CN104001974B - For the rotary movement-translation decoupling zero process unit in parallel of large thin-wall component milling - Google Patents

For the rotary movement-translation decoupling zero process unit in parallel of large thin-wall component milling Download PDF

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Publication number
CN104001974B
CN104001974B CN201410219874.6A CN201410219874A CN104001974B CN 104001974 B CN104001974 B CN 104001974B CN 201410219874 A CN201410219874 A CN 201410219874A CN 104001974 B CN104001974 B CN 104001974B
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China
Prior art keywords
mobile platform
milling
fixed pedestal
parallel connection
freedom degree
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CN201410219874.6A
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Chinese (zh)
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CN104001974A (en
Inventor
王皓
赵勇
陈根良
来新民
郝金明
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上海交通大学
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Abstract

A kind of rotary movement-translation decoupling zero process unit in parallel for the milling of large thin-wall component of Machining Technology field, comprise: fixed pedestal, the process side mobile platform with freedom degree parallel connection milling mechanism, the support-side mobile platform with freedom degree parallel connection supporting mechanism and component clamping device, wherein: process side mobile platform and support-side mobile platform slide in the same way respectively and be arranged at the two ends of fixed pedestal, component clamping device to be fixedly installed on fixed pedestal and between process side mobile platform and support-side mobile platform.Characteristics of compact layout of the present invention, control mode are simple, performance accuracy is high, load is good, process good rigidity, environmental pollution is little.

