CN118492458A - Robot system for automatic drilling of tire mold and control method thereof - Google Patents
Robot system for automatic drilling of tire mold and control method thereof Download PDFInfo
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- CN118492458A CN118492458A CN202410961287.8A CN202410961287A CN118492458A CN 118492458 A CN118492458 A CN 118492458A CN 202410961287 A CN202410961287 A CN 202410961287A CN 118492458 A CN118492458 A CN 118492458A
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- 238000005553 drilling Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000007599 discharging Methods 0.000 abstract 2
- 239000003921 oil Substances 0.000 description 19
- 238000004364 calculation method Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 10
- 238000003754 machining Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000010687 lubricating oil Substances 0.000 description 5
- 230000017525 heat dissipation Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004073 vulcanization Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B35/00—Methods for boring or drilling, or for working essentially requiring the use of boring or drilling machines; Use of auxiliary equipment in connection with such methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
Abstract
The invention belongs to the technical field of robots, and provides a robot system for automatically drilling a tire mold and a control method thereof, wherein the robot system comprises a mechanical arm, a linear driving unit, a tool changing main shaft, a Z-shaped plate, a drill bushing, a swinging cylinder, a cylinder connecting plate, a double-rod cylinder, a workbench for placing the tire mold, a tool rest arranged on the workbench and a plurality of tools arranged on the tool rest; the linear driving unit is arranged at the tail end of the mechanical arm, the tool changing main shaft is arranged on the linear motion mechanism, one side of the linear driving unit is provided with a double-rod cylinder, the front end of the double-rod cylinder is fixedly connected with one side of a cylinder connecting plate, the other side of the cylinder connecting plate is provided with a swinging cylinder, the front end of the swinging cylinder is provided with a Z-shaped plate, and the drill bushing is positioned at the tail end of the Z-shaped plate. The automatic tool changing and automatic tool feeding and discharging drill bushing are realized, the automatic tool changing and automatic tool discharging drill bushing is applicable to processing of tire molds of various types, and flexible automatic drilling processing of the tire molds is realized.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot system for automatically drilling a tire mold and a control method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The tire mold is used for vulcanizing and forming various tires, and in the tire vulcanization process, in order to exhaust air in a mold cavity, a plurality of air holes are required to be formed in the tread of the tire mold, the number of the air holes is large, the position distribution is irregular, and the consistency requirement is high. The processed air hole has small aperture and large depth, the center line of the air hole needs to be perpendicular to the tread where the air hole is positioned, and the direction change range is large; in addition, tire mould belongs to the customization product, and the model is many, little in batches, and traditional mechanical equipment is difficult to adapt to and processingquality can't guarantee.
At present, the air hole of the tire mold is mostly processed by adopting a manual drilling mode, the randomness of manual processing is high, the processing quality is difficult to ensure, the labor intensity is high, and the harm of noise vibration and the like is accompanied, so that the harm to the body is high when the work is done for a long time.
The utility model patent with the application number 2015219162.2 discloses a numerical control automatic drilling machine special for a tire mold, which realizes mechanical drilling on the tire mold, saves labor, reduces labor intensity of operators, greatly improves automation degree and working efficiency, improves accuracy and consistency of drilling positions, and ensures good technological performance of the tire mold. The utility model patent with the application number 20219685202.3 discloses a special full-automatic drilling machine for a tire mold, and better solves the problems of manpower resource waste, low efficiency and large processing error in the process of drilling the tire mold.
The two drilling machines save manpower, lighten the labor intensity of operators and improve the working efficiency, but the positioning device is complex, has higher precision requirement, can not ensure the stability of the drill bit in a high-rotation-speed state when processing deep holes, and particularly needs manual tool changing when processing different types of tire molds, so that the degree of automation is required to be further improved.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a robot system for automatically drilling a tire mold and a control method thereof, wherein a drill sleeve is arranged to inhibit vibration and deformation of a cutter and ensure the stability of a drill bit in a high-rotation-speed state, and the cooperation of a linear driving unit, a replaceable cutter main shaft, a swinging cylinder and a double-rod cylinder realizes automatic cutter replacement and automatic cutter entering and exiting of the drill sleeve, so that the robot system is suitable for processing of tire molds of various types and realizes flexible automatic drilling processing of the tire molds.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A first aspect of the invention provides a robotic system for automatic drilling of tire molds.
