cylinder 1-9 is respectively fixed with the right side of the top of the left lower shielding door 1-4 and the left side of the top of the right lower shielding door 1-7; the travel switch 1-8 is arranged on the inner wall of the cover body 1-1 and is positioned at the left lower corner of the upper left shielding door 1-2 in an opening state; connecting bolts 1-10 are respectively arranged at the right lower corner of the outer wall of the upper left shielding door 1-2 and the left lower corner of the outer wall of the upper right shielding door 1-6, and pin rods are respectively inserted into holes at the right upper corner of the lower left shielding door 1-4 and the left upper corner of the lower right shielding door 1-7.

The ventilating dust removal device 3 is arranged behind a numerical control lathe and a machine tool 4, the filter type dust remover 3-3 is arranged on the right side or the left side of the rear part of the rotary symmetrical structure cabin coating closed type automatic cutting robot cutting device, and two ventilating pipe joints 3-1 are arranged on the outer wall of a rectangular bulge at the rear part of a cover body 1-1 and are aligned with two air suction ports of the rectangular bulge respectively; the corrugated pipe 3-2 is respectively connected with the two ventilating pipe joints 3-1 and the filter type dust remover 3-3.

The two dustproof cameras 7-1 of the monitoring system 7 are respectively arranged at the upper part of the cover body 1-1 and used for monitoring the working state of the six-joint robot 2-2, and are arranged at the lower part of the cover body 1-1 and used for monitoring the working state of a three-axis numerical control lathe 4-1 in the lower space of the closed automatic cutting robot cutting device for the cabin coating with the rotary symmetric structure; the dustproof camera 7-1 is arranged at the upper part of the cover body 1-1, the installation position ensures that the visual field can cover the operation area of the six-joint robot 2-2, and the operation of the six-joint robot 2-2 and the product hoisting operation are not hindered; the dustproof camera 7-1 is arranged at the lower part of the cover body 1-1, the installation position ensures that the visual field can cover the work piece and the operation area of the carriage in the three-axis numerically controlled lathe 4-1, and the work piece clamping and tool setting operation is not hindered; the monitor screen 7-2 is mounted above the CNC control panel of the three-axis CNC lathe 4-1.

Has the advantages that:

the invention uses six-joint tandem robot to process the window and hole edge and uses the numerical control lathe as the positioner of the robot. Therefore, compared with a five-axis numerical control machining tool, the five-axis numerical control machining tool has the following advantages: 1) the degree of freedom is more, and the two machining arms are positioned on the same machining arm, so that the accessibility is good, and the deflection times in the machining process can be greatly reduced; 2) the equipment price is far lower than that of a multi-axis numerical control processing machine tool; 3) the six-joint tandem robot has strong bearing closure, does not have vulnerable precise devices such as a guide rail and a grating ruler, and can normally work in a high-dust environment.

Drawings

FIG. 1 is a schematic view of the structure of the present invention;

FIG. 2 is a schematic structural view of the present invention with the dust cover removed;

FIG. 3 is a schematic diagram of a robot system 2 according to the present invention;

FIG. 4 is a schematic view of the structure of the numerically controlled lathe and the machine tool 4 according to the present invention;

FIG. 5 is a schematic structural diagram of a hydraulic clamping device 5 according to the present invention;

FIG. 6 is a schematic view of a dust cover according to the present invention; wherein the content of the first and second substances,

(a) the structure of the dust cover 1 of the present invention is schematically shown,

(b) is an enlarged view at I in (a);

FIG. 7 is a top view of the present invention;

FIG. 8 is a flow chart of the cabin coating cutting process according to the embodiment.

