CN101372088A - Single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinder - Google Patents
Single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinder Download PDFInfo
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Abstract
The invention provide a single-column dual-grinding head six-axis multifunctional numerical control grinder which solves the problems that the traditional grinders such as gantry guideway plane grinder have large volume, large production site area occupying, single processing function, etc. The grinder comprises a grinder body, a working platform, a column, a horizontal grinding head component, a vertical grinding head component and a control system; the horizontal grinding head is arranged at one end of a lifting sliding base; the horizontal grinding head, together with the lifting sliding base, is arranged inside a door-shaped column; the vertical grinding head is arranged at one side of the column by a rotatable rotation disc and a cantilever-typed trailing bar; the structure of the grinder is called an internal-storage and external-hanging typed vertical and horizontal dual-grinding head structure; a built-in computer numerical control system is used for controlling a servo system, thus realizing the linking of six shafts; the grinder can meet complex grinding process requirements.
Description
Technical field
The present invention relates to a kind of single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinding machine.
Background technology
At present, traditional grinding machine such as planer-type guide level grinding machine, its volume is too huge, and it is big to take the production site area, and machining functions is single.Two kinds of schemes of the general employing of grinding machine digital control system: first kind is to buy the universal numerical control system, make exploitation in this way simple relatively, but cost is too high, causes the product-free price advantage, and the market competitiveness is lower, and the external interdependence of technology is big; Second kind is the structure that adopts universal PC+motion control card, there are some problems that can't avoid in this scheme, its architecture and WINDOWS operating system all are not at the real-time control system design, can not satisfy the requirement of grinding machine digital control system well, and volume is also big.
Summary of the invention
The purpose of this invention is to provide a kind of single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinding machine.
The technical solution adopted for the present invention to solve the technical problems is:
Comprise lathe bed (1,9), workbench (2), column (3), horizontal wheelhead assembly and Vertical Mill head assembly, lubricating system, control system, control system comprises Computerized digital control system and servo-drive system, lathe bed is divided into preceding lathe bed (1) and back lathe bed (9), column (3) is installed on the back lathe bed (9), preceding lathe bed (1) is gone up and is placed workbench (2), the horizontal wheelhead assembly comprises bistrique lift slide (4) and horizontal wheelhead (5), horizontal wheelhead (5) is installed on lift slide (4) one ends, horizontal wheelhead (5) is within lift slide (4) places a shape column (3), Vertical Mill head assembly comprises cantilevered planker (6) and indexable rotating disk (7) and Vertical Mill head (8), Vertical Mill head (8) connects a side that is installed in column (3) by indexable rotating disk (7) with cantilevered planker (6), and it is upright that described structure is called the internal memory external hanging type, two grinding wheel head structures crouch; With embedded computer digital control system control servo-drive system, realize six-axis linkage.
Vertical Mill head (8) and horizontal wheelhead (5) are respectively by two servomotors, by the ball screw transmission, do vertical (Z1, Z2 axle) and in-movement (Y1, Y2 axle), the servomotor that is installed in rotating disk one side is by the worm and gear in the rotating disk, drive indexable dial rotation, realize the indexable grinding of Vertical Mill head (K axle), the servomotor before being installed in the lathe bed drives workbench by ball screw and vertically moves (X-axis), and described servomotor all links with computer; The embedded computer digital control system, guarantee that horizontal wheelhead (5) is along traverse feed, length feed and vertical direction feeding, and rotating feeding in Vertical Mill head (8) feeding longitudinally, vertical direction feeding and the plane vertical with the length feed direction, and can require to realize the multi-axis interpolation interlock according to processing technology, the maximum interlock number of axle is six.
The embedded computer digital control system, based on two CPU structure Computerized digital control system hardware platforms of the special-purpose motion control chip of ARM+FPGA, wherein the main effect of ARM controller is to be responsible for task relevant with management in the operational system, is the main control CPU of system; The special-purpose motion control chip of FPGA be responsible for moving operand such as interpolation calculating big, to the task that the real-time of task is had relatively high expectations, be exclusively used in heavy interpolation operation, alleviate the burden of arm processor.
