CN110961700B - Robot milling method for cambered surface of inner cavity of cabin - Google Patents
Robot milling method for cambered surface of inner cavity of cabin Download PDFInfo
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- CN110961700B CN110961700B CN201911056692.0A CN201911056692A CN110961700B CN 110961700 B CN110961700 B CN 110961700B CN 201911056692 A CN201911056692 A CN 201911056692A CN 110961700 B CN110961700 B CN 110961700B
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- 238000003801 milling Methods 0.000 title claims abstract description 83
- 238000012545 processing Methods 0.000 claims abstract description 50
- 238000003754 machining Methods 0.000 claims abstract description 41
- 238000005520 cutting process Methods 0.000 claims abstract description 24
- 229910000861 Mg alloy Inorganic materials 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 44
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 229910010037 TiAlN Inorganic materials 0.000 claims description 3
- 238000005422 blasting Methods 0.000 claims description 3
- 229910003460 diamond Inorganic materials 0.000 claims description 3
- 239000010432 diamond Substances 0.000 claims description 3
- 238000004050 hot filament vapor deposition Methods 0.000 claims description 3
- 238000005728 strengthening Methods 0.000 claims description 3
- 238000003672 processing method Methods 0.000 abstract description 10
- 230000003746 surface roughness Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 6
- 238000005457 optimization Methods 0.000 description 4
- 241000755266 Kathetostoma giganteum Species 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C5/00—Milling-cutters
- B23C5/02—Milling-cutters characterised by the shape of the cutter
- B23C5/10—Shank-type cutters, i.e. with an integral shaft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
A robot milling method for cambered surfaces of inner cavities of cabin bodies belongs to the technical field of mechanical manufacturing. The invention comprises the following steps: 10. calculating the machining wall thickness allowance; 20. designing a milling cutter structure; 30. defining a cambered surface machining path; 40. milling parameters are preferred. The robot processing method can realize the efficient processing of the cambered surface of the inner cavity of the magnesium alloy cabin body by adopting a robot processing method, the rotating speed of a processing main shaft reaches 4000r/min, the cutting depth reaches 4mm, the size precision of the processing wall thickness reaches +/-0.25 mm, and the processing surface roughness reaches Ra3.2um, so that the robot processing method is efficient and low in cost.
Description
Technical Field
The invention relates to a robot milling method for an inner cavity cambered surface of a cabin body, and belongs to the technical field of mechanical manufacturing.
Background
The inner cavity of the cabin part comprises a plurality of structural characteristics such as a boss, an arc, a blind hole, a through hole, a threaded hole, a mounting plane, a reinforcing rib and the like, and boundary cross interference exists among different structural characteristics. Meanwhile, as the diameter of cabin parts is small, and the structural characteristics of the inner cavity are complex and interfere, the inner cavity machining space is limited, and the common numerical control machine tool machining spindle is too large in size, difficult to go deep into the inner cavity of the cabin and difficult to quickly carry out machining of various structural characteristics. In addition, the wall thickness of the cabin part is only 3mm at the minimum, and the cabin part belongs to a typical weak rigid part. The thin-wall characteristic further reduces the rigidity of the part and improves the clamping difficulty of the part. The surface of the inner cavity of the cabin body has a hardened layer due to the casting of the magnesium alloy material, and the impact on a cutting machining cutter is extremely large. Therefore, the cabin body parts have a plurality of problems in the processing process, including easy deformation and cutting flutter in the processing process, easy large-area micro tipping of a cutter, and low durability, so that the control difficulty of indexes such as the processing size precision and the processing surface roughness of the inner cavity of the cabin body is large.
Disclosure of Invention
The technical problem solved by the invention is as follows: the robot milling method for the cambered surface of the inner cavity of the cabin overcomes the defects in the prior art, and solves the problems of cabin inner cavity cambered surface machining size precision, machining surface quality control, machining deformation control, machining efficiency improvement and the like in the aspects of machining wall thickness allowance calculation, milling cutter structure design, cambered surface machining path definition and milling machining parameter optimization.
