CN113172477A - Online measuring and controlling device and method for eccentricity of robot spiral hole milling cutter - Google Patents

Online measuring and controlling device and method for eccentricity of robot spiral hole milling cutter Download PDF

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CN113172477A
CN113172477A CN202110320562.4A CN202110320562A CN113172477A CN 113172477 A CN113172477 A CN 113172477A CN 202110320562 A CN202110320562 A CN 202110320562A CN 113172477 A CN113172477 A CN 113172477A
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milling cutter
eccentricity
eccentric
locking
shaft
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CN113172477B (en
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单以才
张磊
刘强
阎舜
宋翔
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Nanjing Xiaozhuang University
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Nanjing Xiaozhuang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
    • B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining

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Abstract

The invention discloses an on-line measuring and controlling device and a measuring and controlling method for the eccentricity of a robot spiral milling cutter, wherein the measuring and controlling device comprises a columnar wedge block, a micro-distance laser ranging sensor, a wireless communication module and a controller module; the cylindrical wedge block is fixed at the center of the end face of the eccentric main shaft, and a milling cutter is installed at the eccentric position of the front end of the eccentric main shaft through a clamping and locking mechanism; the microspur laser ranging sensor points to the measured end face of the columnar wedge block. The device and the method for measuring and controlling the eccentricity of the robot spiral milling cutter on line utilize the matching of the microspur laser ranging sensor and the columnar wedge block, can indirectly calculate the rotation angle theta of the eccentric spindle relative to the revolution shell according to the measured distance value, and calculate to obtain the real-time eccentricity e of the milling cutter, and the microspur laser ranging sensor and the columnar wedge block can be arranged at the rear end of a milling actuator, so that the processing operation of the robot spiral milling cutter cannot be influenced.

Description

Online measuring and controlling device and method for eccentricity of robot spiral hole milling cutter
Technical Field
The invention relates to an eccentricity online measurement and control device and a measurement and control method thereof, in particular to an eccentricity online measurement and control device and a measurement and control method for a robot spiral milling cutter.
Background
The robot spiral hole milling has the advantages of large hole milling range, high machining efficiency and the like, and has wide application prospect in the aspect of improving the hole milling quality and efficiency of large-sized workpieces. Due to the characteristics of weak rigidity, low bearing capacity and the like of the robot body, the requirement on the whole performance of the hole milling actuator is particularly high. When the robot is used for milling holes spirally, the instantaneous eccentricity adjustment of the milling cutter is a particularly critical process link, and the adjustment mechanism and the adjustment method not only can influence the processing precision of the spiral milling holes, but also can determine the composition structure and the whole machine weight of a hole milling actuator.
At present, the spiral milling cutter eccentricity of robot is adjusted, can be divided into two types from the regulation principle: one type adopts the principle of double eccentric sleeves, and realizes the adjustment of the eccentric amount by changing the relative rotation angle of an inner eccentric sleeve and an outer eccentric sleeve; one type arranges a main shaft on a revolution mechanism through a linear motion device with a vertical axis, and adjusts the eccentric amount through the linear motion device. From the control mode, the adjustment of the eccentricity of the spiral hole milling cutter of the robot can be divided into open-loop control and closed-loop control. The search shows that the spiral hole milling actuator of the robot mostly adopts a double-eccentric sleeve to adjust the eccentric amount of the milling cutter, the adjustment reliability and the working stability of the eccentric adjustment scheme are good, but in order to simplify the structure of the actuator and reduce the weight of the whole machine, an open-loop control mode is mostly adopted. The spiral hole milling actuator has a complex combined structure, so that the adjustment precision of the eccentricity of the milling cutter adopting an open-loop control mode is difficult to meet the processing precision requirement of a hole to be processed. The existing Chinese patents CN201510304427.5, 201910452553.3 and 201910453475.9 respectively provide a scheme for detecting the eccentricity of a spiral hole milling cutter, so that the eccentricity adjustment precision of the cutter is effectively controlled. However, when the three patents are applied to the spiral hole milling of the robot, there are some common problems: when the tool eccentricity is detected, if the detection device is used for offline storage, the detection device must be installed at the front end of the hole milling actuator on site, and the machining efficiency of the spiral hole milling of the robot is affected; if the detection device is installed on line, the detection device is positioned at the front end of the hole milling actuator, so that the machining operation of the spiral hole milling of the robot can be influenced.
Therefore, the factors prevent the popularization and application of the spiral hole milling of the robot to a certain extent. In order to accelerate the application and popularization of the spiral hole milling of the robot, a set of instantaneous eccentricity online measurement and control device and method for the milling cutter is developed based on the spiral hole milling platform of the robot and by combining the operation flow and characteristics of the spiral hole milling platform.