A robot system for automatically drilling a tire mold comprises a mechanical arm, a linear driving unit, a tool changing main shaft, a Z-shaped plate, a drill bushing, a swinging cylinder, a cylinder connecting plate, a double-rod cylinder, a workbench for placing the tire mold, a tool rest arranged on the workbench and a plurality of tools arranged on the tool rest; the linear driving unit is arranged at the tail end of the mechanical arm, the tool changing main shaft is arranged on the linear motion mechanism, a double-rod air cylinder is arranged on one side of the linear driving unit, the front end of the double-rod air cylinder is fixedly connected with one side of an air cylinder connecting plate, a swinging air cylinder is arranged on the other side of the air cylinder connecting plate, a Z-shaped plate is arranged at the front end of the swinging air cylinder, and a drill bushing is positioned at the tail end of the Z-shaped plate;
the tool changing spindle is used for clamping or placing a tool when the mechanical arm drives the tool changing spindle to the tool rest, and driving the tool to rotate after the tool passes through the drill sleeve;
The double-rod cylinder is used for clamping the cutter on the replaceable cutter spindle and the mechanical arm drives the cutter to extend out after reaching the tire mold, or contracts after the Z-shaped plate rotates to a position horizontal to the cutter;
The swinging cylinder is used for driving the Z-shaped plate to rotate to a position vertical to the cutter after the double-rod cylinder stretches out, or driving the Z-shaped plate to rotate to a position horizontal to the cutter before the cutter is placed on the cutter-replaceable main shaft;
And the linear driving unit is used for driving the cutter to pass through the drill bushing to process the workpiece through linear motion after the Z-shaped plate rotates to a position vertical to the cutter.
Further, the drill sleeve connecting plate and a plurality of guide rods are also included;
The drill bushing connecting plate is used for fixing the double-rod cylinder and the linear driving unit;
One end of the guide rod is fixed on the air cylinder connecting plate, and the other end of the guide rod penetrates through the drill bushing connecting plate.
Further, the drill sleeve also comprises an oil way joint arranged above the drill sleeve;
The oil way joint is used for connecting an oil pump to supply oil into the drill bushing.
Further, one side of the drill sleeve is provided with a set screw;
the set screw is used for fastening the drill bushing.
Further, the linear driving unit comprises a servo motor, a motor seat, a guide rail, a ball screw, an opening type fixed ring, a sliding block and a coupler;
the servo motor is arranged on a motor seat at the tail end of the guide rail, one end of the coupler is connected with the servo motor, the other end of the coupler is connected with the ball screw, the first end of the sliding block is arranged on the guide rail, the ball screw penetrates through the sliding block, the second end of the sliding block is fixedly connected with the first end of the open-type fixed ring, and the second end of the open-type fixed ring is used for fixing the replaceable tool spindle.
Further, the first connecting plate is also included;
the top of first connecting plate is connected with the arm, the bottom of first connecting plate pass through the bolt with guide rail fixed connection, one side installation of first connecting plate the double-rod cylinder.
Further, a contact type measuring head is also arranged on the tool rest;
the replaceable tool spindle is also used for clamping or placing the contact type measuring head.
Further, the system also comprises an upper computer and a signal receiver;
the mechanical arm is used for driving the contact type measuring head to detect at a plurality of trigger points of each surface of the tire mold after the contact type measuring head is clamped by the replaceable tool spindle;
The signal receiver is used for receiving the position of the trigger point;
and the upper computer is used for constructing a user coordinate system according to the position of the trigger point.
Further, the tool setting device is also included;
the tool setting device is used for calibrating the length of the tool.
A second aspect of the present invention provides a control method of a robotic system for automatic drilling of tire molds as described in the first aspect.
A control method of a robotic system for automatic drilling of tire molds as in the first aspect, comprising:
the control mechanical arm drives the tool changing main shaft to the tool rest;
controlling the replaceable tool spindle to clamp the tool;
controlling the double-rod cylinder to extend out after the mechanical arm drives the cutter to the tire mold;
controlling the swing cylinder to drive the Z-shaped plate to rotate to a position vertical to the cutter;
The linear driving unit is controlled to drive the cutter to pass through the drill bushing to process the workpiece through linear motion;
controlling the replaceable tool spindle to drive the tool to rotate, and drilling the tire mold;
after drilling is finished, controlling the swing cylinder to drive the Z-shaped plate to rotate to a position horizontal to the cutter;
and controlling the contraction of the double-rod cylinder, and controlling the mechanical arm to drive the tool changing main shaft to the tool rest and then controlling the tool changing main shaft to place a tool.