The technical solution of the invention is as follows: a robot milling method for an inner cavity cambered surface of a cabin body comprises the following steps:
acquiring the actual structural characteristic dimension of the inner cavity of the cabin body, comparing the actual structural characteristic dimension with the theoretical structural characteristic dimension of the inner cavity of the cabin body, and calculating the machining allowance of the inner cavity cambered surface;
determining the structure of a milling cutter of a robot;
selecting a feed path and milling parameters;
and according to the machining allowance and the milling parameters, using the determined robot to mill the cutter, and milling the arc surface of the inner cavity of the cabin according to the selected feed path to finish the robot milling of the arc surface of the inner cavity of the cabin.
Further, the method for acquiring the actual size of the structural feature of the inner cavity of the cabin comprises the following steps: and (3) obtaining point cloud data of the structural features of the inner cavity of the cabin by using a laser linear scanning method, and carrying out denoising and boundary stitching algorithm processing on the point cloud data to obtain the actual size of the structural features of the inner cavity of the cabin.
Further, the structure of the robot milling cutter comprises an edge part structure and a handle part clamping structure.
Further, the blade structure includes: the number of blades is 4, the blade diameter is 16mm, the circumferential front angle is 15-18 degrees, the first circumferential rear angle is 12-15 degrees, and the helical angle is 30-35 degrees; shot blasting strengthening treatment is adopted for the cutting edge; the cutting edge adopts a diamond coating prepared by a hot wire CVD method or a TiAlN coating prepared by a PVD method.
Further, the shank clamping structure comprises: the diameter of the handle is 16mm, and the distance from the end surface of the handle of the cutter is 7.5 mm; the structure of the neck is that the length of the neck is 40.8mm, and the diameter of the neck is 15.5 mm.
Further, the method for milling the arc surface of the inner cavity of the cabin body comprises the following steps: the cabin rotates clockwise, and the arc surface of the inner cavity of the cabin is milled according to the feed path along the arc direction of the arc of the inner cavity of the flat cabin.
Further, the feed path is zigzag.
Further, in the process of milling the arc surface of the inner cavity of the cabin body, a machining method of inserting and milling a cutter is selected for the cutting point of the cutter, and a machining method of milling a square shoulder is selected when the arc surface material of the inner cavity of the cabin body is removed.
Further, in the plunge milling cutter-entering machining process, the rotating speed of a machining main shaft is 3500-4000 r/min, and the axial feeding speed is 20-30 mm/min; in the process of milling the square shoulder, the rotating speed of a processing main shaft is 3500-4000 r/min, the radial feed speed is 300-500 mm/min, the radial cutting width is 8-14 mm, and the maximum cutting depth is 4 mm.
Further, the cabin body is made of cast magnesium alloy.
Compared with the prior art, the invention has the advantages that:
(1) the robot milling method for the cambered surface of the inner cavity of the cabin provided by the invention has the advantages that the whole process route comprises the rapid calculation of the machining wall thickness allowance of the cambered surface of the inner cavity of the cabin, the structural design of a special cutter for the robot milling, the selection of a milling feed path and a machining method for the cambered surface of the inner cavity of the cabin and the optimization of milling parameters. The robot processing method can realize the efficient processing of the cambered surface of the inner cavity of the cast magnesium alloy cabin body by adopting a robot processing method, the rotating speed of a processing main shaft can reach 4000r/min, the cutting depth reaches 4mm, the size precision of the processing wall thickness reaches +/-0.25 mm, and the processing surface roughness reaches Ra3.2um, so that the robot processing method is efficient and low in cost.
(2) In the aspect of measuring equipment, the invention adopts a handheld articulated arm laser line scanning instrument or a robot articulated arm laser line scanning instrument to measure and obtain the structural characteristics of the inner cavity of the cabin body, namely, the measurement dimensional precision can reach 0.1-0.2 mm, and higher measurement efficiency is also obtained.
(3) In the aspect of processing equipment, the invention adopts a combination scheme of the robot joint arm and the processing electric spindle, and the processing electric spindle is arranged at the tail end of the robot joint arm, so that higher rigidity is ensured in the processing process, and six-axis motion freedom degrees are obtained simultaneously.