Disclosure of Invention
The purpose of the invention is as follows: the device and the method for measuring and controlling the eccentricity of the robot spiral milling cutter on line can measure and control the eccentricity of the robot spiral milling cutter on line, are installed at the rear end of a milling actuator, and cannot influence the machining operation of the robot spiral milling cutter.
The technical scheme is as follows: the invention relates to an on-line measuring and controlling device for the eccentricity of a robot spiral milling cutter, which comprises a columnar wedge block, a micro-distance laser ranging sensor, a wireless communication module and a controller module;
the cylindrical wedge block is fixedly arranged at the center of the end face of an eccentric main shaft of the hole milling actuator, and a milling cutter is arranged at the eccentric position of the front end of the eccentric main shaft through a clamping and locking mechanism; the microspur laser ranging sensor points to the measured end face of the columnar wedge block, and the pointing direction of the microspur laser ranging sensor is parallel to the central axis of the eccentric main shaft; the measured end face of the columnar wedge block is set as a slope face; the micro-distance laser ranging sensor is electrically connected with the wireless communication module, and the wireless communication module is in wireless communication connection with the wireless communication unit of the controller module; the output end of the controller module is electrically connected with an eccentric driving motor of the hole milling actuator, and the eccentric driving motor drives the eccentric spindle to rotate, so that the eccentric amount of the milling cutter is adjusted.
As a further limiting scheme of the measurement and control device, a central groove is arranged at the center of the end face of the eccentric main shaft, and a shaft end plate is embedded and installed in the central groove; a brake shaft is vertically arranged at the center of the shaft end plate; the center of the column-shaped wedge block is provided with a center hole, the column-shaped wedge block is fixedly arranged on the shaft end plate, and the brake shaft penetrates through the center hole; the eccentric main shaft is rotatably arranged at the eccentric position of the revolution shell, and the rear end of the revolution shell is provided with a rear end cover; the micro-distance laser ranging sensor and the wireless communication module are both arranged in the rear end cover; an electromagnetic brake electrically connected with the controller module is fixedly arranged on the rear end cover; the end part of the brake shaft extends into the electromagnetic brake, and the electromagnetic brake is used for braking and controlling the brake shaft.
As a further limiting scheme of the measurement and control device, the eccentric driving motor is fixedly arranged on the revolution shell, and the eccentric driving motor drives the brake shaft to rotate through the transmission mechanism.
As a further limiting scheme of the measurement and control device, the clamping and locking mechanism comprises a cutter bar butt joint shaft, a hole making driving motor, four locking studs, a synchronizing ring and two locking columns; a rotary mounting shaft hole is arranged at the eccentric position of the front end of the eccentric main shaft, and the rear end of the cutter bar butt joint shaft is rotatably mounted in the rotary mounting shaft hole through two mounting bearings; the hole making driving motor is arranged in the rotary installation shaft hole, and the end part of an output shaft of the hole making driving motor is in butt joint with the rear end of the cutter bar butt joint shaft; a cutter jack is arranged at the center of the front end face of the cutter bar butt joint shaft, and the rear end of the milling cutter is inserted in the cutter jack; a rectangular groove is formed in the end face of the insertion end of the milling cutter, a rectangular bump is arranged at the bottom of the hole of the cutter insertion hole, and the rectangular bump is embedded into the rectangular groove; the circumferential surface of the front end of the cutter bar butt joint shaft is provided with four locking threaded holes which are vertically communicated with the cutter jack, and the four locking threaded holes are positioned at quartering points of the same circumference; four locking studs are respectively screwed on the four locking threaded holes in a threaded manner, and adjusting gears are arranged at the outer end parts of the four locking studs; the synchronous ring is rotatably sleeved on the circumferential surface of the front end of the cutter bar butt joint shaft, a limit ring groove is arranged on the inner circumferential surface of the synchronous ring, and a limit convex ring embedded in the limit ring groove is arranged on the circumferential surface of the front end of the cutter bar butt joint shaft; the annular edge at one side of the synchronizing ring is provided with all synchronizing teeth at intervals, and the four adjusting gears are meshed with the synchronizing teeth at corresponding positions; the two locking columns are rotatably arranged on the circumferential surface of the front end of the cutter bar butt joint shaft and are positioned at the bisection point of the same circumference; each driving tooth is arranged on the annular edge on the other side of the synchronizing ring at intervals, and driving gears meshed with the driving teeth at the corresponding positions are arranged on the two locking columns; the end parts of the two locking columns are provided with clamping end heads convenient for rotation adjustment; the inner ends of the four locking studs are respectively provided with a conical end head, the circumference of the rear end of the milling cutter is provided with a conical contraction section, and the conical end heads are pressed on the conical contraction sections and used for extruding and pushing the milling cutter to be limited in the cutter jack.
As a further limiting scheme of the measurement and control device, an annular housing is fixedly arranged on the circumferential surface of the front end of the cutter bar butt joint shaft; the four adjusting gears, the synchronizing ring and the two driving teeth are all positioned in the annular housing; the clamping end is positioned outside the annular housing.