Wherein, 1 is a dust cover, 2 is a robot system, 3 is a ventilation and dust removal device, 4 is a numerical control lathe and a machine tool, 5 is a hydraulic clamping device, 6 is a cabin body to be processed, 7 is a monitoring system, 1-1 is a cover body, 1-2 is a left upper shielding door, 1-3 is a partition plate, 1-4 is a left lower shielding door, 1-5 is a door opening and closing device, 1-6 is a right upper shielding door, 1-7 is a right lower shielding door, 1-8 is a travel switch, 1-9 is a cylinder, 1-10 is a connecting bolt, 2-1 is a robot fixing frame, 2-2 is a six-joint robot, 2-3 is a robot tool, 2-2-1 is a robot wrist joint, 2-3-1 is a hoop, 2-3-2 is a high-speed wind cooling electric main shaft, 2-3-3 is a three-edge 90-degree chamfer milling cutter, 3-1 is a ventilating pipe joint, 3-2 is a corrugated pipe, 3-3 is a filter type dust remover, 4-1 is a three-axis numerical control lathe, 4-2 is a machine tool, 4-2-1 is a pneumatic abrasive belt grinding machine, 4-2-2 is a woodworking graver, 4-2-3 is a high-speed pneumatic main shaft, 4-2-4 is a turning tool, 4-2-5 is a guide rod cylinder, 4-2-6 is a machine tool fixing frame, 5-1 is a hydraulic chuck, 5-2 is a hydraulic center, 5-3 is a fixed center, 7-1 is a dustproof camera, and 7-2 is a monitoring screen.

Detailed Description

A rotary symmetrical structure cabin coating closed type automatic cutting robot cutting device is characterized by comprising a robot system 2, a numerical control lathe and machine tool 4, a hydraulic clamping device 5, a dust cover 1, a ventilation and dust removal device 3 and a monitoring system 7;

the numerical control lathe and machine tool 4 are fixed on the ground, the robot system 2 is arranged behind the numerical control lathe and machine tool 4, the hydraulic clamping device 5 is arranged on the numerical control lathe and machine tool 4, the monitoring system 7 is arranged on the inner wall of the dust cover 1 and a CNC control panel of a three-axis numerical control lathe in the numerical control lathe and machine tool 4, the dust cover 1 covers the upper surface and the periphery of the numerical control lathe and machine tool 4, and the dust-proof camera 7-1 of the six-joint robot 2-2, the moving part of the three-axis numerical control lathe 4-1, the machine tool 4-2, the hydraulic clamping device 5 and the monitoring system 7 is sealed; the air suction port of the ventilation and dust removal device 3 is connected to the dust cover 1.

The numerical control lathe and the machine tool 4 comprise a three-axis numerical control lathe 4-1 and a machine tool 4-2, the three-axis numerical control lathe 4-1 is positioned right in front of the robot system 2, and the three-axis numerical control lathe 4-1 is fixed on the ground; a machine tool 4-2 is fixed on a middle carriage of a three-axis numerical control lathe 4-1 through a door-shaped machine tool fixing frame 4-2-6; the pneumatic abrasive belt sander 4-2-1 is arranged on the left side of the machine tool fixing frame 4-2-6; two sets of guide rod cylinders 4-2-5 are parallelly arranged on the top surface of a machine tool fixing frame 4-2-6; the high-speed pneumatic main shaft 4-2-3 and the turning tool 4-2-4 are respectively arranged on the two sets of guide rod cylinders 4-2-5; the woodworking graver 4-2-2 is arranged on a chuck of the high-speed pneumatic main shaft 4-2-3.

The robot fixing frame 2-1 is fixed behind the numerical control lathe and a machine tool 4 through a ground anchor 2-4, and a bottom plate of the six-joint robot 2-2 is fixed in the center of a cross beam at the upper part of the robot fixing frame 2-1, so that the six-joint robot 2-2 is aligned with a machining area of the three-axis numerical control lathe 4-1; the robot tool 2-3 is fixed on a flange of a robot wrist joint 2-2-1 through an embracing ring 2-3-1 by using a screw, and the three-edge 90-degree chamfer milling cutter 2-3-3 is fixed in a taper hole of the high-speed air-cooled electric spindle 2-3-2 through a spring clamping sleeve;