(4) In the aspect of processing tools, the four-edge flat-head end mill and the fillet end mill with the diameter of 16mm are used for processing arc structural characteristics of the inner cavity of the cabin body, so that the cutter can be prevented from generating large-area micro-tipping, and longer cutter durability is obtained.
(5) In the aspect of processing path, in order to realize the processing of the structural characteristics of the inner cavity circular arc, a zigzag feed path method is selected along the arc direction of the inner cavity circular arc of the flat cabin body so as to obtain good processing surface quality. For a four-edge flat-head end mill, a machining method of inserting milling of arc-surface edge points and milling of square shoulders with large cutting width and small cutting depth is selected, and for a fillet end mill, a machining method of milling of the square shoulders along the edge line of the arc surface is selected.
(6) In the aspect of optimized processing parameters, the four-edge flat-head end mill and the fillet end mill are selected for milling the cambered surface of the inner cavity of the cabin body, and in order to obtain high material removal efficiency, control the temperature of a cutting arc area and prevent chips from burning, a high rotating speed of a processing main shaft and a high feeding speed are selected.
Based on the method, the invention solves the technical problems that the cambered surface machining tool for the inner cavity of the cast magnesium alloy cabin body is easy to generate large-area micro tipping, the durability is low, the machining efficiency is low, the machining size precision and the machining surface roughness are ensured, and the like.
Drawings
FIG. 1 is a schematic flow chart of milling process of a robot for machining an inner cavity cambered surface of a cabin body;
fig. 2 is a schematic structural diagram of a special tool for milling by a robot in the invention.
Detailed Description
The robot milling method for the cambered surface of the inner cavity of the cabin provided by the invention is further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
Fig. 1 is a schematic flow chart of steps of a robot milling method for an inner cavity arc surface of a cabin provided in an embodiment of the present invention. Referring to fig. 1, a robot milling method for an inner cavity cambered surface of a cabin body is provided, which comprises the following steps:
10. calculating the machining wall thickness allowance;
20. designing a milling cutter structure;
30. defining a cambered surface machining path;
40. milling parameters are preferred.
In the embodiment of the invention, in 10, the actual size of the structural feature of the inner cavity of the cabin is obtained by scanning with a laser line scanning method, and is compared with the theoretical size of the structural feature of the inner cavity of the cabin, so that the machining allowance of the arc surface of the inner cavity is obtained by calculation. In 20, a special tool for robot milling is designed, which comprises a tool edge part structural design and a handle part clamping structural design. In 30, milling the arc surface of the inner cavity of the cabin body, and selecting a zigzag feed path along the arc direction of the arc of the inner cavity of the flat cabin body, wherein the processing method comprises two methods of plunge milling and large-cut-width square shoulder milling. In 40, aiming at the plunge milling cutter and the square shoulder milling method with large cutting width, the rotation speed, the milling depth, the feeding speed and the milling width of the processing main shaft are all optimally selected.
Fig. 2 is a schematic structural diagram of a special tool for robot milling in the embodiment of the invention. Referring to fig. 2, the hard alloy flat-end milling cutter is used for processing the arc surface structure characteristics of the inner cavity of the cabin body, so that the processing size precision is ensured, and higher cutter durability is obtained.
Examples
In the embodiment of the invention, the minimum diameter phi 450mm of the inner cavity of the cabin body, the maximum diameter phi 700(0-0.2) mm of the excircle, the height of 500 +/-0.05 mm, the thinnest wall thickness of the arc surface of the inner cavity of 4(-0.2-1.0) mm, and the part material is cast magnesium alloy, so that the defects of pits, bosses and the like on the processing surface are not required. The specific process flow is as follows:
1) machining wall thickness allowance calculation
The method comprises the steps of obtaining point cloud data of structural features of an inner cavity of the cabin by using a laser linear scanning method, carrying out algorithm processing such as denoising and boundary stitching on the point cloud data to obtain the actual size of the structural features of the inner cavity of the cabin, and comparing the actual size with the theoretical size of the structural features of the inner cavity of the cabin, thereby calculating and obtaining the machining allowance size information of each cambered surface of the inner cavity.