As a further limiting scheme of the measurement and control device, a locking seat is fixedly arranged on the circumferential surface of the front end of the cutter bar butt joint shaft and close to the two locking columns; a locking pin hole is formed in the locking seat, and a locking pin rod is inserted into each locking pin hole; a strip-shaped limiting groove is formed in the wall of the locking pin hole, and a strip-shaped limiting block which is embedded into the strip-shaped limiting groove in a sliding mode is arranged on the rod wall of the locking pin rod; a rebound pressure spring which is elastically supported on the insertion end of the locking pin rod is arranged in the locking pin hole; a strip-shaped locking plate is arranged at the outer end part of the locking pin rod, and a rectangular notch used for clamping the clamping end is arranged on the strip-shaped locking plate.
The invention also provides a measurement and control method of the on-line measurement and control device for the eccentricity of the robot spiral milling cutter, which comprises the following steps:
step 1, calibrating a first limit detection position and a second limit detection position, wherein the first limit detection position is a minimum measurement value d of a microspur laser ranging sensorminThe corresponding position and the second limit detection position are the maximum measurement value d of the microspur laser ranging sensormaxCorresponding position, then determining the minimum measured value dminMinimum eccentricity e of milling cutter corresponding to positionminAnd a maximum measured value dmaxMaximum eccentricity e of milling cutter corresponding to positionmax；
Step 2, according to the minimum measured value dminMaximum measured value dmaxMinimum eccentricity e of milling cutterminAnd maximum eccentricity e of milling cuttermaxCalculating the corresponding conversion relation between the real-time eccentricity e of the milling cutter and the real-time measurement value d of the microspur laser ranging sensor;
step 3, according to the diameter D of the hole to be madeHAnd diameter d of milling cutterTCalculating theoretical eccentricity e of milling cutter1I.e. e1＝(DH-dT) 2, determining the maximum allowable error of the adjustment of the eccentricity of the milling cutter to be delta according to the machining precision requirement of the hole to be machined;
step 4, real-time measuring value d of the microspur laser ranging sensor according to the corresponding conversion relation2Into actual eccentricity e of the milling cutter2The controller module controls the eccentric driving motor to drive the eccentric main shaft and the column-shaped wedge block to rotate;
step 5, eccentricity adjustment and judgment: if the absolute value of e is more than or equal to 02-e1If the | is less than or equal to delta, the eccentric amount is adjusted.
As a further limited scheme of the measurement and control method, the method also comprises a step 6 of controlling the electromagnetic brake to lock the brake shaft by the controller module.
As a further limiting scheme of the measurement and control method, in step 1, the minimum measured value dminMinimum eccentricity e of milling cutter corresponding to position min0, i.e. at the minimum measured value dminThe central axis of the milling cutter at the position coincides with the central axis of the revolution shell, and the maximum measured value dmaxMaximum eccentricity e of milling cutter corresponding to positionmax＝2e0，e0Is the distance between the central axis of the revolution shell and the central axis of the eccentric main shaft.
As a further limiting scheme of the measurement and control method, in the step 2, the specific step of calculating the corresponding conversion relation between the real-time eccentricity e of the milling cutter and the real-time measurement value d of the microspur laser ranging sensor is as follows:
step 2.1, based on the minimum measured value dminMaximum measured value dmaxAnd calculating the rotation angle theta of the eccentric spindle relative to the revolution shell by using the real-time measurement value d of the microspur laser ranging sensor as follows:
Figure BDA0002992667070000041
step 2.2, calculating the real-time eccentricity e of the milling cutter according to the rotation angle theta of the eccentric main shaft relative to the revolution shell (203) as follows:
Figure BDA0002992667070000042
in the formula, e0Is the distance between the central axis of the revolution shell and the central axis of the eccentric main shaft.
As a further limitation of the measurement and control method, in step 5, if | e2-e1|>Delta, returning to the step 4, driving the eccentric main shaft and the column-shaped wedge block to perform correction rotation, and finally enabling | e to be more than or equal to 02-e1|≤δ。
Compared with the prior art, the invention has the beneficial effects that: by utilizing the matching of the microspur laser ranging sensor and the columnar wedge block, the rotation angle theta of the eccentric spindle relative to the revolution shell can be indirectly calculated according to the measured distance value, so that the real-time eccentricity e of the milling cutter is further calculated and obtained; the matching structure of the microspur laser ranging sensor and the columnar wedge block is simple, and the microspur laser ranging sensor can be arranged at the rear end of the hole milling actuator, so that the machining operation of the spiral milling hole of the robot cannot be influenced; the controller module is matched with the wireless communication module and the eccentric driving motor respectively, so that the rotation feedback control of the controller module on the eccentric main shaft can be realized, and the precision of eccentric amount adjustment is ensured.