a hydraulic cylinder of the hydraulic chuck 5-1 is arranged in a main shaft of the three-axis numerically controlled lathe 4-1, the bottom surface of the chuck is tightly attached to the end surface of the main shaft of the three-axis numerically controlled lathe 4-1 and is fixed with the main shaft of the three-axis numerically controlled lathe 4-1 through a bolt; a hydraulic cylinder of the hydraulic center 5-2 is arranged in a tailstock taper hole of the three-axis numerical control lathe 4-1, a top point part is exposed out of the end face of the tailstock taper hole, and a fixed center 5-3 is arranged in a circular hole in the center of the hydraulic chuck 5-1;

the dust cover 1 is arranged at the periphery of the cutting device, the lower part of the dust cover 1-1 is fixed with a three-axis numerically controlled lathe 4-1, and the rear part of the dust cover 1-1 is fixed with a robot fixing frame 2-1 and surrounds the motion area of the three-axis numerically controlled lathe 4-1 and the motion area of a six-joint robot 2-2; the shielding device comprises a cover body 1-1, a left upper shielding door 1-2, a right upper shielding door 1-6, a left lower shielding door 1-4, a right lower shielding door 1-7, a left upper shielding door and a right upper shielding door 1-6, wherein the upper shielding door 1-2 and the right upper shielding door 1-6 are arranged on the inner wall of the upper part of the cover body 1-1; the partition plate 1-3 is arranged above a headstock of a three-axis numerical control lathe 4-1; the cylinder body of the air cylinder 1-9 is arranged on the outer wall of the middle part of the cover body 1-1, the piston rod of the air cylinder 1-9 is respectively fixed with the right side of the top of the left lower shielding door 1-4, and the left side of the top of the right lower shielding door 1-7; the travel switch 1-8 is arranged on the inner wall of the cover body 1-1 and is positioned at the left lower corner of the upper left shielding door 1-2 in an opening state; connecting bolts 1-10 are respectively arranged at the right lower corner of the outer wall of the upper left shielding door 1-2 and the left lower corner of the outer wall of the upper right shielding door 1-6, and pin rods are respectively inserted into holes at the right upper corner of the lower left shielding door 1-4 and the left upper corner of the lower right shielding door 1-7;

the ventilation and dust removal device 3 is arranged behind a numerical control lathe and a machine tool (4), the filter type dust remover 3-3 is arranged on the right side of the rear part of the closed automatic cutting robot cutting device of the cabin coating with the rotary symmetrical structure and can also be arranged on the left side, and two ventilation pipe joints 3-1 are arranged on the outer wall of a rectangular bulge at the rear part of the cover body 1-1 and are respectively aligned with two air suction ports of the rectangular bulge; the corrugated pipe 3-2 is respectively connected with the two ventilating pipe joints 3-1 and the filter type dust remover 3-3.

Two dustproof cameras 7-1 of the monitoring system 7 are respectively arranged at the upper part of the cover body 1-1 and used for monitoring the working state of the six-joint robot 2-2, and are arranged at the lower part of the cover body 1-1 and used for monitoring the working state of a three-axis numerical control lathe 4-1 in the lower space of the closed automatic cutting robot cutting device for the cabin coating with the rotary symmetric structure; the dustproof camera 7-1 is arranged at the upper part of the cover body 1-1, the installation position ensures that the visual field can cover the operation area of the six-joint robot 2-2, and the operation of the six-joint robot 2-2 and the product hoisting operation are not hindered; the dustproof camera 7-1 is arranged at the lower part of the cover body 1-1, the installation position ensures that the visual field can cover the work piece and the operation area of the carriage in the three-axis numerically controlled lathe 4-1, and the work piece clamping and tool setting operation is not hindered; the monitor screen 7-2 is mounted above the CNC control panel of the three-axis CNC lathe 4-1.

Closed gyration symmetrical structure coating automatic cutout robot cutting device includes: the system comprises a robot system, a numerical control lathe, a machine tool, a hydraulic clamping device, a dust cover, ventilation and dust removal equipment and a monitoring system. The specific structure is shown in fig. 1 and fig. 2.

The robot system is the core of the closed automatic cutting robot cutting device for the coating of the whole rotary symmetrical cabin and controls the whole system. The numerical control lathe, a machine tool, a hydraulic clamping device, a dust cover and ventilation and dust removal equipment are all used as external machines of the robot system and are controlled by the robot system. The monitoring system is an independent system and has no communication and logic relation with the rest parts.