The workbench servo drive system is installed on the cantilevered planker (6), servomotor adopts no gap yielding coupling and ball screw direct connection, the screw mandrel front end adopts high accuracy tetrad screw mandrel bearing fixed support, and the rear end is the support of duplex ball journal, and column adopts double-deck guide rail.
Computerized digital control system software layer aggregated(particle) structure is divided into three layers: wherein bottom uC/OS-2 real time operating system is to be used for the embedded OS of control in real time; It on operating system the hardware drive program layer, for upper strata grinding machine control application software provides the function call interface, finish abstract to system hardware resources, mask the bottom hardware details, physical behavio(u)r by abstract bottom hardware, make upper application software realize calling to hardware capability, the Computerized digital control system application layer comprises 6 periodic tasks: man-machine interface, data are handled, i.e. interpretation of programs and preliminary treatment and acceleration and deceleration prediction control, interpolation, Position Control, logical process, auxiliary control task; The priority of position servo is the highest, the task priority of interpolation is taken second place, the priority of logical process task is taken second place again, data are handled, the priority that is interpretation of programs, preliminary treatment, acceleration and deceleration control is taken second place again, auxiliary control is taken second place again, and the priority of man-machine interface is minimum, and described 6 periodic tasks move under the scheduling of uC/OS-2 operating system.
Lubricating system can be used loop gravity flow automatic lubricating system.
The invention has the beneficial effects as follows that upright, the two grinding wheel head structures that crouch of internal memory external hanging type are guaranteed machine tool structure compactness, transmission efficiency height, reached six control abilities of feed motion, thereby satisfy different processing situations.Simultaneously, obvious energy conservation, than energy-conservation 2/3 with the production capacity planograinder, conservation of raw material 3/4, manufacturing cost saves 50%, thereby the grinding cost is reduced greatly.
Move with the cantilever planker, double-deck column guide rail structure has strengthened the stability of lathe greatly, solves the temperature deformation of lathe, stress deformation and lathe overload stability.
Loop gravity flow automatic lubricating system can provide lubricated to slideway and screw rod, reduces the slideway wearing and tearing, improves operating accuracy and life-span, also can save the daily worry of forgetting oiling.Gravity flow carries out constant pressure oil supply to guide rail, and solve electromagnetic pump gap fuel feeding and cause error for the work extensible guide precision, the lack of lubrication shortcoming of starting shooting again after the solution start, thus reduce maintenance, guarantee the normal operation of lathe.
The dual-cpu structure of the special-purpose motion control chip of the hardware using ARM+FPGA of computerized numerical system, software adopts based on the multi-task scheduling scheme of uC/OS-2 embedded real-time operating system and modularization, modularization development approach, and on control algolithm, adopt multisegment movement velocity control adaptive algorithm and NURBS interpolation algorithm, make software and hardware system have opening, reconfigurability, versatility, ease for use, adaptability, compact conformation, at a high speed, characteristics such as high accuracy, high-performance, can carry out the grinding of complex free curved surface.Make up with embedded system, the compact conformation volume is little, and software and hardware all can reduce, and has characteristics such as opening, reconfigurability, versatility, ease for use, adaptability.
The computerized numerical system restructural can be expanded; The architecture openingization; Real-time is good.
Description of drawings:
Fig. 1: front schematic view.
Fig. 2: side schematic view.
Fig. 3: Computerized digital control system hardware implementations figure.
Fig. 4: Computerized digital control system software layer hierarchical structure chart.
Fig. 5: Computerized digital control system software is touched piece figure.
Among the figure: 1. lathe bed before; 2. workbench; 3. column; 4. bistrique lift slide; 5. horizontal wheelhead; 6. cantilevered planker; 7. rotating disk; 8. Vertical Mill head; 9. lathe bed after.