Drawings
FIG. 1 is a schematic view of a measurement and control device of the present invention in a first extreme sensing position;
FIG. 2 is a schematic view of the measurement and control device of the present invention at a second limit detection position;
FIG. 3 is a flow chart of a measurement and control method of the present invention;
FIG. 4 is a schematic diagram of the relative structure of the microspur laser ranging sensor and the cylindrical wedge of the present invention;
FIG. 5 is a schematic view of a rotation angle calculation model according to the present invention;
fig. 6 is a cross-sectional partial structural view of the milling cutter of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1:
as shown in fig. 1 and 2, the online measuring and controlling device for the eccentricity of the spiral milling cutter of the robot disclosed by the invention comprises: the device comprises a columnar wedge block 1, a micro-distance laser ranging sensor 2, a wireless communication module 3 and a controller module 4;
the cylindrical wedge block 1 is fixedly arranged at the center of the end face of an eccentric main shaft 202 of the hole milling actuator 20, and a milling cutter 201 is arranged at the front end eccentric position of the eccentric main shaft 202 through a clamping and locking mechanism; the microspur laser ranging sensor 2 points to the measured end face of the columnar wedge block 1, and the pointing direction of the microspur laser ranging sensor 2 is parallel to the central axis of the eccentric main shaft 202; the measured end face of the columnar wedge block 1 is set as a slope face; the micro-distance laser ranging sensor 2 is electrically connected with the wireless communication module 3, and the wireless communication module 3 is in wireless communication connection with the wireless communication unit of the controller module 4; the output end of the controller module 4 is used for being electrically connected with an eccentric driving motor 205 of the hole milling actuator 20, and the eccentric spindle 202 is driven by the eccentric driving motor 205 to rotate, so that the eccentric amount of the milling cutter 201 is adjusted.
By utilizing the matching of the microspur laser ranging sensor 2 and the columnar wedge block 1, the rotation angle theta of the eccentric main shaft 202 relative to the revolution shell 203 can be indirectly calculated according to the measured distance value, so that the real-time eccentricity e of the milling cutter can be further calculated and obtained; the matching structure of the microspur laser ranging sensor 2 and the columnar wedge block 1 is simple, the microspur laser ranging sensor can be arranged at the rear end of the hole milling actuator 20, non-contact measurement is realized, the motion abrasion of a contact displacement detection sensor can be avoided, and the machining operation of the spiral hole milling of the robot cannot be influenced; by utilizing the cooperation of the controller module 4 with the wireless communication module 3 and the eccentric driving motor 205, the rotation feedback control of the controller module 4 on the eccentric main shaft 202 can be realized, and the precision of the eccentric amount adjustment can be ensured.
As a further limiting scheme of the measurement and control device, a central groove is arranged at the center of the end face of the eccentric main shaft 202, and a shaft end plate 204 is embedded and installed in the central groove; a brake shaft 206 is vertically arranged at the center of the shaft end plate 204; a central hole is formed in the center of the columnar wedge block 1, the columnar wedge block 1 is fixedly arranged on the shaft end plate 204, and the brake shaft 206 penetrates through the central hole; the eccentric main shaft 202 is rotatably installed at an eccentric position of the revolution housing 203, and a rear end cover 207 is installed at the rear end of the revolution housing 203; the micro-distance laser ranging sensor 2 and the wireless communication module 3 are both arranged in the rear end cover 207; an electromagnetic brake 208 electrically connected with the controller module 4 is fixedly arranged on the rear end cover 207; the end of the brake shaft 206 extends into the electromagnetic brake 208, and the electromagnetic brake 208 performs braking control on the brake shaft 206. The fixed installation of the brake shaft 206 and the fixed installation of the columnar wedge block 1 can be realized by the installation and matching of the central groove and the shaft end plate 204; the automatic switching of the rotation and the locking of the brake shaft 206 by the electromagnetic brake 208 realizes the automatic switching of the rotation and the locking between the eccentric main shaft 202 and the revolution shell 203, so that the adjusted eccentricity can be kept during hole making, and the release is carried out during the eccentricity adjustment, thereby facilitating the rotation driving of the brake shaft 206 and ensuring the eccentric adjustment precision of a cutter during the hole making.
As a further limited solution of the measurement and control device, an eccentric driving motor 205 is fixedly installed on the revolution housing 203, and the eccentric driving motor 205 drives the brake shaft 206 to rotate through a transmission mechanism 209. The transmission mechanism 209 may employ a synchronous pulley mechanism.