The robot system is composed of: the six-joint robot comprises a robot fixing frame, a robot tool and a ground anchor. A robotic tool comprising: the milling cutter comprises an embracing ring, a high-speed air-cooled electric spindle and a three-edge 90-degree chamfer milling cutter. The device is used for milling, punching and cutting the edge of the cabin coating, and simultaneously serves as a control center of a closed automatic cutting robot cutting device of the cabin coating with a rotary symmetric structure to control the actions of a three-axis numerical control lathe, a machine tool, a hydraulic clamping device, a dust cover and ventilation and dust removal equipment. The specific structure is shown in figure 3.

Numerical control lathe and lathe tool, numerical control lathe is three-axis numerical control lathe. A machine tool, comprising: the pneumatic abrasive belt grinding machine comprises a pneumatic abrasive belt grinding machine, a high-speed pneumatic main shaft, a turning tool, a guide rod cylinder, a machine tool fixing frame, a woodworking graver and a turning tool. The numerical control lathe and the machine tool are used as a state machine of the robot, and the following actions are carried out under the control of the robot: turning and polishing the outer circle surface of the coating, processing the coating to a radial hole, aligning a tool (determining an angular initial position), returning a tool rest, and performing angular displacement on the part (serving as a displacement device of a robot). The specific structure is shown in figure 4.

Hydraulic clamping apparatus, comprising: the hydraulic chuck is positioned at the head of the bed and used for clamping the front end; the hydraulic center is positioned on the tailstock and used for tightly pushing the rear end of the product; and the fixed center is positioned in the center of the hydraulic chuck and is used for axially positioning the product. The specific structure is shown in fig. 5.

The dust cover consists of a cover body, an upper left shielding door, a lower left shielding door, a partition plate, an upper right shielding door, a lower right shielding door and a door opening and closing device. The door opening and closing device comprises a left set of linked air cylinder, a right set of linked air cylinder, a travel switch and a connecting bolt. The shielding door is used for isolating cutting dust and is opened and closed under the control of a robot. The specific structure is shown in fig. 6.

The ventilating dust-removing equipment is composed of filtering dust-removing machine, corrugated pipe and pipe joint. The tail gas filter is used for pumping out processing dust in a working area, filtering tail gas and discharging the tail gas after harmlessness.

The monitoring system consists of a dustproof camera and a monitoring screen. The device is used for monitoring the running state of the closed automatic cutting robot cutting device for the coating of the capsule body with the rotationally symmetrical structure from the outside of the dust cover.

The layout of each component of the closed type rotary symmetrical structure coating automatic cutting robot cutting device is shown in figure 7. The specific installation method is as follows:

the three-axis numerically controlled lathe 4-1 is positioned at the front part (positioned right in front of the robot system 2) of the closed automatic cutting robot cutting device for the capsule coating with the whole rotary symmetrical structure and is directly fixed on the ground. The machine tool 4-2 is fixed on a middle carriage of the three-axis numerical control lathe 4-1 through a door-shaped machine tool fixing frame 4-2-6. The pneumatic abrasive belt sander 4-2-1 is arranged on the left side of the machine tool fixing frame 4-2-6. Two sets of guide rod cylinders 4-2-5 are parallelly arranged on the top surface of the machine tool fixing frame. The high-speed pneumatic main shaft 4-2-3 and the turning tool 4-2-4 are respectively arranged on the two sets of guide rod cylinders 4-2-5. The woodworking graver 4-2-2 is arranged on a chuck of the high-speed pneumatic main shaft 4-2-3.

The robot fixing frame 2-1 is erected at the rear part of the closed automatic cutting robot cutting device for the cabin coating with the rotary symmetrical structure through a ground anchor 2-4, and a bottom plate of the six-joint robot 2-2 is fixed in the middle of a cross beam at the upper part of the robot fixing frame 2-1, so that the six-joint robot 2-2 is aligned with a machining area of a three-axis numerical control lathe 4-1. The robot tool 2-3 is fixed on a flange of a wrist joint 2-3-1 of the robot through a hoop 2-3-1 by screws. The three-edge 90-degree chamfer milling cutter 2-3-3 is fixed in the taper hole of the high-speed air-cooled electric spindle 2-3-2 through a spring ferrule.

