阅读说明：本技术 铣削和深钻削机器 (Milling and deep drilling machine ) 是由 S·D·塔瓦雷斯·安德烈 于 2019-06-19 设计创作，主要内容包括：本申请描述了一种由控制单元操作的铣削和深钻削机器,控制单元以协调且自动的方式命令机械臂以及至少一个技术工具储存柜的动作,机械臂负责铣削和深钻削动作。机械臂包括活动结构并包括基部结构(1.1),驱动单元(15)在滑动轨道(1.2)之上沿着基部结构运动。通过将铣削工具联接至驱动单元(15)实现机器中的铣削模式的配置。对于深钻削模式的配置,机械臂(1)的基部结构(1.1)包括联接器件(10),所述联接器件容许组装其中安装有深孔钻削工具的盒(2)。(The present application describes a milling and deep drilling machine operated by a control unit commanding, in a coordinated and automatic manner, the actions of a robotic arm responsible for the milling and deep drilling actions, and of at least one technical tool storage cabinet. The robot arm comprises a moving structure and comprises a base structure (1.1) along which a drive unit (15) moves over a slide rail (1.2). The configuration of the milling mode in the machine is achieved by coupling the milling tool to a drive unit (15). For the configuration of the deep drilling mode, the base structure (1.1) of the robot arm (1) comprises coupling means (10) which allow assembling the magazine (2) in which the deep hole drilling tool is mounted.)

1. A milling and deep drilling machine comprising:

-a robotic arm comprising:

-a mobile structure adapted to perform a linear three-dimensional motion within the milling and deep drilling machine;

-a base structure comprising a sliding rail and a box-arm type coupling means;

-a carriage moving along the base structure over the sliding track;

-at least one technical cabinet comprising:

-at least one milling tool comprising a cone for coupling to the carrier and a mechanism for locking the rotation of the cone when the cone is coupled to the carrier; and/or

-at least one cartridge, said cartridge comprising:

-a drilling tool comprising a cone and a corresponding cone support for coupling to the holder;

-a rotation locking mechanism adapted to lock rotation of the cone when the cone is coupled to the carriage;

-a mechanical locking mechanism adapted to fix the position of the cone support;

-an arm-box type coupling means;

a control unit comprising processing means, in particular configured to operate the robot arm and at least one technical latch cabinet.

2. Machine according to any of the preceding claims, characterized in that the storage of at least one milling tool and at least one cassette in a technical cabinet is achieved by means of an automatic tie rod.

3. Machine according to any one of the preceding claims, characterized in that said arm-box type coupling means or box-arm type coupling means are of the automatic tie-rod type.

4. Machine according to any one of the preceding claims, characterized in that the installation of deep-drilling tools in a magazine is performed by panels, the number of which varies according to the length of the tool.

5. Machine according to claim 4, characterized in that the panel comprises two elastic tabs adapted to attach a damper, which secures the tool to the box, and a locking plate.

6. Machine according to any of the preceding claims, characterized in that the cone support of the deep drilling tool comprises bearings for supporting the cone of the tool, detachable flanges, locking pins and a moving mechanism for positioning along the base structure of the robot arm.

7. The machine of any preceding claim, wherein the rotational locking mechanism of the cassette comprises a block, a spring and a stop bolt, wherein the block moves linearly in a path limited by the action of the spring and stop bolt.

8. A machine as claimed in any one of the preceding claims in which the mechanical locking mechanism comprises an adjustment rule on which the castellations move, the adjustment rule being adjustable for different sizes of tool.

9. The machine of any one of the preceding claims, wherein the technical cabinet comprises a protective curtain and a window providing access to the outside for manual intervention by an operator.

Technical Field

The present application describes a milling and deep drilling machine.

Background

Currently, it is observed that replacing a deep drill bit is a process that requires human intervention (i.e. intervention that interrupts the automatic work cycle of the machine tool), thereby significantly affecting the total machining time.