2) Milling cutter structural design
Firstly, designing a milling cutter cutting edge structure, wherein the number of cutter edges is 4, the diameter of each edge is 16mm, the circumferential front angle is 15-18 degrees, the first circumferential rear angle is 12-15 degrees, and the helical angle is 30-35 degrees; shot blasting strengthening treatment is adopted for the cutting edge;
secondly, milling the cutting edge of the cutter, wherein a diamond coating prepared by a hot wire CVD method or a TiAlN coating prepared by a PVD method is adopted;
milling process cutter stalk portion structural design, handle footpath 16mm, apart from milling handle of a knife portion terminal surface 7.5mm department, towards the terminal processing main shaft clamping demand of robot joint, design necking down structure, the long 40.8mm of necking down, necking down department diameter 15.5 mm.
3) Definition of arc surface machining path
Firstly, milling an arc surface of an inner cavity of a cabin body, wherein the cabin body rotates clockwise, and a zigzag feed path is selected along the arc direction of the arc of the inner cavity of the flat cabin body;
secondly, in the milling process of the robot, a machining method of inserting and milling a cutter is selected for a cutter entry point;
and thirdly, in the milling process of the robot, a large area of materials on the arc surface of the inner cavity of the cabin body are removed by using a large-cutting-width square shoulder milling method.
4) Optimization of milling parameters
Firstly, in the plunge milling process of the robot, the rotating speed of a processing main shaft is 3500-4000 r/min, and the axial feeding speed is 20-30 mm/min;
and secondly, in the milling process of the square shoulder of the robot, the rotating speed of a processing main shaft is 3500-4000 r/min, the radial feeding speed is 300-500 mm/min, the radial cutting width is 8-14 mm, and the maximum cutting depth is 4 mm.
The robot milling process for the cambered surface of the inner cavity of the cabin body, which is realized by adopting the method, is applied to the actual processing of casting magnesium alloy cabin body parts, the dimensional precision, form and position tolerance, surface quality requirements and the like of the parts are effectively ensured, and all indexes meet the design requirements after inspection. By the method, the problem of difficult control of the processing wall thickness of the thin-wall cabin part is solved, and the comprehensive method of non-contact measurement of the processing wall thickness and calculation of the processing allowance, optimized design of a robot milling cutter structure, definition of an inner cavity cambered surface processing path and optimized milling processing parameters is adopted, so that the processing wall thickness dimension precision of the cabin part can reach +/-0.25 mm, and the processing surface roughness reaches Ra3.2um. On the basis of solving the technical problem of the process method, the method provides a solution and an idea for realizing the arc surface processing of the inner cavity of the cabin body.
The robot milling method for the cambered surface of the inner cavity of the cabin provided by the invention has the advantages that the whole process route comprises the rapid calculation of the machining wall thickness allowance of the cambered surface of the inner cavity of the cabin, the structural design of a special cutter for the robot milling, the selection of a milling feed path and a machining method for the cambered surface of the inner cavity of the cabin and the optimization of milling parameters. The robot processing method can realize the efficient processing of the cambered surface of the inner cavity of the cast magnesium alloy cabin body by adopting a robot processing method, the rotating speed of a processing main shaft can reach 4000r/min, the cutting depth reaches 4mm, the size precision of the processing wall thickness reaches +/-0.25 mm, and the processing surface roughness reaches Ra3.2um, so that the robot processing method is efficient and low in cost.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (4)
1. A robot milling method for arc surfaces of inner cavities of cabin bodies is characterized by comprising the following steps:
acquiring the actual structural characteristic dimension of the inner cavity of the cabin body, comparing the actual structural characteristic dimension with the theoretical structural characteristic dimension of the inner cavity of the cabin body, and calculating the machining allowance of the inner cavity cambered surface;
determining the structure of a milling cutter of a robot;
selecting a feed path and milling parameters;