A hydraulic cylinder of the hydraulic chuck 5-1 is arranged in a main shaft of the three-axis numerically controlled lathe 4-1, the bottom surface of the chuck is tightly attached to the end surface of the main shaft of the three-axis numerically controlled lathe 4-1 and is fixed with the main shaft of the three-axis numerically controlled lathe 4-1 through a bolt; the hydraulic cylinder of the hydraulic center 5-2 is arranged in a tailstock taper hole of the three-axis numerical control lathe 4-1, and the tip part is exposed out of the end face of the tailstock taper hole by about 150 mm. The fixed center 5-3 is arranged in a circular hole in the center of the hydraulic chuck 5-1.

The dust cover 1 is arranged on the periphery of a closed automatic cutting robot cutting device of a cabin coating with a rotation symmetrical structure, the lower part of the cover 1-1 is fixed with a three-axis numerical control lathe 4-1, the rear part of the cover is fixed with a robot fixing frame 2-1 and the cover surrounds the movement area of the three-axis numerical control lathe 4-1 and a six-joint robot 2-2. The upper left shielding door 1-2 and the upper right shielding door 1-6 are installed on the inner wall of the upper part of the cover body 1-1, and the lower left shielding door 1-4 and the lower right shielding door 1-7 are installed on the outer wall of the lower part of the cover body 1-1. The clapboard 1-3 is arranged above a headstock of the three-axis numerical control lathe 4-1. The cylinder body of the cylinder 1-9 is arranged on the outer wall of the middle part of the cover body 1-1, and the piston rod of the cylinder 1-9 is respectively fixed with the right side of the top of the left lower shielding door 1-4 and the left side of the top of the right lower shielding door 1-7. And the travel switch 1-8 is arranged on the inner wall of the cover body 1-1 and is positioned at the left lower corner of the upper left shielding door 1-2 in an opening state. Connecting bolts 1-10 are respectively arranged at the right lower corner of the outer wall of the upper left shielding door 1-2 and the left lower corner of the outer wall of the upper right shielding door 1-6, and pin rods are respectively inserted into holes at the right upper corner of the lower left shielding door 1-4 and the left upper corner of the lower right shielding door 1-7.

The ventilation and dust removal device 3 is arranged at the rear part of the rotary symmetrical structure cabin coating closed automatic cutting robot cutting device, the filter type dust remover 3-3 is arranged at the right side or the left side of the rear part of the rotary symmetrical structure cabin coating closed automatic cutting robot cutting device, and two ventilation pipe joints 3-1 are arranged on the outer wall of the rectangular bulge at the rear part of the cover body 1-1 and are respectively aligned with two air suction ports of the rectangular bulge. The corrugated pipe 3-2 is respectively connected with the two ventilating pipe joints 3-1 and the filter type dust remover 3-3.

Two dustproof cameras 7-1 of the monitoring system 7 are respectively arranged on the upper part of the cover body 1-1 and used for monitoring the working state of a six-joint robot 2-2 in the upper space of the rotary symmetrical cabin coating closed type automatic cutting robot cutting device, and the dustproof cameras are arranged on the lower part of the cover body 1-1 and used for monitoring the working state of a numerical control lathe in the lower space of the rotary symmetrical cabin coating closed type automatic cutting robot cutting device. The dustproof camera 7-1 is arranged at the upper part of the cover body 1-1, the installation position ensures that the visual field can cover the operation area of the six-joint robot 2-2, and the operation of the six-joint robot 2-2 and the product hoisting operation are not hindered; the dustproof camera 7-1 is arranged in the lower space of the cover body 1-1, the installation position ensures that the visual field can cover the work piece and the operation area of the carriage in the three-axis numerically controlled lathe 4-1, and the work piece clamping and tool setting operation is not hindered. The monitor screen 7-2 is mounted above the CNC control panel of the three-axis CNC lathe 4-1.