In fact, in the case of milling and deep drilling machines, human intervention can occur in two cases:

i. switching from milling mode to deep drilling mode and vice versa by loading a gun drill (hereinafter simply referred to as drilling tool) or a milling tool;

replacing the drilling or milling tool.

Case i requires automatic release of the tool and intervention by the operator, causing the operator to interrupt his work cycle. The operator is responsible for manually assembling all the equipment (head, dampers, flanges, panels, tools, cones) necessary to correctly couple the tool to the machine. Case ii requires manual replacement of the tool and all its supporting equipment (head end, damper, flange, panels and cone) by the operator, for example due to a change in the intended diameter/length of the tool or due to wear of the tool.

Disclosure of Invention

The present application describes a milling and deep drilling machine comprising:

-a robotic arm comprising:

-a mobile structure adapted to perform linear three-dimensional movements within the machine;

-a base structure comprising a sliding track and arm-box type coupling means;

-it, which moves along the base structure, above the sliding track;

-at least one technical cabinet comprising:

-at least one milling tool comprising a cone for coupling to the carriage and a mechanism for locking the rotation of the cone during the action of coupling to the carriage; and/or

-at least one cartridge, said cartridge comprising:

-a drilling tool comprising a cone support for coupling to the cone and cone of the holder;

-a rotation locking mechanism adapted to lock the rotation of the cone during the action of coupling to the carriage;

-a mechanical locking mechanism adapted to fix the position of the cone support;

-a cartridge-arm type coupling means;

a control unit comprising processing means, which is particularly configured to operate the robot arm and the at least one technical cabinet.

In a particular embodiment of the machine, the storage of the at least one milling tool and the at least one cassette in the technical cabinet is performed by means of an automatic tie rod. The arm-box type or box-arm type coupling means may be of the automatic tie-rod type.

In a particular embodiment of the machine, the mounting of the deep hole drilling tool in the magazine is performed using panels, the number of which varies according to the length of said tool. The panel may comprise a locking plate and two resilient tabs, a damper adapted to attach a tool to the box.

In a particular embodiment of the machine, the cone support of the deep hole drilling tool comprises a bearing for supporting the cone of the tool, a detachable flange, a locking pin and a moving mechanism for positioning along the base structure of the robotic arm.

In yet another particular embodiment of the machine, the cartridge rotation locking mechanism comprises a block, a spring and a stop bolt, wherein the block moves linearly in a path limited by the action of the spring and the stop bolt.

In one particular embodiment of the machine, the mechanical locking mechanism comprises an adjustment rule on which the castellations move, said adjustment rule being adjustable for different sizes of tools.

Finally, in a particular embodiment of the machine, the technical cabinet comprises an external access window and a protective curtain for manual intervention by the operator.

The present application stems from the need to automate the operation of milling and deep drilling machines, avoiding operator intervention. To this end, a milling and deep drilling machine, hereinafter simply referred to as machine, is proposed, the operation of which is commanded by a control unit which operates in a coordinated manner the actions of a robot arm, which is responsible for the actions of milling and deep drilling, and of at least one technical tool storage magazine.

The mechanical arm is formed by a mobile structure that ensures its linear three-dimensional movement within the machine. The robot arm comprises a base structure along which a drive unit (hereinafter referred to as a gantry) moves over a slide rail.

The configuration of the milling mode of the machine is achieved by coupling the gantry to the milling tool by means of a cone, for which purpose the gantry is at the outermost position of the robot arm. The milling tools are stored in a technical locker at a location of the machine that is accessible to the robotic arm. For the configuration of the deep drilling mode, the base structure of the robot arm comprises coupling means (arm-box automatic locking fitting) which allow assembling the deep drilling box. The coupling between the cassette and the base structure of the robot arm is achieved by means of complementary automatic tie-rods positioned in the two members of the cassette and the base structure of the robot arm, for which purpose the racks are completely withdrawn into the innermost position of the base structure.