Description

For the rotary movement-translation decoupling zero process unit in parallel of large thin-wall component milling
Technical field
What the present invention relates to is a kind of equipment of Machining Technology field, specifically a kind of rotary movement-translation decoupling zero process unit in parallel for the milling of large thin-wall component.
Background technology
The Aero-Space thin-wall members such as carrier rocket tank, airframe wing cover need to carry out inwall grid Milling Process to alleviate own wt.Conventional method has chemical milling and gantry machinery milling two kinds: chemical milling and mechanical milling.But seriously polluted, the power consumption of milling is large, and the aluminium consumed cannot reclaim; For processing aluminium lithium alloy thin-wall member of new generation, milling also needs the special measure taking burn-proof and explosion prevention, adds process complexity, cost and security risk.Machinery milling is divided into two classes at present: pattern gantry mill and vacuum dishwashing flexibility accommodate gantry mill.There is many drawbacks in this processing mode, shows that the rigidity of covering clamping device is low, belong to the processing mode of vertical milling, be unfavorable for chip removal and heat radiation, workpiece is had to the impact of thermal deformation.For this problem, relate to a kind of machining equipment being suitable for the milling of large thin-wall component, solve the problem that install rigidity is low, the mechanical milling reliability of large thin-wall component is improved, with alternative chemical milling, protection of the environment.
Through finding the literature search of prior art, open (bulletin) the day 2005.01.12 of Chinese patent literature CN1562542, disclose a kind of large thin-wall cylinder grid accessory high speed turn-milling automatic processing method, its procedure of processing is: the datum level of (1) processing parts, endoporus and cylindrical; (2) processing and forming cylinder grid; (3) processing parts radial hole; (4) fine finishining cylinder grid; The flow process of the computer program of cylinder grid accessory high speed turn-milling automatic processing method is: (1) prepares to start; (2) technical parameter of processing parts is inputted, such as grid circumference and radial grid quantity, radial hole quantity, aperture and position dimension etc.; (3) coordinate position of tool motion is as cutter incision and the coordinate position that cuts out; (4) process terminates no, and (5) generate cutter path file; (6) input cutter path file, carry out machining simulation; (7) cutter path file modification is no, if amendment, enters (5), otherwise terminates; But do not have supporting mechanism in the device disclosed in this technology, easily produce in thin-wall member process and tremble and be out of shape, machining accuracy is low, and controls complicated, is not suitable for high-effect high-quality processing.
Summary of the invention
The present invention is directed to the defect of existing large thin-wall component milling mode, a kind of rotary movement-translation decoupling zero process unit in parallel for the milling of large thin-wall component is proposed, can the rotation translational decoupling of organisation of working and supporting mechanism, the rotation of Y-axis and Z axis can be realized, both cooperatively interact and make organisation of working axis and supporting mechanism axis collinear, and perpendicular to the curved surface section of workpiece.All the time point-to-point support normal and milling are carried out to workpiece, ensure that working position has enough rigidity, reduce or eliminate chatter, thus realizing the accurate control of working depth.Characteristics of compact layout of the present invention, control mode are simple, performance accuracy is high, load is good, process good rigidity, environmental pollution is little.
The present invention is achieved by the following technical solutions: the present invention includes: fixed pedestal, the process side mobile platform with freedom degree parallel connection milling mechanism, the support-side mobile platform with freedom degree parallel connection supporting mechanism and component clamping device, wherein: process side mobile platform and support-side mobile platform slide in the same way respectively and be arranged at the two ends of fixed pedestal, component clamping device to be fixedly installed on fixed pedestal and between process side mobile platform and support-side mobile platform.
Described being slidably connected realizes the movement of any distance by mobile driven unit and guide rail screw mechanism, wherein: the ball-screw that guide rail screw mechanism refers to the set of rails that two groups of being arranged on fixed pedestal are parallel and is arranged in set of rails, wherein: set of rails is connected with support-side mobile platform with process side mobile platform respectively with the motion parts of ball-screw, standing part is connected with fixed pedestal.
Described being rotationally connected realizes rotating at any angle by rotating mechanism and rotating drive assembly, wherein: rotating mechanism comprises: intermeshing transmitting gear, crossed roller bearing and AC servo motor, wherein: AC servo motor output shaft is connected with pinion, gear wheel is connected with rotatable platform, drives rotatable platform to rotate.
Described mobile platform from top to bottom comprises successively: Z axis mobile foundation, rotating basis and X-axis mobile foundation and the freedom degree parallel connection milling mechanism be movably set on Z axis mobile foundation or freedom degree parallel connection supporting mechanism, wherein: X-axis mobile foundation and fixed pedestal are slidably connected, rotating basis and X-axis mobile foundation are slidably connected, and Z axis mobile foundation and rotating basis are rotationally connected.
Described freedom degree parallel connection milling mechanism and freedom degree parallel connection supporting mechanism comprise: three the electric cylinders of driving and an electric cylinder of constraint that arrange thereon are rotated in square moving platform and one end, drive electric cylinder to be connected with machining of electric main shaft or flexible support mechanism with the other end of the electric cylinder of constraint.
Described component clamping device accommodates mechanism by the flexibility being fixedly installed on the arcuate structure on fixed pedestal and realizes, and this flexibility accommodates the arcuate structure center of circle of mechanism towards freedom degree parallel connection milling mechanism.
Technique effect