Compared with the prior art, the invention has the beneficial effects that:
The drill sleeve is arranged to restrain vibration and deformation of the cutter, stability of the drill bit in a high-rotation-speed state is guaranteed, automatic cutter changing and automatic cutter entering and exiting of the drill sleeve are achieved through matching of the linear driving unit, the cutter changeable main shaft, the swinging air cylinder and the double-rod air cylinder, the drill sleeve can be suitable for machining of various types of tire molds, and flexible automatic drilling machining of the tire molds is achieved.
The oil circuit joint is arranged in alignment with the oil delivery port of the replaceable drill sleeve, so that lubricating oil can flow into the replaceable drill sleeve conveniently, the cutter is lubricated, the heat dissipation capacity is improved, and the service life of the cutter is prolonged.
The invention adopts the contact type measuring head to position, thereby realizing the automatic positioning of the tire mold.
The invention is provided with the tool setting device to realize automatic tool setting.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a block diagram of a robotic system for automatic drilling of tire molds in accordance with an embodiment of the invention;
FIG. 2 is a block diagram of a drilling apparatus according to an embodiment of the present invention;
FIG. 3 is a diagram of a drill bushing in an embodiment of the invention;
FIG. 4 is a block diagram of a tool setting device in an embodiment of the invention;
FIG. 5 is a block diagram of a tool holder in an embodiment of the invention;
FIG. 6 is a flowchart of a method for calculating user coordinates in an embodiment of the present invention;
fig. 7 is a schematic diagram of a user coordinate calculation method according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The embodiments of the present invention and features of the embodiments may be combined with each other without conflict, and the present invention will be further described with reference to the drawings and embodiments.
Example 1
The embodiment provides a robot system for automatically drilling a tire mold.
The embodiment provides a robot system for automatically drilling a tire mold, as shown in fig. 1, which comprises a base 1, a mechanical arm 2, a drilling device 3, a workbench 4, a tool setting device 5, a tool rest 6, a positioning device and an upper computer 8.
As shown in fig. 1, a base 1 is fixed on the ground through foundation bolts, a mechanical arm 2 is fixed on the base 1 through bolts, a drilling device 3 is installed on a flange at the tail end of the mechanical arm 2 through a first connecting plate 13, and a workbench 4 is fixed on the ground through foundation bolts; as shown in fig. 4, the tool setting device 5 is mounted on the table 4; as shown in fig. 5, the tool rest 6 is fixed to the table 4 by bolts; the upper computer 8 is fixed on the workbench 4.
Wherein, the tool setting device 5 adopts a photoelectric automatic tool setting instrument.
As shown in fig. 2, the drilling device 3 includes: the tool comprises a first connecting plate 13, a linear driving unit, a tool 15, a tool changing main shaft 16, a positioning plate 21, a Z-shaped plate 22, an oil way joint 23, a set screw 24, a drill bushing 25, a positioning screw 26, a swinging cylinder 27, a cylinder connecting plate 28, a guide rod 29, a drill bushing connecting plate 30 and a double-rod cylinder 31.
The linear driving unit includes: the motor comprises a servo motor 10, a motor base 11, a guide rail 12, a ball screw 14, an opening type fixing ring 17, a second connecting plate 18, a sliding block 19 and a coupler 20.
The linear driving unit is arranged on the flange plate at the tail end of the mechanical arm 2 through a first connecting plate 13 and is used for driving the tool-changeable main shaft 16 to linearly move so as to realize the machining of drilling depth; the replaceable tool spindle 16 is mounted on the linear motion mechanism and is used for driving the tool 15 to rotate and providing cutting torque for the tool 15.
As shown in fig. 2, the first connecting plate 13 connects the mechanical arm 2 and the drilling device 3 together by bolts, so that the drilling device 3 can follow the mechanical arm 2.
As shown in fig. 2, the top of the first connecting plate 13 is connected with the mechanical arm 2 through a bolt, the bottom of the first connecting plate 13 is fixedly connected with the guide rail 12 through a bolt, and a drill bushing connecting plate 30 is installed on one side of the first connecting plate 13. The servo motor 10 is arranged on a motor seat 11 at the tail end of the guide rail 12, one end of a coupler 20 is connected with the servo motor 10, and the other end of the coupler 20 is connected with the ball screw 14. The first end of the sliding block 19 is installed on the guide rail 12, the ball screw 14 penetrates through the sliding block 19, the second end of the sliding block 19 is fixedly connected with the first end of the open type fixing ring 17 through the second connecting plate 18, the second end of the open type fixing ring 17 is used for fixing the replaceable tool spindle 16, the tool 15 is installed at the front end of the replaceable tool spindle 16, and the replaceable tool spindle 16 can realize replacement of the tool 15. The tool-changing main shaft 16 is internally provided with a pneumatic telescopic cylinder, so that the automatic tool-changing function can be realized.