As shown in fig. 6, as a further limiting solution of the measurement and control device, the clamping and locking mechanism includes a tool bar butt joint shaft 214, a hole making driving motor 211, four locking studs 218, a synchronizing ring 221, and two locking studs 226; a rotary installation shaft hole 213 is arranged at the eccentric position of the front end of the eccentric main shaft 202, and the rear end of the cutter bar butt joint shaft 214 is rotatably installed in the rotary installation shaft hole 213 through two installation bearings 210; the hole making driving motor 211 is installed in the rotary installation shaft hole 213, and the end of the output shaft of the hole making driving motor 211 is installed in a butt joint with the rear end of the cutter bar butt joint shaft 214; a cutter insertion hole 217 is formed in the center of the front end face of the cutter bar butt joint shaft 214, and the rear end of the milling cutter 201 is inserted into the cutter insertion hole 217; a rectangular groove 236 is arranged on the end face of the insertion end of the milling cutter 201, a rectangular lug 238 is arranged at the bottom of the hole of the cutter insertion hole 217, and the rectangular lug 238 is embedded in the rectangular groove 236; four locking threaded holes 212 vertically communicated with the cutter insertion hole 217 are formed in the circumferential surface of the front end of the cutter bar butt joint shaft 214, and the four locking threaded holes 212 are located at the quartering points of the same circumference; four locking studs 218 are respectively screwed on the four locking threaded holes 212 in a threaded manner, and adjusting gears 219 are arranged at the outer end parts of the four locking studs 218; the synchronizing ring 221 is rotatably sleeved on the circumferential surface of the front end of the cutter bar butt joint shaft 214, a limit ring groove 224 is arranged on the inner circumferential surface of the synchronizing ring 221, and a limit convex ring 225 embedded in the limit ring groove 224 is arranged on the circumferential surface of the front end of the cutter bar butt joint shaft 214; each synchronous tooth 222 is arranged on the annular edge at one side of the synchronous ring 221 at intervals, and the four adjusting gears 219 are meshed with the synchronous teeth 222 at corresponding positions; the two locking columns 226 are rotatably mounted on the circumferential surface of the front end of the tool bar butt joint shaft 214, and the two locking columns 226 are located at the bisection point of the same circumference; each driving tooth 223 is arranged on the other side annular edge of the synchronizing ring 221 at intervals, and a driving gear 228 meshed with the driving tooth 223 at the corresponding position is arranged on each of the two locking columns 226; the ends of the two locking posts 226 are provided with gripping tips 227 to facilitate rotational adjustment; the inner ends of the four locking studs 218 are respectively provided with a conical end head 220, the rear end circumference of the milling cutter 201 is provided with a conical contraction section 239, and the conical end heads 220 are pressed on the conical contraction section 239 and used for extruding and pushing the milling cutter 201 to be limited in the cutter insertion hole 217. The tapered heads 220 at the inner ends of the four locking studs 218 are pressed on the tapered contraction section 239, so that the milling cutter 201 is stably clamped and fixed; the milling cutter 201 can be limited in relative rotation by the matching of the rectangular convex block 238 and the rectangular groove 236; by means of the arrangement of the four adjusting gears 219, the synchronizing ring 221 and the two driving gears 228, the four adjusting gears 219 can be synchronously adjusted by rotating the locking columns 226, so that synchronous rotation of the four locking studs 218 is realized, and the condition that the milling cutter 201 is pressed and fixed in four directions is met; the rotation limitation of the synchronizing ring 221 is realized by the cooperation of the limiting ring groove 224 and the limiting convex ring 225.
As a further limiting scheme of the measurement and control device, an annular housing 215 is fixedly arranged on the circumferential surface of the front end of the cutter bar butt joint shaft 214; the four adjusting gears 219, the synchronizing ring 221 and the two drive teeth 222 are all located within the annular housing 215; the gripping stubs 227 are located outside the annular housing 215. The use of the annular housing 215 prevents the influence of the cutting powder on the internal engagement.
As a further limitation of the measurement and control device, a locking seat 229 is fixedly disposed on the circumferential surface of the front end of the tool bar docking shaft 214 and near the two locking posts 226; a locking pin hole 230 is formed in the locking seat 229, and a locking pin rod 231 is inserted into each locking pin hole 230; a strip-shaped limiting groove is formed in the hole wall of the locking pin hole 230, and a strip-shaped limiting block 232 which is slidably embedded into the strip-shaped limiting groove is arranged on the rod wall of the locking pin rod 231; a resilient compression spring 233 elastically supported on an insertion end of the locking pin rod 231 is provided in the locking pin hole 230; a strip-shaped locking plate 234 is provided on the outer end of the locking pin rod 231 and a rectangular slot 235 for the snap-in clamping head 227 is provided on the strip-shaped locking plate 234. The clamping head 227 can be locked and buckled by using a rectangular notch 235 on the strip-shaped locking plate 234, so that the locking column 226 is prevented from rotating back in the using process; the strip-shaped locking plate 234 can be timely bounced after the clamping end 227 is adjusted by utilizing the rebound compression spring 233, so that the clamping end 227 and the rectangular notch 235 can be timely locked in a buckling manner; the contraction range of the locking pin rod 231 can be limited by the cooperation of the bar-shaped limit groove and the bar-shaped limit block 232.