according to the machining allowance and the milling parameters, using the determined robot to mill the cutter, and milling the arc surface of the inner cavity of the cabin according to the selected feed path to complete the robot milling of the arc surface of the inner cavity of the cabin;
the method for acquiring the actual size of the structural feature of the inner cavity of the cabin comprises the following steps: obtaining point cloud data of the structural features of the inner cavity of the cabin by using a laser linear scanning method, and carrying out denoising and boundary stitching algorithm processing on the point cloud data to obtain the actual size of the structural features of the inner cavity of the cabin;
the structure of the robot milling cutter comprises an edge part structure and a handle part clamping structure;
the blade structure includes: the number of blades is 4, the blade diameter is 16mm, the circumferential front angle is 15-18 degrees, the first circumferential rear angle is 12-15 degrees, and the helical angle is 30-35 degrees; shot blasting strengthening treatment is adopted for the cutting edge; the cutting edge adopts a diamond coating prepared by a hot wire CVD method or a TiAlN coating prepared by a PVD method;
the shank portion clamping structure includes: the diameter of the handle is 16mm, and the distance from the end surface of the handle of the cutter is 7.5 mm; the structure is a necking structure, the length of the necking is 40.8mm, and the diameter of the necking is 15.5 mm;
the cabin body is made of cast magnesium alloy;
in the plunge milling cutter-inserting processing process, the rotating speed of a processing main shaft is 3500-4000 r/min, and the axial feeding speed is 20-30 mm/min; in the process of milling the square shoulder, the rotating speed of a processing main shaft is 3500-4000 r/min, the radial feed speed is 300-500 mm/min, the radial cutting width is 8-14 mm, and the maximum cutting depth is 4 mm.
2. The robot milling method for the arc surface of the inner cavity of the cabin body according to claim 1, wherein the method for milling the arc surface of the inner cavity of the cabin body comprises the following steps: the cabin rotates clockwise, and the arc surface of the inner cavity of the cabin is milled according to the feed path along the arc direction of the arc of the inner cavity of the flat cabin.
3. The robot milling method for the arc surface of the inner cavity of the cabin body according to claim 2, wherein the feed path is zigzag.
4. The robot milling method for the arc surface of the inner cavity of the cabin body according to claim 2, wherein in the process of milling the arc surface of the inner cavity of the cabin body, a machining method of an insert milling cutter is selected as a cutting point of a cutter, and a machining method of square shoulder milling is selected when materials of the arc surface of the inner cavity of the cabin body are removed.
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| JPH1190773A (en) * | 1997-09-25 | 1999-04-06 | Toyoda Mach Works Ltd | Processing of scroll plate and processing device |
| GB2428588A (en) * | 2005-08-01 | 2007-02-07 | Karsten Mfg Corp | Ball end milling method of manufacturing a golf club head with a variable thickness face |
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| CN102922013A (en) * | 2012-10-25 | 2013-02-13 | 南京航空航天大学 | Cavity-characteristic-based high-efficiency rough machining method of aircraft structural part |
| CN105739440A (en) * | 2016-04-29 | 2016-07-06 | 南京航空航天大学 | Adaptive machining method of wide-chord hollow fan blade |
| CN106774144A (en) * | 2016-12-21 | 2017-05-31 | 上海华括自动化工程有限公司 | A kind of intelligent CNC processing methods based on industrial robot |
-
2019
- 2019-10-31 CN CN201911056692.0A patent/CN110961700B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1190773A (en) * | 1997-09-25 | 1999-04-06 | Toyoda Mach Works Ltd | Processing of scroll plate and processing device |
| GB2428588A (en) * | 2005-08-01 | 2007-02-07 | Karsten Mfg Corp | Ball end milling method of manufacturing a golf club head with a variable thickness face |
| CN101767218A (en) * | 2008-12-30 | 2010-07-07 | 沈阳黎明航空发动机(集团)有限责任公司 | Five-axis plunge milling method of aeroengine crankcase |
| CN102922013A (en) * | 2012-10-25 | 2013-02-13 | 南京航空航天大学 | Cavity-characteristic-based high-efficiency rough machining method of aircraft structural part |
| CN105739440A (en) * | 2016-04-29 | 2016-07-06 | 南京航空航天大学 | Adaptive machining method of wide-chord hollow fan blade |
| CN106774144A (en) * | 2016-12-21 | 2017-05-31 | 上海华括自动化工程有限公司 | A kind of intelligent CNC processing methods based on industrial robot |
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