The guide rail 12 is in an inverted T shape, and a groove matched with the guide rail 12 is formed at the first end of the slider 19. The servo motor 10 drives the ball screw 14 to rotate, and then drives the sliding block 19 to slide along the guide rail 12.
As shown in fig. 3, the drill bushing connecting plate 30 connects the double-rod cylinder 31 with the first connecting plate 13 by bolts, the front end of the double-rod cylinder 31 is fixedly connected with one side of the cylinder connecting plate 28, and the other side of the cylinder connecting plate 28 is provided with the swinging cylinder 27. In order to make the two cylinders (the double-rod cylinder 31 and the swing cylinder 27) more stable in operation, a guide rod 29 is provided, one end of the guide rod 29 is fixed on the cylinder connecting plate 28, and the other end passes through the drill bushing connecting plate 30. The front end of the swinging cylinder 27 is provided with a Z-shaped plate 22, the tail end of the swinging cylinder 27 is additionally provided with a positioning plate 21 for keeping the position of the swinging cylinder consistent when the swinging cylinder works each time, and a positioning screw 26 is arranged at the right lower part (one corner close to the drill bushing 25) of the positioning plate 21. The drill bushing 25 is located at the tail end of the Z-shaped plate 22, the drill bushing 25 is used for allowing the cutter 15 to pass through and is used for inhibiting vibration and deformation of the cutter and externally connecting the cutter, the drill bushing 25 is fixed through the set screw 24 on the side face, the oil way joint 23 is arranged above the drill bushing 25, and oil is supplied into the drill bushing 25 through the connecting oil pump.
The drill bushing 25 is a replaceable drill bushing, and the drill bushing 25 can be manually disassembled after the set screw 24 is loosened. An oil delivery port is formed above the drill bushing 25 and is connected with an oil path connector 23, the oil path connector 23 is aligned and installed corresponding to the oil delivery port of the replaceable drill bushing, lubricating oil can flow into the replaceable drill bushing conveniently, the heat dissipation capacity is improved while a cutter is lubricated, and the service life of the cutter is prolonged.
Wherein the drill bushing 25 is retractable, retracted during probing, and extended during drilling.
As an embodiment, the number of guide rods 29 may be increased in order to increase the rigidity of the drill bushing.
Wherein the positioning device comprises a contact probe 7 and a signal receiver 9. The signal receiver 9 is fixed on the base 1 and avoids the shielding of signals by other components. The contact type measuring head 7 is used for detecting the position and the size of a workpiece, a cutter handle is additionally arranged at the tail end of the contact type measuring head 7, the contact type measuring head is arranged at the front end of the cutter-changeable main shaft 16, and the signal receiver 9 is used for receiving signals sent by the contact type measuring head 7.
Wherein the work table 4 is used for supporting and fixing a work piece (i.e., a tire mold).
The tool setting device 5 is used for calibrating the length of the tools and realizing tool setting of different tools.
As shown in fig. 5, the tool rest 6 is provided with a plurality of tool positions for storing the contact probe 7 and the spare tool 15. The tool rest 6 is arranged independently, and the tool rest 6 can increase or decrease the tool bit according to the processing requirement.
The upper computer 8 is used for extracting the exhaust hole coordinate data of the tire mold, calculating the user coordinate system data and sending the exhaust hole coordinate data to the mechanical arm.
The control method of the robot system for automatically drilling the tire mold provided by the embodiment comprises the following steps:
(1) The upper computer 8 takes a user coordinate system as a reference to extract the coordinate data of the vent hole of the current processed workpiece;
(2) According to a cutter taking program of the mechanical arm 2, controlling the mechanical arm 2 to drive the drilling device 3 to move to a cutter position of the contact type measuring head 7 of the cutter rest 6, and clamping the contact type measuring head 7 by the cutter changing main shaft 16;
(3) According to the detection program of the mechanical arm 2, the mechanical arm 2 is controlled to drive the contact type measuring head 7 to detect from the periphery of the workpiece to the center of the workpiece, when a contact head on a measuring needle of the contact type measuring head 7 is contacted with four surfaces of the workpiece A, B, C, D, the mechanical arm 2 records trigger point position data, and detection of the size and the trigger point position of the workpiece is completed, and more than three trigger point positions are detected on the four surfaces of A, B, C, D respectively during detection.