Compared with prior art, symmetrical mobile technology and parallel mechanical arm combine by the present invention, the rotation translational decoupling of organisation of working and supporting mechanism, Y can be realized, Z axis rotates, both make organisation of working axis and supporting mechanism axis remain conllinear by cooperatively interacting, and perpendicular to the curved surface section of workpiece.Symmetrical mobile technology can ensure processing stand and the strong point all the time about tool member Mirror Symmetry, not only increase the working (machining) efficiency of equipment, make the stand under load of equipment more even, reduce elastic deformation and the vibration of component, raising system machining accuracy, increases the service life, simultaneously, the control system of equipment have also been obtained simplification, reduces control difficulty.Parallel architecture process unit is for traditional tandem type machining tool, and its truss leverage instead of cantilever beam and two fulcrum beams to bear cutting force and parts gravity, has that rigidity is high, dynamic property good, and assembling die blocking degree is high, be easy to the advantages such as reconstruct.The present invention improves the working space of equipment by the setting of rotating mechanism, can realize the Milling Process of 1/4 cylindrical wall.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention.
Fig. 2 is front view of the present invention.
Fig. 3 is left view of the present invention.
Fig. 4 is top view of the present invention.
Fig. 5 is freedom degree parallel connection milling mechanism schematic diagram of the present invention.
Fig. 6 is freedom degree parallel connection supporting mechanism schematic diagram of the present invention.
Fig. 7 is rotating mechanism schematic diagram of the present invention.
Fig. 8 is driven unit schematic diagram of the present invention.
Fig. 9 is toolpath pattern schematic diagram.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As Figure 1-3, the present embodiment comprises: fixed pedestal a, process side mobile platform b, support-side mobile platform c and component clamping device d, wherein: process side mobile platform b and support-side mobile platform c slides in the same way respectively and is arranged at the two ends of fixed pedestal a, component clamping device d to be fixedly installed on fixed pedestal a and between process side mobile platform b and support-side mobile platform c.
In the present embodiment, described process side mobile platform b comprises: X-axis mobile foundation 10, rotating basis 11, Z axis mobile foundation 12, freedom degree parallel connection milling mechanism 13, mobile driven unit 14,15,16, rotating drive assembly 17.The support-side mobile platform c of corresponding opposite side comprises: X-axis mobile foundation 2, rotating basis 3, Z axis mobile foundation 4, freedom degree parallel connection supporting mechanism 5, mobile driven unit 6,7,8, rotating drive assembly 9, wherein: X-axis mobile foundation and fixed pedestal are slidably connected, rotating basis and X-axis mobile foundation are slidably connected, and Z axis mobile foundation and rotating basis are rotationally connected.
As shown in Fig. 1, Fig. 4-Fig. 6, in the present embodiment, freedom degree parallel connection milling mechanism 13 comprises: square moving platform 20, cross axle bearing 21,22,23,24, cross axle 25,26,27,28, drive electric cylinder 29,30,31, retrain electric cylinder 32, knife flywheel clamp 33.Corresponding freedom degree parallel connection supporting mechanism 5 comprises: square moving platform 34, cross axle bearing 35,36,37,38, and cross axle 39,40,41,42, drives electric cylinder 43,44,45, retrain electric cylinder 46, supporting member 47, wherein:
Described freedom degree parallel connection milling mechanism is connected with guide rail fixing on Z axis mobile foundation 12 by each 8 bolts hole in both sides, can smooth movement on guide rail.Freedom degree parallel connection supporting mechanism described in correspondence is connected with guide rail fixing on Z axis mobile foundation 4 by each 8 bolts hole in both sides, can smooth movement on guide rail.
In the present embodiment:
As illustrated in figures 1 and 8, described is slidably connected by mobile driven unit 6, 7, 8, 14, 15, 16 and guide rail screw mechanism realize the movement of any distance, wherein: guide rail screw mechanism refers to the set of rails 52 that two groups of being arranged on fixed pedestal are parallel and slide block 53 thereof, and the ball-screw 57 be arranged in set of rails, feed screw nut 58 and drive motors 54, motor cabinet 55, shaft coupling 56, rotary flange 59, bearing block 60, wherein: set of rails is connected with support-side mobile platform with process side mobile platform respectively with the motion parts of ball-screw, standing part is connected with fixed pedestal.
Described motor cabinet 55 and bearing block 60 are fixed on the both sides of X-axis mobile foundation 2, motor shaft is connected with ball-screw 57 by shaft coupling 56, feed screw nut is connected with flange 59 by six bolts, and flange 59 is connected with rotating basis 3, and rotating basis 3 is connected with 4 slide blocks 53 below.When electric machine rotation, drive ball-screw 57 to rotate, feed screw nut moves along X-axis, and driven rotary pedestal 3 moves along X-axis.
As shown in Figure 1 and Figure 7, described is rotationally connected by rotating mechanism and rotating drive assembly 9, 17 realize rotating at any angle, wherein: rotating mechanism comprises: gear wheel 48, pinion 49, drive motors 50 and motor support base 51, wherein: the downside of gear wheel is connected with larger diameter crossed roller bearing with rotating basis 3, the downside of pinion is connected by small diameter crossed roller bearing with rotating basis 3, large pinion engages each other, drive motors 50 is fixed on motor support base 51, the endoporus of motor shaft and pinion 49 passes through key connecting, driving pinion rotates.
Described component clamping device d accommodates mechanism 19 by the flexibility being fixedly installed on the arcuate structure on fixed pedestal a and realizes.
Described flexibility accommodates the arcuate structure center of circle of mechanism 19 towards freedom degree parallel connection milling mechanism.
The present embodiment carries out work in the following manner: be arranged on component clamping device d by needing the thin-wall member of processing, determine the central point of grid to be processed, machining locus is decomposed into X-axis, the motion of Y-axis and Z axis, determine the amount of movement of each moving assembly, ensure that processing cutter head is vertical with component finished surface.According to shape and the processing technology of grid, by amount of exercise and the movement velocity of each electric cylinder of Inverse Kinematics Solution determination Three Degree Of Freedom.Meanwhile, the mechanism of support-side and process side keep specular to move, by control system cooperation control, vertical with component surface in the line-connection type of the strong point of precious one-tenth processing stand.Determine the relative distance of second grid and first grid after machining a grid, then decompose in three reference axis, be synchronized with the movement processing head and supporting member next grid point.Adopt end mill(ing) cutter to carry out Milling Process herein, for improving working (machining) efficiency, and be convenient to control realization, the present invention adopts reciprocating toolpath pattern, and as shown in Figure 9, the programming of this toolpath pattern is simple, and is conducive to ensureing support normal and milling all the time.