As shown in fig. 3, the invention also provides a measurement and control method of the on-line measurement and control device for the eccentricity of the robot spiral milling cutter, which comprises the following steps:
step 1, calibrating a first limit detection position and a second limit detection position, wherein the first limit detection position is a minimum measurement value d of a microspur laser ranging sensor 2minThe corresponding position, the second limit detection position is the maximum measurement value d of the microspur laser ranging sensor 2maxCorresponding position, then determining the minimum measured value dminMilling cutter corresponding in positionMinimum eccentricity eminAnd a maximum measured value dmaxMaximum eccentricity e of milling cutter corresponding to positionmax；
Step 2, according to the minimum measured value dminMaximum measured value dmaxMinimum eccentricity e of milling cutterminAnd maximum eccentricity e of milling cuttermaxCalculating the corresponding conversion relation between the real-time eccentricity e of the milling cutter and the real-time measured value d of the microspur laser ranging sensor 2;
step 3, according to the diameter D of the hole to be madeHAnd diameter d of milling cutterTCalculating theoretical eccentricity e of milling cutter1I.e. e1＝(DH-dT) 2, determining the maximum allowable error of the adjustment of the eccentricity of the milling cutter to be delta according to the machining precision requirement of the hole to be machined;
step 4, real-time measuring value d of the microspur laser ranging sensor 2 according to the corresponding conversion relation2Into actual eccentricity e of the milling cutter2The controller module 4 controls the eccentric driving motor 205 to drive the eccentric main shaft 202 and the columnar wedge block 1 to rotate;
step 5, eccentricity adjustment and judgment: if the absolute value of e is more than or equal to 02-e1If the | is less than or equal to delta, the eccentric amount is adjusted.
As a further limitation of the measurement and control method, step 6 is further included, in which the controller module 4 controls the electromagnetic brake 208 to lock the brake shaft 206. The brake shaft 206 is locked by the electromagnetic brake 208 so that the adjusted eccentricity amount can be maintained at the time of hole making, and released at the time of eccentricity adjustment to facilitate rotational driving of the brake shaft 206.
As a further limiting scheme of the measurement and control method, in step 1, the minimum measured value dminMinimum eccentricity e of milling cutter corresponding to position min0, i.e. at the minimum measured value dminThe central axis of the milling cutter 201 coincides with the central axis of the revolution housing 203, the eccentricity of the milling cutter 201 is zero, and the maximum measured value dmaxMaximum eccentricity e of milling cutter corresponding to positionmax＝2e0I.e. the eccentricity of the milling cutter 201 is twice e0，e0Is the central axis of the revolution shell 203 and an eccentric main shaft202 central axis.
As a further limiting scheme of the measurement and control method, in the step 2, the specific step of calculating the corresponding conversion relation between the real-time eccentricity e of the milling cutter and the real-time measurement value d of the microspur laser ranging sensor 2 is as follows:
step 2.1, based on the minimum measured value dminMaximum measured value dmaxAnd calculating the rotation angle theta of the eccentric spindle relative to the revolution shell by using the real-time measurement value d of the microspur laser ranging sensor as follows:
Figure BDA0002992667070000071
as shown in fig. 4 and 5, the minimum measured value dminAnd a maximum measured value dmaxSatisfies the following conditions:
Figure BDA0002992667070000081
r is the distance from the microspur laser ranging sensor 2 to the central axis of the columnar wedge block 1;
step 2.2, calculating the real-time eccentricity e of the milling cutter according to the rotation angle theta of the eccentric main shaft relative to the revolution shell (203) as follows:
Figure BDA0002992667070000082
in the formula, e0Is the distance between the central axis of the revolution shell and the central axis of the eccentric main shaft.
As a further limitation of the measurement and control method, in step 5, if | e2-e1|>Delta, then returning to the step 4, driving the eccentric main shaft 202 and the column-type wedge block 1 to perform correction rotation, and finally enabling | e to be less than or equal to 02-e1|≤δ。
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. The utility model provides an online measurement and control device of spiral milling cutter eccentricity of robot which characterized in that: the device comprises a columnar wedge block (1), a micro-distance laser ranging sensor (2), a wireless communication module (3) and a controller module (4);
the cylindrical wedge block (1) is fixedly arranged at the center of the end face of an eccentric main shaft (202) of the hole milling actuator (20), and a milling cutter (201) is arranged at the eccentric position of the front end of the eccentric main shaft (202) through a clamping and locking mechanism; the microspur laser ranging sensor (2) points to the measured end face of the columnar wedge block (1), and the pointing direction of the microspur laser ranging sensor (2) is parallel to the central axis of the eccentric main shaft (202); the measured end face of the columnar wedge block (1) is set as a slope face; the micro-distance laser ranging sensor (2) is electrically connected with the wireless communication module (3), and the wireless communication module (3) is in wireless communication connection with the wireless communication unit of the controller module (4); the output end of the controller module (4) is used for being electrically connected with an eccentric driving motor (205) of the hole milling actuator (20), and the eccentric driving motor (205) drives an eccentric spindle (202) to rotate so as to adjust the eccentric amount of the milling cutter (201).