(4) The upper computer 8 reads the detection point data and constructs the data required by the user coordinate system through a three-point method;
(5) The upper computer 8 sends data required by constructing a user coordinate system by a three-point method to the mechanical arm 2, and the user coordinate system is set according to a mechanical arm user coordinate system setting program;
(6) According to a tool setting program of the mechanical arm, the mechanical arm 2 is controlled to drive the drilling device 3 to move to a tool position of the contact type measuring head 7 of the tool rest 6, and the contact type measuring head 7 is placed on the tool changing main shaft 16;
(7) According to a cutter taking program of the mechanical arm, controlling the mechanical arm 2 to drive the drilling device 3 to move to a cutter position of a cutter 15 required for machining to take a cutter;
(8) According to a tool setting program of the mechanical arm, the mechanical arm 2 is controlled to drive the drilling device 3 to move to a tool setting position (right in front of the tool setting device 5), and the tool setting device 5 is used for tool setting;
(9) According to a mechanical arm drill bushing control program, the mechanical arm 2 is controlled to drive the drilling device 3 to move to a safe position (a position where interference does not occur), the double-rod air cylinder 31 stretches out, and the swing air cylinder 27 moves to a position where the Z-shaped plate 22 is perpendicular to a cutter;
(10) The upper computer 8 sends position data of a processing target hole site, according to a mechanical arm processing program, the mechanical arm 2 is controlled to drive the drilling device 3 to move to the processing target hole site, the drilling device 3 is started, the tool changing main shaft 16 works, the servo motor 10 rotates positively, the linear driving unit moves linearly, the tool 15 passes through the drill sleeve 25 to a processing workpiece, lubricating oil enters the drill sleeve 25 from the oil way joint 23 and is processed to a designated depth, the servo motor 10 rotates reversely to enable the tool 15 to withdraw from the exhaust hole, and the processing of one exhaust hole is completed; repeating the operation until the drilling is completed;
(11) According to a mechanical arm drill bushing control program, the servo motor 10 reverses to enable the cutter 15 to withdraw from the drill bushing 25, the mechanical arm 2 is controlled to drive the drilling device 3 to move to a safe position, the swing cylinder 27 moves to a position where the Z-shaped plate 22 is horizontal to the cutter, and the double-rod cylinder 31 is retracted;
(12) According to the tool setting program of the mechanical arm, the mechanical arm 2 is controlled to drive the drilling device 3 to move to the tool position for setting the tool 15 required by machining.
If the tool setting result in the step (8) is abnormal, the steps (9), (10) and (11) are skipped, the step (12) is executed, and the steps (7) and (12) are executed.
The detection process in the step (3) should detect more than three trigger points on four surfaces (A surface, B surface, C surface and D surface) of the tire mold. The included angle between two surfaces of the CD is smaller than or equal to 90 degrees, the O surface is an angle plane of the two surfaces of the CD, the A surface and the B surface are perpendicular to the two surfaces of the CD, and a certain distance exists between the A surface and the B surface.
As shown in fig. 6, the calculation process of the user coordinate system in the step (4) specifically includes:
① According to the plane equation of the least square fitting A face, B face, C face and D face, the calculation method is shown as follows: 。
wherein, For the on-plane detection point (trigger point) data, n represents the number of trigger points,Representing the coordinates of the trigger point.
② Three face intersections are calculated A, C, D using the following formulaIntersection of B, C, D faces：. Wherein ,A1、B1、C1、D1、A2、B2、C2、D2、A3、B3、C3、D3 are coefficients of plane equations.
③ Calculating the origin of the user coordinate system from the following formulaI.e., midpoint of P 1 and P 2:。
④ Calculating a point on the X-axis of the user coordinate system from the following formula Care should be taken that：。
Wherein,，To calculate the coefficients in the case of angular bisection,A c、Bc、Cc、Dc is the coefficient of the equation of the C plane, and a D、BD、CD、DD is the coefficient of the equation of the D plane.
