薄壁筒段件机器人铣削系统

Robot Milling System for Thin-Walled Cylinds

航空航天领域常用薄壁筒段件的铣削存在工件装夹困难、铣削设备单一且成本高、常规工艺参数不适用等难点,为解决这些问题,提出了一种基于六自由度工业机器人的解决方案。结合薄壁筒段件的结构特点与铣削工艺需求,开发了组成末端执行器的框架单元、铣削单元、检测单元、运动单元和清理单元。采用球头铣刀分别在模拟件和试验件上铣圆弧槽以验证该设备的可行性并检验其铣削性能,先用模拟件试切以研究不同工艺参数对铣削过程和铣槽质量的影响,然后根据模拟件的试验结果确定走刀方案并在试验件上试切以预测该设备对实际薄壁筒段件的铣削效果。试验结果表明该设备的铣削效果良好,试验件槽深平均值偏差为0.014 mm,可达到IT8精度等级,表面粗糙度(Ra)范围为1.038~6.079μm,证明了该设备具备铣削薄壁筒段件的能力,可以用于实际加工生产。

The milling of thin-walled cylindrical parts commonly used in the aerospace field has difficulties such as complex workpiece clamping,single and high-cost milling equipment,and inapplicability of convention-al process parameters.To solve these problems,a solution based on six-degree-of-freedom industrial robot is proposed.Combined with the structural characteristics of thin-walled cylindrical parts and the requirements of milling process,an end effector consists of frame unit,milling unit,detection unit,motion unit and cleaning unit is developed.A ball-end milling cutter is used to mill arc grooves on a simulated piece and a test piece respec-tively to verify the feasibility of the equipment and test the milling performance.Firstly,the simulated piece is cut to study the influence of different process parameters on the milling process and the quality of the milling groove.Then,according to the test results of the simulated piece,the cutting scheme is determined and the test piece is cut to predict the milling effect of the equipment on the actual thin-walled cylinder parts.The test re-sults show that the milling effect of the equipment is prominent,with an average deviation of 0.014 mm for the groove depth of the test piece,which can reach the IT8 accuracy.The surface roughness(Ra)ranges from 1038 to 6079μm.The results prove that the equipment has the ability to mill thin-walled cylinder parts and can be used for practical processing and production.