The specific embodiment
By Fig. 1 to Fig. 5 as can be known, the present invention includes lathe bed (1,9), workbench (2), column (3), horizontal wheelhead assembly and Vertical Mill head assembly, lubricating system, control system, control system comprises Computerized digital control system and servo-drive system, lathe bed is divided into preceding lathe bed (1) and back lathe bed (9), column (3) is installed on the back lathe bed (9), and preceding lathe bed (1) is gone up and placed workbench (2).
The horizontal wheelhead assembly comprises bistrique lift slide (4) and horizontal wheelhead (5), and horizontal wheelhead (5) is installed on lift slide (4) one ends, and bistrique (5) is within lift slide (4) places a shape column (3); Vertical Mill head assembly comprises cantilevered planker (6) and indexable rotating disk (7) and Vertical Mill head (8), Vertical Mill head (8) connects the right side that is installed in column (3) by indexable rotating disk (7) with cantilevered planker (6), described structure is referred to as single column, two bistrique internal memory external hanging type structures upright, for sleeping in.
Lathe bed adopts monoblock cast, the T type is arranged, the inner pair panel structures that adopt of lathe bed, improve the lathe integral rigidity, bed ways adopt V version, the workbench servo drive system is installed on the cantilevered planker, servomotor adopts no gap yielding coupling and ball screw direct connection, the screw mandrel front end adopts high accuracy tetrad screw mandrel bearing fixed support, the rear end is the support of duplex ball journal, column adopts double-deck Guide Rail Design, and its bistrique shockproof effect at work improves greatly, thereby has guaranteed the stability of lathe.
Vertical Mill head, horizontal wheelhead by the servomotor of two different capacity sizes, by the precise ball screw transmission, are done vertical (Z1, Z2 axle) and in-movement (Y1, Y2 axle) respectively respectively; The servomotor that is installed in rotating disk one side drives indexable dial rotation by the worm and gear in the rotating disk, realizes the indexable grinding of Vertical Mill head (K axle); High-power servomotor before being installed in the lathe bed drives workbench by precise ball screw and vertically moves (X-axis); All servomotors by with computer interconnection, realize six-axis linkage.
Lubricating system is a loop gravity flow automatic lubricating system, can provide lubricated to slideway and screw rod, reduces the slideway wearing and tearing, improves operating accuracy and life-span, also can save the daily worry of forgetting oiling.Gravity flow carries out constant pressure oil supply to guide rail, and solve electromagnetic pump gap fuel feeding and cause error for the work extensible guide precision, the lack of lubrication shortcoming of starting shooting again after the solution start, thus reduce maintenance, guarantee the normal operation of lathe.
Utilize embedded type C NC computerized numerical system, guarantee horizontal wheelhead along traverse feed, length feed and vertical direction feeding, and six controls automatically of rotating feeding in the feeding longitudinally of Vertical Mill head, vertical direction feeding and the plane vertical with the length feed direction.And can realize its multi-axis interpolation interlock according to processing technology, the maximum interlock number of axle is six.
Computerized digital control system adopts the built-in digital control system structure, two CPU based on the special-purpose motion control chip of ARM+FPGA make up the Computerized Numerical Control system hardware platform, wherein the main effect of ARM controller is to be responsible for task relevant with management in the operational system, is the main control CPU of system; The special-purpose motion control chip of FPGA be responsible for moving operand such as interpolation calculating big, to the task that the real-time of task is had relatively high expectations, be exclusively used in heavy interpolation operation, alleviate the burden of arm processor.Both organically combine, and have complementary advantages, and the compact conformation volume is little, has improved systematic function, has simplified system's design, has improved system reliability, has reduced cost.SMP860 as the Si Maidi of Shenzhen company.