The cassettes are stored in the technical cabinets by means of automatic tie rods (technical cabinet-cassette automatic locking fittings) in a position in the machine that can be reached by the robot arm. Each cartridge has mounted thereon a deep drilling tool with specific diameter and length characteristics. The mounting of the tool in the magazine is performed using panels, the number of which may vary depending on the length/diameter ratio of the tool. The operation of loading or removing the cassette is achieved by automatic loading of the cassette on the base structure of the robotic arm, without interrupting the machining cycle, by the coordinated action of the control unit on the robotic arm and on the technical cabinet in which it is stored.

In order to automate the loading and removal actions of the milling tool or cassette on the base structure of the robot arm, thereby ensuring correct and uninterrupted operation of the machine, both the milling tool or cassette and the base structure of the robot arm are equipped with locking mechanisms. In the case of a milling tool, the latter comprises a rotation locking mechanism, the purpose of which is to ensure that the cone of the tool does not rotate during the action of coupling to the holder.

As regards the cartridge, it is equipped with two complementary locking mechanisms that act on the level of the deep drilling tools mounted on the cartridge, and on the level of the rack of the robotized arm to which the cartridge is to be coupled. The first mechanism is a mechanical locking mechanism designed to ensure correct positioning and fixing of the cone support of the tool, which enables binding to the rack. To this end, the box comprises an adjustment ruler on which a mechanical locking mechanism moves and which comprises castellations that can be adjusted according to the different sizes of the gun drill. Depending on the length of the tool to be mounted on the cassette and due to the interaction of the castellations with the mechanical locking mechanism, it is possible to allow the cone support of the tool to be locked in position for subsequent coupling of the racks. The operation of mounting the tool on the magazine and the corresponding operation of the mechanical locking mechanism are performed by the operator before the operation of the machine. The second locking mechanism involves a rotational lock and is intended to ensure that the cone of the tool does not rotate during the action of coupling to the carriage.

The control unit is responsible for controlling the linear three-dimensional movement of the mechanical arm in the machine and the action of the technical cabinet, in particular the protective curtain of the technical cabinet. The actions of the control unit on these two components occur on the following levels:

i. operation in deep drilling mode, by loading the cartridges stored in the technical cupboard onto the base structure of the robot arm;

operation in milling mode, by loading of the milling tools stored in the technical cabinets onto the base structure of the robotic arm;

configuring of milling or deep drilling mode, by changing milling tool or cartridge coupled to the base structure of the robot arm, by changing milling/drilling parameters-diameter/length of tool, respectively;

removal of milling tools or cassettes coupled to the base structure of the robotic arm, and their consequent storage in the technical cupboard.

For loading the milling tool onto the base structure of the robot arm, as implied by the operation defined in point ii, the control unit operates the robot arm and the technical cabinet in the following manner:

-the shelf is moved to its outermost position;

the mechanical arm moves to the technical cabinet by means of a linear movement, positioning itself in close proximity to the milling tool it is to load, causing the protective curtain to open;

-then positioning the milling tool relative to the holder;

-the carriage performs a linear movement towards the cone of the tool, after which the cone is constrained to the carriage, which enables the robotic arm to perform milling operations by lengthening the machine.

To load the cartridge onto the base structure of the robot arm, as implied by the operations defined in points i and iii, the control unit operates the robot arm and the technical cabinet in the following manner:

-the carriage is moved to its maximum withdrawn position;

the mechanical arm then moves to the technical cabinet, positioning itself in close proximity to the box it is to load, by means of a linear movement, causing the protective curtain to open;

-thereafter, the robot arm is moved towards the cartridge;

-deactivating the cartridge-arm auto-locking fitting; the base structure of the robotic arm rests against the cassette; enabling the cassette-arm auto-lock fitting and then disabling the technical cabinet-cassette auto-lock fitting;

the robot arm moves away from the technical cabinet and the protective curtain closes;

the linear movement of the carriage towards the cone of the tool, after which the cone is constrained to the carriage, which enables the robotic arm to perform deep drilling operations using the tool mounted on the magazine by means of an extension machine.