TABLE 1 robot and State machine characterization List

Name (R)	Use of	Movement of	Degree of freedom of motion and logic
				Robot and robot tool	Milling, perforating, cutting, controlling the entire cutting device	Milling, punching, cutting and avoiding	Six degrees of freedom
Three-axis numerical control lathe and machine tool	Processing, tool setting, punching and cabin transposition on the outer surface of the coating	Cutting, transposition, tool setting, punching and avoiding	Three-machine-tool freedom degree + two guide rod air cylinder + two tools
				Dust cover	Prevent the escape of dust	Shield door open/close, limit switch trigger/reset	Two sets linkage cylinder + one sensor (limit switch)
Ventilation dust-removing device	Dust is extracted from the working area	Fan start-stop	A fan
				Hydraulic clamping device	Clamping workpiece	Center ejection and chuck clamping	Hydraulic chuck and hydraulic center

TABLE 2 cutting device I/O event List

Serial number	I/O events	Properties of	Sending party	Receiving party
					Di1	Waiting of numerically controlled lathe	Control (input)	Operator	Numerical control lathe
Di2	Robot wait	Control (input)	Operator	Robot
					Di3	Hydraulic center and chuck clamping	Control (input)	Operator	Hydraulic clamping device
Do1	The clamping force reaches a limit value	Feedback (output)	Hydraulic clamping device	Robot
					Di4	Starting angle of workpiece	Control (input)	Operator	Numerical control lathe
Di5	Dust coverClosing device	Control (input)	Robot	Dust cover
					Di6	Ventilation dust-removing equipment opening	Control (input)	Robot	Ventilation dust-removing equipment
Di7	Beginning of processing of outer conical surface of coating	Control (input)	Robot	Numerical control lathe
					Do2	Finish of coating	Feedback (output)	Numerical control lathe	Robot
Do3	Coating edge processing readiness	Feedback (output)	Numerical control lathe	Robot
					Do4	Robot process coating edge completion wait	Feedback (output)	Robot	Numerical control lathe
Do5	Waiting for completion of transposition of numerically controlled lathe	Feedback (output)	Numerical control lathe	Robot
					Do6	The robot moves back to the parking position	Feedback (output)	Robot	Numerical control lathe
Di8	Delay shutdown of ventilation dust removal equipment	Control (input)	Numerical control lathe	Ventilation dust-removing equipment
					Di9	Dust cover opening	Control (input)	Robot	Dust cover
Do7	Dust cover in place	Feedback (output)	Dust cover	Robot
					Do8	Procedure completion	Feedback (output)	Robot	Operator
Di10	Hydraulic tip and chuck loosening	Control (input)	Operator	Hydraulic clamping device

The working process of the closed automatic cutting robot cutting device for the capsule coating with the rotary symmetric structure comprises the following steps:

firstly, processing preparation is carried out, and the processing preparation comprises the following steps: and starting the numerical control lathe and the robot for waiting, clamping and positioning the tool, setting the tool and recording the initial angle, closing the dust cover and opening the ventilation and dust removal equipment.

Then, carrying out cutting processing on the heat-proof coating, wherein the cutting processing comprises the following steps: and (4) processing an outer conical surface of the coating and processing the edge of the coating.

And finally, processing and ending, comprising: the robot moves back to the parking position, the ventilation and dust removal equipment is stopped in a delayed mode, the dust cover is opened, the positioning tool is loosened, and the product and the positioning tool are dismounted.

Compared with the prior art, the closed automatic cutting robot cutting device for the capsule coating with the rotary symmetric structure has the following advantages: the processing efficiency is improved, the labor intensity is reduced, the coating processing quality and the product consistency are improved, the product is automatically processed in a closed environment, and the isolation of operators and harmful cutting dust is realized.

The first embodiment is as follows:

the present invention is illustrated below by way of an example.