Computerized digital control system software layer aggregated(particle) structure is divided into three layers: wherein bottom uC/OS-2 real time operating system is the embedded OS that a source code disclosed and be exclusively used in real-time control; It on operating system the hardware drive program layer, it major function be to provide good function call interface for upper strata grinding machine control application software, finish abstract to system hardware resources, mask the bottom hardware details, physical behavio(u)r by abstract bottom hardware, make upper application software realize calling to hardware capability, the Computerized digital control system application layer comprises 6 periodic tasks: man-machine interface, data are handled, i.e. interpretation of programs and preliminary treatment and acceleration and deceleration prediction control, interpolation, Position Control, logical process, auxiliary control task; The priority of position servo is the highest, the task priority of interpolation is taken second place, the priority of logical process task is taken second place again, data are handled, the priority that is interpretation of programs, preliminary treatment, acceleration and deceleration control is taken second place again, auxiliary control is taken second place again, and the priority of man-machine interface is minimum, and these 6 tasks are moved under the scheduling of uC/OS-2 operating system.
Computerized digital control system hardware uses the embedded motion control platform of SMP860.Adopt dual-cpu structure on the SMP860 hardware, wherein MCU has adopted S3C44B0X ARM7 high performance control device, and special-purpose motion control chip has adopted the SM5004 based on FPGA of Shenzhen Si Maidi company independent research.S3C44B0X uses ARM7TDMI nuclear, be operated in 66MHZ, have abundant peripheral functional modules such as lcd controller, UART, RTC, it is the core of system, is responsible for functions such as data processing and rough interpolation computing, system communication, LCD demonstration control, keyboard management and whole system operation.
In addition, system extension 8MB SDRAM and 4MB NOR FLASH and 32MB NANDflash to guarantee that enough space storage system control programs and back-up system operation are arranged.SM5004 is based on the MCX314/AS technical indicator, has drawn simultaneously that other family chips indivedual advantages develop.It can substitute the MCX3XX/A of NOVE, the similar chips such as PCL6045/6025 of NPM comprehensively on function and performance, the very complicated motion control problem of script just can become simple relatively after using this chip, comprises at the uniform velocity all can being finished with hardware mode by SM5004 with emission, straight line and circular interpolation, initial point and the functions such as limit switch management, the fast planning of lifting of speed change pulse.
Computerized digital control system software layer aggregated(particle) structure is divided into three layers.Wherein bottom uC/OS-2 real time operating system is that a source code is open and be exclusively used in the embedded OS of real-time control, it possess portable, curable, can reduce, characteristics such as the formula of taking the lead, multitask, be very suitable for the exploitation of digital control system.Be the hardware drive program layer on operating system, it major function be for upper strata grinding machine control application software provides good function call interface, finish abstract to system hardware resources, mask the bottom hardware details.By the physical behavio(u)r of abstract bottom hardware, make upper application software realize calling to hardware capability.Grinding machine digital control system application layer comprises 6 periodic tasks: man-machine interface, data are handled tasks such as (interpretation of programs and preliminary treatment and acceleration and deceleration prediction control), interpolation, Position Control, logical process, auxiliary control.The priority of position servo is the highest, the task priority of interpolation is taken second place, and the priority of logical process task is taken second place again, and data are handled the priority of (interpretation of programs, preliminary treatment, acceleration and deceleration control) and taken second place, auxiliary control is taken second place again, and the priority of man-machine interface is minimum.These 6 tasks are moved under the scheduling of uC/OS-2 operating system.
Introduce the main performance index of one of embodiment below:
But the full-size on grinding plane: 600 * 1500
But the maximum height on grinding plane: 800
The roughness of workpiece grinding skin: Ra0.16
The workpiece grinding skin is to the depth of parallelism of basal plane: 200-300/0.004
But the maximum height difference of grinding-shaping curved surface: 150
Numerical control resolution ratio: 0.001mm
Digital control system interpolation cycle: 4ms.