Claims (3)

1. the rotary movement-translation decoupling zero process unit in parallel for the milling of large thin-wall component, it is characterized in that, comprise: fixed pedestal, the process side mobile platform with freedom degree parallel connection milling mechanism, the support-side mobile platform with freedom degree parallel connection supporting mechanism and component clamping device, wherein: process side mobile platform and support-side mobile platform slide in the same way respectively and be arranged at the two ends of fixed pedestal, component clamping device to be fixedly installed on fixed pedestal and between process side mobile platform and support-side mobile platform;
Described mobile platform from top to bottom comprises successively: Z axis mobile foundation, rotating basis and X-axis mobile foundation and the freedom degree parallel connection milling mechanism be movably set on Z axis mobile foundation or freedom degree parallel connection supporting mechanism, wherein: X-axis mobile foundation and fixed pedestal are slidably connected, rotating basis and X-axis mobile foundation are slidably connected, and Z axis mobile foundation and rotating basis are rotationally connected;
Described being slidably connected realizes the movement of any distance by mobile driven unit and guide rail screw mechanism, wherein: the ball-screw that guide rail screw mechanism refers to the set of rails that two groups of being arranged on fixed pedestal are parallel and is arranged in set of rails, wherein: set of rails is connected with support-side mobile platform with process side mobile platform respectively with the motion parts of ball-screw, standing part is connected with fixed pedestal;
Described being rotationally connected realizes rotating at any angle by rotating mechanism and rotating drive assembly, wherein: rotating mechanism comprises: intermeshing transmitting gear, crossed roller bearing and AC servo motor, wherein: AC servo motor output shaft is connected with pinion, gear wheel is connected with rotatable platform, drives rotatable platform to rotate;
Described freedom degree parallel connection milling mechanism and freedom degree parallel connection supporting mechanism comprise: three the electric cylinders of driving and an electric cylinder of constraint that arrange thereon are rotated in square moving platform and one end, drive electric cylinder to be connected with machining of electric main shaft or flexible support mechanism with the other end of the electric cylinder of constraint.
2. equipment according to claim 1, is characterized in that, described component clamping device accommodates mechanism by the flexibility being fixedly installed on the arcuate structure on fixed pedestal and realizes.
3. equipment according to claim 2, is characterized in that, described flexibility accommodates the arcuate structure center of circle of mechanism towards freedom degree parallel connection milling mechanism.
CN201410219874.6A 2014-05-22 2014-05-22 For the rotary movement-translation decoupling zero process unit in parallel of large thin-wall component milling CN104001974B (en)

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