⑤ Calculating a point on the XOY plane of the user coordinate system by the following formulaFor easy calculation, the point XY is taken on the Y-axis of the user coordinate system, and care should be taken：。
The tool setting method in the step (8) specifically comprises the following steps:
① The tail end of the replaceable tool spindle 16 is additionally provided with a tool 15 with standard length;
② The servo motor 10 drives the cutter 15 to slowly approach the cutter setting device 5 until the cutter 15 contacts the cutter setting device 5;
③ Recording the moving distance of the sliding block 19 in the module and the actual length of the standard cutter, and completing the calibration work of the cutter 15;
④ A general cutter 15 is additionally arranged at the tail end of the cutter-replaceable main shaft 16;
⑤ The servo motor 10 drives the cutter 15 to slowly approach the cutter setting device 5 until the cutter contacts the cutter setting device 5;
⑥ The moving distance of the sliding block 19 in the recording module and the moving distance of the standard cutter are combined with the actual length of the standard cutter, the length of the cutter 15 is obtained through comparison calculation, and the cutter setting is completed. Calculation example: if the standard tool length is 100mm, the slide moves 150 during calibration, and the slide moves 120 during normal tool calibration, the normal tool length is 100+150-120=130.
Step ①-③ is a tool setting preparation operation, which is performed only once. The current cutter condition can be judged through cutter setting; and the different cutters can drill holes with the same machining starting point after tool setting is completed, so that the calibration times of the mechanical arm cutters are reduced, and meanwhile, the errors when the different cutters machine the same air hole are reduced.
The embodiment provides a robot system for automatic drilling of tire mould sets up the drill bushing for restrain cutter vibration and deformation, and the oil delivery port is seted up to the top of drill bushing, and the oil circuit connects the oil delivery port of interchangeable drill bushing and aligns the installation, and the lubricating oil of being convenient for flows into interchangeable drill bushing, improves heat dissipation ability when lubricated cutter, extension cutter life.
The robot system for automatic drilling of the tire mold provided by the embodiment adopts an external drill bushing and a replaceable tool spindle for processing and is provided with a tool rest, so that automatic tool changing of the tire mold drilling system is realized.
The robot system for automatic drilling of the tire mold provided by the embodiment adopts the contact type measuring head for positioning, so that the automatic positioning of the tire mold is realized.
The embodiment provides a robot system for automatic drilling of tire mould sets up tool setting device, realizes automatic tool setting.
The robot system for automatically drilling the tire mold simplifies the tire mold positioning device, improves the degree of automation of the tire mold exhaust holes, is applicable to the processing of tire molds of various types, and realizes the flexible automatic drilling processing of the tire mold.
Example two
The embodiment provides a control method of a robot system for automatically drilling a tire mold.
The control method of the robot system for automatically drilling the tire mold provided by the embodiment comprises the following steps:
(1) The upper computer 8 takes a user coordinate system as a reference to extract the coordinate data of the vent hole of the current processed workpiece;
(2) According to a cutter taking program of the mechanical arm 2, controlling the mechanical arm 2 to drive the drilling device 3 to move to a cutter position of the contact type measuring head 7 of the cutter rest 6, and clamping the contact type measuring head 7;
(3) According to the detection program of the mechanical arm 2, the mechanical arm 2 is controlled to drive the contact type measuring head 7 to detect from the periphery of the workpiece to the center of the workpiece, when a contact head on a measuring needle of the contact type measuring head 7 is contacted with four surfaces of the workpiece A, B, C, D, the mechanical arm 2 records trigger point position data, and detection of the size and the trigger point position of the workpiece is completed, and more than three trigger point positions are detected on the four surfaces of A, B, C, D respectively during detection.