First robot system

The robot adopts a universal six-joint industrial robot of RB20 model widely available from Guangzhou numerical control equipment Co., Ltd, the robot tool is a JGD-48-0.3 air-cooled constant-torque high-speed electric spindle of Ken high-speed motor Co., Ltd, Jingjiang, and the cutter is a Huhao cemented carbide phi 6 three-edge 90-degree chamfer milling cutter. The robot fixing frame is anchored on the rear portion of the closed automatic cutting robot cutting device with the cabin coating layer of the rotary symmetrical structure through a ground anchor, the six-joint robot is fixed on a cross beam on the upper portion of the robot fixing frame, the horizontal distance from the bottom surface of the robot to a machine tool spindle is 1100mm, the vertical distance from the center point of the bottom surface of the robot to the machine tool spindle is 750mm, and the distance from the center point of the bottom surface of the robot to the end surface of the numerical control lathe spindle is 300mm (left and right directions). The high-speed air-cooled electric spindle is fixed on a flange of a wrist joint of the robot through a hoop by using screws, and the cutter is fixed in a taper hole of the electric spindle through a spring clamping sleeve.

A vertical lathe and a machine tool

The three-axis numerically controlled lathe is positioned at the front part (positioned right in front of a robot system) of the closed automatic cutting robot cutting device for the capsule coating with the whole rotation symmetrical structure and is directly fixed on the ground. Adopt general horizontal triaxial numerical control lathe of CK6180 type, three degrees of freedom are respectively: the main shaft rotates C, the tool rest axially translates X, and the tool rest radially translates Y. The numerical control lathe is modified as follows: firstly, a main shaft driving device is improved, a stepping motor is adopted to directly drive a machine tool main shaft, the inertia of a main shaft transmission system is reduced, and the accurate indexing of the rotation of the main shaft and the starting and stopping at any position (similar to the main shaft of a turn-milling machining center) can be realized through modification; secondly, the control system of the machine tool is improved, namely Siemens 8080D (with a certain milling control function) is adopted; the improvement of the tool post, namely, the original four-station turret tool post is changed into the tool post which drives a machine tool to advance and retreat by a guide rod cylinder, and one side of the tool post is additionally provided with a pneumatic abrasive belt sander.

Machine tool: a numerically-controlled excircle machine-mounted cutter bar SRDPNM10 and a circular machine-mounted blade RCMXR 4; japanese NAKANISHI high-speed pneumatic main shaft EMS-3060A, Huhao hard alloy V-shaped edge woodwork carving knife 3mm x 14.5mm x 90 degrees; a 10 x 330 pneumatic abrasive belt sander of a valley island, wherein the abrasive belt adopts a No. 60 abrasive belt; the guide rod cylinder is made of CXWM20-100R model of Japanese SMC. The numerical control excircle machine tool bar and the air-cooled high-speed electric spindle are fixed on a guide rod cylinder through screws, the guide rod cylinder is arranged on the upper surface of a door-shaped machine tool fixing frame, the pneumatic abrasive belt grinding machine is arranged on the left side surface of the door-shaped machine tool fixing frame, and the door-shaped machine tool fixing frame is arranged on a middle carriage of the numerical control lathe.

Hydraulic clamping device for three-step casting

The hydraulic chuck is preferably N215 and the hydraulic tip is preferably MT 4. A hydraulic cylinder of the hydraulic chuck is positioned in a main shaft of the numerical control lathe, and the chuck is fixed with the main shaft of the numerical control lathe through a bolt; the hydraulic center is arranged in the taper hole of the tailstock of the numerical control lathe, and the tip part of the hydraulic center is exposed out of the end face of the taper hole of the tailstock by about 150 mm.

Fourth dust cover

The door opening and closing device of the dust cover adopts German standard cylinder type air cylinders SE-32 x 900 and SE-32 x 600, and the travel switch adopts omron-HL-5030 of Japan ohm dragon.

The height of the dust cover is 3000mm, the left-right length of the dust cover is 3500mm, the length of the dust cover in the front-back direction is 1200mm, the width of the opening is 1680mm, and the left end surface of the opening is flush with the right end surface of the headstock of the numerical control lathe; the distance between the right wallboard of the dust cover and the right end face of the lathe guide rail is 350mm, and the distance between the rear wallboard of the dust cover and the bottom face of the robot is 350 mm.