2. The on-line measuring and controlling device for the eccentricity of the spiral milling cutter of the robot according to claim 1, wherein: a central groove is arranged at the center of the end surface of the eccentric main shaft (202), and a shaft end plate (204) is embedded and mounted in the central groove; a brake shaft (206) is vertically arranged at the center of the shaft end plate (204); a center hole is formed in the center of the column-shaped wedge block (1), the column-shaped wedge block (1) is fixedly arranged on a shaft end plate (204), and a brake shaft (206) penetrates through the center hole; the eccentric main shaft (202) is rotatably arranged at an eccentric position of the revolution shell (203), and a rear end cover (207) is arranged at the rear end of the revolution shell (203); the micro-distance laser ranging sensor (2) and the wireless communication module (3) are both arranged in the rear end cover (207); an electromagnetic brake (208) electrically connected with the controller module (4) is fixedly arranged on the rear end cover (207); the end part of the brake shaft (206) extends into the electromagnetic brake (208), and the electromagnetic brake (208) is used for braking and controlling the brake shaft (206).
3. The on-line measuring and controlling device for the eccentricity of the spiral milling cutter of the robot according to claim 2, wherein: the eccentric driving motor (205) is fixedly arranged on the revolution shell (203), and the eccentric driving motor (205) drives the brake shaft (206) to rotate through the transmission mechanism (209).
4. The on-line measuring and controlling device for the eccentricity of the spiral milling cutter of the robot according to claim 1, wherein: the clamping and locking mechanism comprises a cutter bar butt joint shaft (214), a hole making driving motor (211), four locking studs (218), a synchronizing ring (221) and two locking columns (226); a rotary installation shaft hole (213) is arranged at the eccentric position of the front end of the eccentric main shaft (202), and the rear end of the cutter bar butt joint shaft (214) is rotatably installed in the rotary installation shaft hole (213) through two installation bearings (210); the hole making driving motor (211) is arranged in the rotary mounting shaft hole (213), and the end part of an output shaft of the hole making driving motor (211) is in butt joint with the rear end of the cutter bar butt joint shaft (214); a cutter jack (217) is arranged at the center of the front end face of the cutter bar butt joint shaft (214), and the rear end of the milling cutter (201) is inserted in the cutter jack (217); a rectangular groove (236) is formed in the end face of the insertion end of the milling cutter (201), a rectangular convex block (238) is arranged at the bottom of the cutter insertion hole (217), and the rectangular convex block (238) is embedded into the rectangular groove (236); the circumferential surface of the front end of the cutter bar butt joint shaft (214) is provided with four locking threaded holes (212) which are vertically communicated with the cutter jack (217), and the four locking threaded holes (212) are positioned at the quartering points of the same circumference; four locking studs (218) are respectively screwed on the four locking threaded holes (212) in a threaded manner, and adjusting gears (219) are arranged at the outer end parts of the four locking studs (218); the synchronous ring (221) is rotationally sleeved on the circumferential surface of the front end of the cutter bar butt joint shaft (214), a limit ring groove (224) is arranged on the inner side circumferential surface of the synchronous ring (221), and a limit convex ring (225) embedded into the limit ring groove (224) is arranged on the circumferential surface of the front end of the cutter bar butt joint shaft (214); the annular edge at one side of the synchronizing ring (221) is provided with synchronizing teeth (222) at intervals, and the four adjusting gears (219) are meshed with the synchronizing teeth (222) at corresponding positions; the two locking columns (226) are rotatably arranged on the circumferential surface of the front end of the cutter bar butt joint shaft (214), and the two locking columns (226) are positioned at the bisection points of the same circumference; each driving tooth (223) is arranged on the annular edge on the other side of the synchronizing ring (221) at intervals, and driving gears (228) meshed with the driving teeth (223) at corresponding positions are arranged on the two locking columns (226); the ends of the two locking columns (226) are provided with clamping heads (227) which are convenient to rotate and adjust; the inner ends of the four locking studs (218) are respectively provided with a conical end head (220), the circumference of the rear end of the milling cutter (201) is provided with a conical contraction section (239), and the conical end heads (220) are pressed on the conical contraction section (239) and used for extruding and pushing the milling cutter (201) to be limited in the cutter insertion hole (217).