(4) The upper computer 8 reads the detection point data and constructs the data required by the user coordinate system through a three-point method;
(5) The upper computer 8 sends data required by constructing a user coordinate system by a three-point method to the mechanical arm 2, and the user coordinate system is set according to a mechanical arm user coordinate system setting program;
(6) According to a cutter placing program of the mechanical arm, controlling the mechanical arm 2 to drive the drilling device 3 to move to a cutter position of the contact type measuring head 7 of the cutter rest 6, and placing the contact type measuring head 7;
(7) According to a cutter taking program of the mechanical arm, controlling the mechanical arm 2 to drive the drilling device 3 to move to a cutter position of a cutter 15 required for machining to take a cutter;
(8) According to a tool setting program of the mechanical arm, controlling the mechanical arm 2 to drive the drilling device 3 to move to a tool setting position, and performing tool setting by using the tool setting device 5;
(9) According to a control program of the mechanical arm drill bushing, the mechanical arm 2 is controlled to drive the drilling device 3 to move to a safe position, the double-rod air cylinder 31 stretches out, and the swing air cylinder 27 moves to a position where the Z-shaped plate 22 is vertical to a cutter;
(10) The upper computer 8 sends position data of a processing target hole site, according to a mechanical arm processing program, the mechanical arm 2 is controlled to drive the drilling device 3 to move to the processing target hole site, the drilling device 3 is started, the tool changing main shaft 16 works and the servo motor 10 rotates positively, the tool 15 penetrates through the drill sleeve 25 to a processing workpiece, lubricating oil enters the drill sleeve 25 from the oil way joint 23 to be processed to a specified depth, the servo motor 10 rotates reversely to enable the tool 15 to withdraw from the exhaust hole, and processing of one exhaust hole is completed; repeating the operation until the drilling is completed;
(11) According to a mechanical arm drill bushing control program, the servo motor 10 reverses to enable the cutter 15 to withdraw from the drill bushing 25, the mechanical arm 2 is controlled to drive the drilling device 3 to move to a safe position, the swing cylinder 27 moves to a position where the Z-shaped plate 22 is horizontal to the cutter, and the double-rod cylinder 31 is retracted;
(12) According to the tool setting program of the mechanical arm, the mechanical arm 2 is controlled to drive the drilling device 3 to move to the tool position for setting the tool 15 required by machining.
If the tool setting result in the step (8) is abnormal, the steps (9), (10) and (11) are skipped, the step (12) is executed, and the steps (7) and (12) are executed.
The detection process in the step (3) should detect more than three trigger points on four surfaces (A surface, B surface, C surface and D surface) of the tire mold.
As shown in fig. 6 and 7, the calculation process of the user coordinate system in the step (4) specifically includes:
① According to the plane equation of the least square fitting A face, B face, C face and D face, the calculation method is shown as follows: 。
wherein, Is the detection point (trigger point) data on the plane.
② Three face intersections are calculated A, C, D using the following formulaIntersection of B, C, D faces：。
③ Calculating the origin of the user coordinate system from the following formulaI.e., midpoint of P 1 and P 2:。
④ Calculating a point on the X-axis of the user coordinate system from the following formula Care should be taken that：。
Wherein,，。
⑤ Calculating a point on the XOY plane of the user coordinate system by the following formulaFor easy calculation, the point XY is taken on the Y-axis of the user coordinate system, and care should be taken：。
The tool setting method in the step (8) specifically comprises the following steps:
① The tail end of the replaceable tool spindle 16 is additionally provided with a tool 15 with standard length;
② The servo motor 10 drives the cutter 15 to slowly approach the cutter setting device 5 until the cutter 15 contacts the cutter setting device 5;
③ Recording the moving distance of the sliding block 19 in the module and the actual length of the standard cutter, and completing the calibration work of the cutter 15;
④ A general cutter 15 is additionally arranged at the tail end of the cutter-replaceable main shaft 16;
⑤ The servo motor 10 drives the cutter 15 to slowly approach the cutter setting device 5 until the cutter contacts the cutter setting device 5;
⑥ The moving distance of the sliding block 19 in the recording module and the moving distance of the standard cutter are combined with the actual length of the standard cutter, the length of the cutter 15 is obtained through comparison calculation, and the cutter setting is completed.
Step ①-③ is a tool setting preparation operation, which is performed only once.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The robot system for automatically drilling the tire mold is characterized by comprising a mechanical arm, a linear driving unit, a tool-changing main shaft, a Z-shaped plate, a drill bushing, a swinging cylinder, a cylinder connecting plate, a double-rod cylinder, a workbench for placing the tire mold, a tool rest arranged on the workbench and a plurality of tools arranged on the tool rest; the linear driving unit is arranged at the tail end of the mechanical arm, the tool changing main shaft is arranged on the linear motion mechanism, a double-rod air cylinder is arranged on one side of the linear driving unit, the front end of the double-rod air cylinder is fixedly connected with one side of an air cylinder connecting plate, a swinging air cylinder is arranged on the other side of the air cylinder connecting plate, a Z-shaped plate is arranged at the front end of the swinging air cylinder, and a drill bushing is positioned at the tail end of the Z-shaped plate;
the tool changing spindle is used for clamping or placing a tool when the mechanical arm drives the tool changing spindle to the tool rest, and driving the tool to rotate after the tool passes through the drill sleeve;
The double-rod cylinder is used for clamping the cutter on the replaceable cutter spindle and the mechanical arm drives the cutter to extend out after reaching the tire mold, or contracts after the Z-shaped plate rotates to a position horizontal to the cutter;
The swinging cylinder is used for driving the Z-shaped plate to rotate to a position vertical to the cutter after the double-rod cylinder stretches out, or driving the Z-shaped plate to rotate to a position horizontal to the cutter before the cutter is placed on the cutter-replaceable main shaft;
And the linear driving unit is used for driving the cutter to pass through the drill bushing to process the workpiece through linear motion after the Z-shaped plate rotates to a position vertical to the cutter.