In addition, to perform the release of the milling tool or cassette, as defined in point iv, the control unit operates the robot arm and the technical cabinet in the following manner:

releasing the drilling tool:

the shelves perform the following functions: releasing the drilling tool mounted on the magazine, releasing the cone of the tool, and then linearly moving the carriage away from the cone to an extreme position on the base structure of the robotic arm;

this removal causes an actuation of the cone-locking system working so that it maintains its position with respect to the cartridge until a new loading operation is required;

the protective curtain opens and the mechanical arm initiates the movement of the cassette towards the technical cabinet, the technical cabinet-cassette automatic locking fitting is deactivated; enabling a technical cabinet-cassette auto-lock accessory; then the cartridge-arm auto-lock fitting is deactivated;

the robotic arm is moved away from the technical cabinet, enabling the robotic arm to perform milling operations by expanding the machine.

Releasing the milling tool:

the shelves perform the following functions: releasing the tool mounted on the cassette, releasing the cone from the milling tool, after which the carriage moves linearly away from the cone to an extreme position on the base structure of the robotic arm;

-the robot arm is moved towards the technical cabinet of the milling tool and the protective curtain is opened;

the milling tool is then stored in the technical cabinet and the protective curtain is closed.

Drawings

For a better understanding of the present application, applicants attach figures that represent preferred embodiments and are not intended to limit the technology disclosed herein.

Fig. 1 shows the coupling of a cassette to the base structure of a robot arm, wherein the respective reference numerals indicate:

1-a mechanical arm;

1.1-base structure;

1.2-sliding track;

2-box;

10-cassette-arm auto-lock fitting;

15-frame

Fig. 2 illustrates a robotic arm configured to perform a milling operation, wherein the reference numerals represent:

1-a mechanical arm;

1.1-base structure;

1.2-sliding track;

15-frame;

16-milling tool

Fig. 3 shows an exploded view of the cassette, wherein the respective reference numerals indicate:

4-filing box;

5-the head end of the tool;

6-a damper;

7-panels;

8-a cone support;

9-adjustment and locking ruler for cone support;

10-cassette-arm auto-lock fitting;

11-technical cabinet-box auto-lock fitting;

12-panel spacer shears;

13-panel guidance and cone support;

14.1-activated cone support locking castellations;

14.2-deactivated cone support locking castellations;

18-tool

Fig. 4 shows a detailed view of the cone support element, wherein the respective reference numerals indicate:

8.1-cone;

8.2-conical support bearing;

8.3-movable flange;

8.4-tool locking pin;

8.5-sliding parts;

8.6-mechanical locking mechanism;

8.7-rotational locking mechanism;

8.8-fixing the flange.

Detailed Description

Some embodiments will now be described in more detail with reference to the accompanying drawings, but these embodiments are not intended to limit the scope of the present application.

In one preferred embodiment of the developed milling and deep drilling machine, the machine internally comprises a robot arm (1) adapted to perform three-dimensional linear movements throughout the internal space of the machine, a technical cabinet (3) loaded with a plurality of cassettes (2), and a control unit configured to command the operation of deep milling or deep drilling through coordinated control of the actions of the robot arm (1) and the technical cabinet (3).

The cartridges (2) are configured to carry different types of tools (18) having respective diameter and/or length values, and for this purpose each cartridge (2) comprises:

-a filing cabinet (4) comprising a front flange (4.1) and a rear flange (4.2);

-a tool head end (5);

-a damper (6);

-a pane (7);

-a cone support (8);

-an adjustment and locking ruler (9) for the cone support;

-a cassette-arm automatic locking fitting (10);

-a technical cabinet-cassette automatic locking fitting (11);

-a panel spacer shear (12);

-a panel guide and cone support (13);

-an activated cone support locking castellation (14.1);

-a deactivated cone support locking castellation (14.2);

-a tool (18).