Claims (6)
1. single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinding machine, comprise lathe bed (1,9), workbench (2), column (3), horizontal wheelhead assembly and Vertical Mill head assembly, lubricating system, control system, control system comprises Computerized digital control system and servo-drive system, lathe bed is divided into preceding lathe bed (1) and back lathe bed (9), column (3) is installed on the back lathe bed (9), preceding lathe bed (1) is gone up and is placed workbench (2), it is characterized in that: the horizontal wheelhead assembly comprises bistrique lift slide (4) and horizontal wheelhead (5), horizontal wheelhead (5) is installed on lift slide (4) one ends, horizontal wheelhead (5) is within lift slide (4) places a shape column (3), Vertical Mill head assembly comprises cantilevered planker (6) and indexable rotating disk (7) and Vertical Mill head (8), Vertical Mill head (8) connects a side that is installed in column (3) by indexable rotating disk (7) with cantilevered planker (6), and it is upright that described structure is called the internal memory external hanging type, two grinding wheel head structures crouch; With embedded computer digital control system control servo-drive system, realize six-axis linkage.
2. single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinding machine according to claim 1, it is characterized in that: Vertical Mill head (8) and horizontal wheelhead (5) are respectively by two servomotors, by the ball screw transmission, make vertical (Z1, the Z2 axle) and in-movement (Y1, the Y2 axle), the servomotor that is installed in rotating disk one side is by the worm and gear in the rotating disk, drive indexable dial rotation, realize the indexable grinding of Vertical Mill head (K axle), servomotor before being installed in the lathe bed drives workbench by ball screw and vertically moves (X-axis), and described servomotor all links with computer;
The embedded computer digital control system, guarantee that horizontal wheelhead (5) is along traverse feed, length feed and vertical direction feeding, and rotating feeding in Vertical Mill head (8) feeding longitudinally, vertical direction feeding and the plane vertical with the length feed direction, and can require to realize the multi-axis interpolation interlock according to processing technology, the maximum interlock number of axle is six.
3. single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinding machine according to claim 1, it is characterized in that: the embedded computer digital control system, two CPU based on the special-purpose motion control chip of ARM+FPGA make up the Computerized digital control system hardware platform, wherein the main effect of ARM controller is to be responsible for task relevant with management in the operational system, is the main control CPU of system; The special-purpose motion control chip of FPGA be responsible for moving operand such as interpolation calculating big, to the task that the real-time of task is had relatively high expectations, be exclusively used in heavy interpolation operation, alleviate the burden of arm processor.
4. single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinding machine according to claim 1, it is characterized in that: the workbench servo drive system is installed on the cantilevered planker (6), servomotor adopts no gap yielding coupling and ball screw direct connection, the screw mandrel front end adopts high accuracy tetrad screw mandrel bearing fixed support, the rear end is the support of duplex ball journal, and column adopts double-deck guide rail.
5. single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinding machine according to claim 1 and 2 is characterized in that: Computerized digital control system software layer aggregated(particle) structure is divided into three layers: wherein bottom uC/OS-2 real time operating system is to be used for the embedded OS of control in real time; It on operating system the hardware drive program layer, for upper strata grinding machine control application software provides the function call interface, finish abstract to system hardware resources, mask the bottom hardware details, physical behavio(u)r by abstract bottom hardware, make upper application software realize calling to hardware capability, the Computerized digital control system application layer comprises 6 periodic tasks: man-machine interface, data are handled, i.e. interpretation of programs and preliminary treatment and acceleration and deceleration prediction control, interpolation, Position Control, logical process, auxiliary control task; The priority of position servo is the highest, the task priority of interpolation is taken second place, the priority of logical process task is taken second place again, data are handled, the priority that is interpretation of programs, preliminary treatment, acceleration and deceleration control is taken second place again, auxiliary control is taken second place again, and the priority of man-machine interface is minimum, and described 6 periodic tasks move under the scheduling of uC/OS-2 operating system.