Fifthly ventilating dust removing equipment

The filter type dust remover is an HMC32 type cloth bag filter type dust remover for grinding and polishing dust powder, the filter precision is 0.3 mu m, and the filter efficiency is 99.9%; the fan is a Y90S-2 centrifugal fan, the power rate is 1.5KW, the air volume is 1500m and/h-2400 m for carrying out heavy planting/h, and the rotating speed is 1450 r/min. The diameter of the corrugated pipe is phi 150 mm. The distance between the air suction inlet and the ground is 1300mm, the distance between the left air suction inlet and the right end surface of the headstock of the numerical control lathe is 480mm, and the distance between the left air suction inlet and the right air suction inlet is 650 mm.

Sixthly, monitoring system

The dustproof camera consists of a common camera and a dustproof cover, the camera is a Haikangwei C6C/N standard version wireless camera, and the dustproof cover is a commercially available product matched with the camera.

The two dustproof cameras are positioned in the cover body of the dustproof cover and are respectively used for monitoring the working states of the six-joint robot and the three-axis numerically controlled lathe. The dustproof camera is arranged in the upper space of the cover body, is positioned at the rear upper corner of the left wall plate of the cover body, is 260mm away from the top plate of the cover body, and is 260mm away from the rear wall plate of the cover body; the dustproof camera arranged in the lower space of the cover body is positioned at the front upper corner of the right end face of the headstock of the numerical control lathe, is 150mm away from the front wall of the headstock and is 150mm away from the top face of the headstock.

The coating cutting workflow is shown in figure 7. The robot and state machine actions are shown in table 3.

TABLE 3 cutting device action List

The invention discloses a cutting device of an automatic cutting robot, and particularly relates to a closed automatic cutting robot cutting device for a cabin coating with a rotary symmetric structure. The cutting device consists of a robot system, a numerical control lathe, a machine tool, a hydraulic clamping device, a dust cover and ventilation and dust removal equipment. The problems that the existing manual grinding process is low in production efficiency, poor in machining precision and surface quality, high in product rejection rate, and bad in working environment due to the fact that an operator directly contacts harmful machining dust are solved.

The utility model provides a closed automatic cutting robot cutting device of gyration symmetrical structure coating which characterized in that: the device comprises a robot system, a numerical control lathe, a machine tool, a hydraulic clamping device, a dust cover and ventilation and dust removal equipment.

The robot system is composed of: the six-joint robot comprises a robot fixing frame, a robot tool and a ground anchor. The robot tool consists of a hoop, a high-speed air-cooled electric spindle and a three-edge 90-degree chamfer milling cutter. The robot is used as a control center of the cutting device to control the actions of the three-axis numerical control lathe, a machine tool, a hydraulic clamping device, a dust cover and ventilation and dust removal equipment.

Numerical control lathe and lathe tool, numerical control lathe is three-axis numerical control lathe. The machine tool consists of a pneumatic abrasive belt grinding machine, a high-speed pneumatic main shaft, a turning tool, a guide rod cylinder, a machine tool fixing frame, a woodworking graver and a turning tool. The numerical control lathe and the machine tool are used as state machines of the robot and run under the control of the robot. The numerically controlled lathe is used as a displacement device of the cutting device, and rotates the part to a specified angle in accordance with the motion of the robot according to the command of the robot.

Hydraulic clamping apparatus, comprising: the hydraulic chuck is positioned at the head of the bed and used for clamping the front end; the hydraulic center is positioned on the tailstock and used for tightly pushing the rear end of the product; and the fixed center is positioned in the center of the hydraulic chuck and is used for axially positioning the product.

The dust cover consists of a cover body, a shielding door, a partition plate and a door opening and closing device. The door opening and closing device comprises a left set of linked air cylinders, a right set of linked air cylinders, a travel switch and a connecting plug pin, and the shielding door is opened and closed under the control of a robot.