The box (2) has panels (7) the number of which varies according to the length/diameter ratio of the tool (18). Each panel (7) comprises a locking plate (7.1) and two elastic tabs (7.2 and 7.3) and its function is to attach a damper intended to fix the tool (18) to the box (2) and to ensure its stability during operation. In addition to this, the dampers (6) vary according to the diameter of the tool (18), there being a specific damper for each tool diameter.

The operation of assembling or disassembling the tool (18) of the cartridge (2) is carried out by the operator, either in a stage prior to storing the cartridge (2) in the technical cabinet (3), or it is stored beforehand to the cabinet (3) through the access door. The cone (8.1) of the tool holds a bearing (8.2), said bearing (8.2) holding the cone in the cone support (8) and by opening the removable flange (8.3) the cone can be inserted into the support or removed from the support together with the tool (18) and by loosening the locking pin (8.4) the tool (18) can be assembled or disassembled. Depending on the length of the tool (18), the cone support (8) is positioned on the magazine (2) by means of a slide (8.5) and is secured by means of a mechanical locking mechanism (8.6) which is positioned on the adjustment ruler (9) by means of the locking castellations (14.1) of the cone support which are activated.

The cone support (8) is positioned on the cartridge (2) by a locking mechanism called mechanical locking mechanism (8.6) and by an adjusting ruler (9) equipped with removable castellations (14.1, 14.2). These allow the assembly of tools of different lengths, making the case (2) flexible. The cone support locking castellations can take two positions, activating (14.1) and deactivating (14.2) the cone support (8) of the tool in the desired position.

The rotation locking mechanism (8.7) has the function of ensuring the locking of the rotation of the cone of the tool coupled to the carriage (15). The rotation locking mechanism consists of a stop bolt, a block and a spring embedded in the box of the fixed flange (8.8). The block moves linearly in a path limited by the action of the spring and the stop bolt. When the cone (8.1) of the tool is restrained and released, the securing bracket (15) positions the cone (8.1) in alignment with the locking mechanism (8.7). The block takes two positions, a locked position and an unlocked position. By default, the locking position is the normal position guaranteed by the action of the spring, which exposes the block geometry to lock the cone (8.1). When the cone (8.1) is constrained, the unlocking position is produced by the resting action of the carriage (15), so that the blocks enter the box of the fixed flange, thus unlocking the rotation of the cone (8.1). This action takes place by the compression of a spring which exerts a small force on the mechanical locking mechanism (8.6) so that the cone support (8) does not move during binding.

The cassette (2) is mounted in the base structure (1.1) of the robot arm (1) by means of a complementary automatic tie-rod-cassette-arm automatic locking fitting (10) and a technical cabinet-cassette automatic locking fitting (11).

The cassettes are stored in the technical cabinets (3) by automatic tie-bar-technical cabinet-cassette automatic locking fittings (11) accessible by the robotic arm (1) for later automatic installation without interrupting the machining cycle. In a particular embodiment, the technical cabinet (3) comprises a protective curtain (17) to keep the box free from filings and oil. The technical cabinet (3) comprises a window providing access to the outside for manual intervention by an operator who feeds the tools (18) for the cassettes (2) stored therein.

The machine is commanded by the action of a control unit responsible for controlling the integrated operation of the robotized arm (1) and the technical cabinet (3), acting at the level of the drive of the automatic locking fittings (10), (11), at the level of the protective curtain (17) of the technical cabinet (3) and at the level of the rack (15), for the operationalization and configuration of the milling and deep drilling actions.

The description is of course in no way limited to the embodiments presented in this document, but a person having ordinary knowledge in the field can envision many possibilities for modifications thereof without departing from the general idea as defined in the claims. The above-described preferred embodiments can obviously be combined with each other. The following claims additionally define preferred embodiments.