6. single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinding machine according to claim 1 is characterized in that: lubricating system is a loop gravity flow automatic lubricating system.
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| CN102198617A (en) * | 2011-03-30 | 2011-09-28 | 肖衍盛 | Elevated telescopic cantilever numerical control machine tool |
| CN102259282A (en) * | 2010-05-28 | 2011-11-30 | 湘潭三峰数控机床有限公司 | Grinding machining center |
| WO2012103749A1 (en) * | 2011-02-01 | 2012-08-09 | 大连科德数控有限公司 | Five-axis cutting tool grinder |
| CN102922399A (en) * | 2012-11-01 | 2013-02-13 | 深圳市深丰泰模具有限公司 | Six-axis linkage numerical control polishing machine |
| CN103144026A (en) * | 2013-03-08 | 2013-06-12 | 湘潭三峰数控机床有限公司 | Numerical control grinding machine with built-in gantry upright post, planker and grinding head |
| CN104723201A (en) * | 2015-02-28 | 2015-06-24 | 杭州永骏机床有限公司 | Numerical control precision grinder special for chuck and grinding method of numerical control precision grinder |
| CN107309725A (en) * | 2017-06-23 | 2017-11-03 | 德清勤龙磨床制造有限公司 | Double structure surface grinding machine with horizontal spindle |
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| CN102259282A (en) * | 2010-05-28 | 2011-11-30 | 湘潭三峰数控机床有限公司 | Grinding machining center |
| WO2012103749A1 (en) * | 2011-02-01 | 2012-08-09 | 大连科德数控有限公司 | Five-axis cutting tool grinder |
| US8932113B2 (en) | 2011-02-01 | 2015-01-13 | Dalian Kede Numerical Control Co., Ltd. | Grinding machine with 5-axis for cutter |
| CN102198617A (en) * | 2011-03-30 | 2011-09-28 | 肖衍盛 | Elevated telescopic cantilever numerical control machine tool |
| CN102198617B (en) * | 2011-03-30 | 2013-01-09 | 肖衍盛 | Elevated telescopic cantilever numerical control machine tool |
| CN102922399A (en) * | 2012-11-01 | 2013-02-13 | 深圳市深丰泰模具有限公司 | Six-axis linkage numerical control polishing machine |
| CN103144026A (en) * | 2013-03-08 | 2013-06-12 | 湘潭三峰数控机床有限公司 | Numerical control grinding machine with built-in gantry upright post, planker and grinding head |
| CN104723201A (en) * | 2015-02-28 | 2015-06-24 | 杭州永骏机床有限公司 | Numerical control precision grinder special for chuck and grinding method of numerical control precision grinder |
| CN107309725A (en) * | 2017-06-23 | 2017-11-03 | 德清勤龙磨床制造有限公司 | Double structure surface grinding machine with horizontal spindle |
| CN107309725B (en) * | 2017-06-23 | 2023-11-21 | 浙江登亿自动化设备股份有限公司 | Horizontal axis round table surface grinding machine with duplex structure |
| CN110238720A (en) * | 2019-07-18 | 2019-09-17 | 佛山科学技术学院 | A kind of surface grinding machine |
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Assignee: Guilin Guibei Machine Co., Ltd. Assignor: Xiangtan Sanfeng CNC Machine Tool Co., Ltd. Contract record no.: 2010450000104 Denomination of invention: Single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinder Granted publication date: 20100602 License type: Exclusive License Open date: 20090225 Record date: 20101021 |
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Denomination of invention: Single-upright post double-grinding wheel six-shaft multifunctional completely numerically controlled grinder Effective date of registration: 20150529 Granted publication date: 20100602 Pledgee: Bank of Beijing Limited by Share Ltd Changsha branch Pledgor: Xiangtan Sanfeng CNC Machine Tool Co., Ltd. Registration number: 2015430000011 |
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