2. The robotic system for automatic drilling of tire molds as in claim 1, further comprising a drill bushing connection plate and a plurality of guide rods;
The drill bushing connecting plate is used for fixing the double-rod cylinder and the linear driving unit;
One end of the guide rod is fixed on the air cylinder connecting plate, and the other end of the guide rod penetrates through the drill bushing connecting plate.
3. The robotic system for automatic drilling of tire molds as in claim 1, further comprising an oil passage joint disposed above said drill collar;
The oil way joint is used for connecting an oil pump to supply oil into the drill bushing.
4. A robotic system for automatic drilling of tire molds as in claim 1, wherein one side of said drill sleeve is provided with a set screw;
the set screw is used for fastening the drill bushing.
5. The robot system for automatically drilling a tire mold according to claim 1, wherein the linear driving unit comprises a servo motor, a motor mount, a guide rail, a ball screw, an open-type fixing ring, a slider, and a coupling;
the servo motor is arranged on a motor seat at the tail end of the guide rail, one end of the coupler is connected with the servo motor, the other end of the coupler is connected with the ball screw, the first end of the sliding block is arranged on the guide rail, the ball screw penetrates through the sliding block, the second end of the sliding block is fixedly connected with the first end of the open-type fixed ring, and the second end of the open-type fixed ring is used for fixing the replaceable tool spindle.
6. The robotic system for automatic drilling of tire molds as in claim 5, further comprising a first connection plate;
the top of first connecting plate is connected with the arm, the bottom of first connecting plate pass through the bolt with guide rail fixed connection, one side installation of first connecting plate the double-rod cylinder.
7. A robotic system for automatic drilling of tire molds as in claim 1, wherein said blade carrier further has a contact probe disposed thereon;
the replaceable tool spindle is also used for clamping or placing the contact type measuring head.
8. The robotic system for automatic drilling of tire molds as in claim 7, further comprising a host computer and a signal receiver;
the mechanical arm is used for driving the contact type measuring head to detect at a plurality of trigger points of each surface of the tire mold after the contact type measuring head is clamped by the replaceable tool spindle;
The signal receiver is used for receiving the position of the trigger point;
and the upper computer is used for constructing a user coordinate system according to the position of the trigger point.
9. A robotic system for automatic drilling of tire molds as in claim 1, further comprising a tool setting device;
the tool setting device is used for calibrating the length of the tool.
10. A control method of a robotic system for automatic drilling of tyre molds according to any one of claims 1 to 9, comprising:
the control mechanical arm drives the tool changing main shaft to the tool rest;
controlling the replaceable tool spindle to clamp the tool;
controlling the double-rod cylinder to extend out after the mechanical arm drives the cutter to the tire mold;
controlling the swing cylinder to drive the Z-shaped plate to rotate to a position vertical to the cutter;
The linear driving unit is controlled to drive the cutter to pass through the drill bushing to process the workpiece through linear motion;
controlling the replaceable tool spindle to drive the tool to rotate, and drilling the tire mold;
after drilling is finished, controlling the swing cylinder to drive the Z-shaped plate to rotate to a position horizontal to the cutter;
and controlling the contraction of the double-rod cylinder, and controlling the mechanical arm to drive the tool changing main shaft to the tool rest and then controlling the tool changing main shaft to place a tool.
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| CN202410961287.8A CN118492458B (en) | 2024-07-18 | 2024-07-18 | Robot system for automatic drilling of tire mold and control method thereof |
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| CN202410961287.8A CN118492458B (en) | 2024-07-18 | 2024-07-18 | Robot system for automatic drilling of tire mold and control method thereof |
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| CN118492458B (en) | 2024-10-15 |
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