5. The on-line measuring and controlling device for the eccentricity of the spiral milling cutter of the robot according to claim 4, wherein: an annular cover shell (215) is fixedly arranged on the circumferential surface of the front end of the cutter bar butt joint shaft (214); the four adjusting gears (219), the synchronizing ring (221) and the two driving teeth (222) are all positioned in the annular housing (215); the gripping stub (227) is located outside the annular housing (215).
6. The on-line measuring and controlling device for the eccentricity of the spiral milling cutter of the robot according to claim 4, wherein: a locking seat (229) is fixedly arranged on the circumferential surface of the front end of the cutter bar butt joint shaft (214) and close to the two locking columns (226); a locking pin hole (230) is formed in the locking seat (229), and a locking pin rod (231) is inserted into each locking pin hole (230); a strip-shaped limiting groove is formed in the hole wall of the locking pin hole (230), and a strip-shaped limiting block (232) which is embedded into the strip-shaped limiting groove in a sliding mode is arranged on the rod wall of the locking pin rod (231); a rebound pressure spring (233) which is elastically supported on the insertion end of the locking pin rod (231) is arranged in the locking pin hole (230); a strip-shaped locking plate (234) is arranged on the outer end of the locking pin rod (231), and a rectangular notch (235) for the snap-in clamping head (227) is arranged on the strip-shaped locking plate (234).
7. The method for measuring and controlling the eccentricity online measuring and controlling device of the robot spiral milling cutter according to claim 2, is characterized by comprising the following steps:
step 1, calibrating a first limit detection position and a second limit detection position, wherein the first limit detection position is a minimum measurement value d of a microspur laser ranging sensor (2)minThe corresponding position, the second limit detection position is the maximum measurement value d of the microspur laser ranging sensor (2)maxCorresponding position, then determining the minimum measured value dminMinimum eccentricity e of milling cutter corresponding to positionminAnd a maximum measured value dmaxMaximum eccentricity e of milling cutter corresponding to positionmax；
Step 2, according to the minimum measured value dminMaximum measured value dmaxMinimum eccentricity e of milling cutterminAnd maximum eccentricity e of milling cuttermaxCalculating the corresponding conversion relation between the real-time eccentricity e of the milling cutter and the real-time measurement value d of the microspur laser ranging sensor (2);
step 3, according to the diameter D of the hole to be madeHAnd diameter d of milling cutterTCalculating theoretical eccentricity e of milling cutter1I.e. e1＝(DH-dT) 2, determining the maximum allowable error of the adjustment of the eccentricity of the milling cutter to be delta according to the machining precision requirement of the hole to be machined;
step 4, the actual measured value d of the microspur laser ranging sensor (2) is measured in real time according to the corresponding conversion relation2Into actual eccentricity e of the milling cutter2The controller module (4) controls the eccentric driving motor (205) to drive the eccentric main shaft (202) and the column-shaped wedge block (1) to rotate;
step 5, eccentricity adjustment and judgment: if the absolute value of e is more than or equal to 02-e1If the | is less than or equal to delta, the eccentric amount is adjusted, and the controller module (4) controls the electromagnetic brake (208) to lock the brake shaft (206).
8. The method for measuring and controlling the eccentricity on-line measuring and controlling device of the robot spiral milling cutter according to claim 7, wherein in the step 1, the minimum measured value d isminMinimum eccentricity e of milling cutter corresponding to positionmin＝0，I.e. at the minimum measured value dminThe central axis of the milling cutter (201) at the position coincides with the central axis of the revolution shell (203), and the maximum measured value dmaxMaximum eccentricity e of milling cutter corresponding to positionmax＝2e0，e0Is the distance between the central axis of the revolution shell (203) and the central axis of the eccentric main shaft (202).
9. The method for measuring and controlling the eccentricity online measuring and controlling device of the robot spiral milling cutter according to claim 7, wherein in the step 2, the specific step of calculating the corresponding conversion relationship between the real-time eccentricity e of the milling cutter and the real-time measurement value d of the microspur laser ranging sensor (2) is as follows:
step 2.1, based on the minimum measured value dminMaximum measured value dmaxAnd calculating the rotation angle theta of the eccentric spindle relative to the revolution shell by using the real-time measurement value d of the microspur laser ranging sensor as follows:
Figure FDA0002992667060000031
step 2.2, calculating the real-time eccentricity e of the milling cutter according to the rotation angle theta of the eccentric main shaft relative to the revolution shell (203) as follows:
Figure FDA0002992667060000032
in the formula, e0Is the distance between the central axis of the revolution shell and the central axis of the eccentric main shaft.
10. The method for measuring and controlling the eccentricity on-line measuring and controlling device of the robot spiral milling hole cutter according to claim 7, wherein in the step 5, if | e |, the eccentricity is measured and controlled by the on-line measuring and controlling device2-e1|>Delta, returning to the step 4, driving the eccentric main shaft (202) and the column-shaped wedge block (1) to perform correction rotation, and finally enabling | e to be less than or equal to 02-e1|≤δ。
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