CN104384585A - Machine tool for machining propeller - Google Patents

Abstract

The invention discloses a machine tool for processing propellers, which comprises a base, a first processing device, a second processing device and a worktable; the workbench is fixedly arranged on the base, and the first and second processing devices are symmetrically arranged on the working table The two sides of the table are connected with the base; the first processing device includes a base, a support guide frame, an upper processing mechanism, and a lower processing mechanism; the base is fixedly connected to the top surface of the base, and the support guide frame is fixedly arranged on the upper surface of the base , the upper processing mechanism and the lower processing mechanism are respectively set above and below the supporting guide frame; the upper processing mechanism includes the upper fixing frame, the upper Y-direction driving device, the sliding plate, and the parallel processing mechanism; the lower processing mechanism includes the lower fixing frame, the parallel processing Mechanism, lower Y-direction driving device; the invention not only expands the working space of the machine tool, but also improves the rigidity and machining accuracy of the machine tool, and the processing of the propeller can be completed in one clamping, with high efficiency.

Description

A machine tool for machining propellers

technical field

The invention relates to a machine tool, in particular to a machine tool for processing propellers, and belongs to the technical field of mechanical manufacturing. the

Background technique

So far, the processing of large marine propellers basically adopts the following schemes: 1. First, each blade and hub of the propeller are disassembled and processed independently, and then the parts are assembled for use. Due to structural limitations, the symmetry and stiffness of the propeller processed in this way are affected to a certain extent. In addition, there are cumulative errors in multiple installations, and the reliability is worse than that of the integral propeller. 2. Use a gantry-type multi-axis linkage CNC milling machine to fix the propeller on the worktable in the middle of the column. After the upper surface is processed, turn it over and then process the other side, and finally use a small amount of manual trimming. This processing method requires multiple clamping to complete the processing of the entire propeller. The large diameter and weight of a large marine propeller make it difficult to flip and clamp, and repeated positioning errors exist in multiple clamping, which affects the manufacturing accuracy of the propeller. In addition, The roots of propeller blades are mostly curved surfaces with overlapping areas. The interference and collision problems between machine tools, tools and propellers during processing have not been completely resolved. 3. Use a combination of abrasive belt grinder and manual grinding to process the propeller. Grinding is the final process of the general machining process, and the finish machining of the parts is completed, and the surface quality is also better. The working principle of the abrasive belt grinder is to grind and polish the workpiece by the rapid rotation of the abrasive belt. Due to the structural limitations of grinding itself, it is more suitable for the grinding of single blades. Although manual grinding can complete the overall grinding and polishing of the propeller, the processing accuracy depends on the technical level and proficiency of the workers. The working environment is harsh, the labor intensity is high, it is greatly affected by human subjective instability factors, and the efficiency is low.

In view of the difficulty in turning large marine propellers and repeated positioning errors caused by re-clamping, Zhao Hu and others applied for the patent No. 200910038368.6 in 2009 for the "Six-Axis Five-Linkage Propeller Machining Center" patent and the patent No. Zhang Shengwen and others applied for in 2012 The 201210233126.6 patent of "Double Power Head Propeller Special CNC Machine Tool and Processing Method" adopts horizontal placement of the propeller to avoid overturning and makes the machine tool compact in structure and can complete the processing of the entire propeller with one clamping of the upper and lower power head systems. It improves the processing efficiency and reduces the labor intensity, and provides a certain guiding role for the design of large-scale propeller processing machine tools. With the development of marine engineering and the defense of territorial sea sovereignty, the research and development of large-scale marine propeller processing machine tools at home and abroad is also deepening. At present, Korea's Daehan Precision Machinery Co., Ltd. has developed a marine propeller equipment with a diameter of 11 meters, the model is HPMC-110, which is currently the equipment with the largest diameter of the propeller in the world. The machine tool adopts a gantry structure, and the Z axis can be tilted, which is beneficial to the processing of the overlapping area of the propeller. The disadvantage is that the upper and lower surfaces of the propeller cannot be processed at the same time, and the gantry structure also affects the rigidity of the machine tool. Domestically, the "heavy-duty seven-axis five-link turning-milling compound processing machine tool for propellers" jointly developed by Huazhong University of Science and Technology and Zhenjiang CSSC Wärtsilä Propeller Co., Ltd., undertaken by Wuhan Heavy Machine Tool Group Co., Ltd., has passed the appraisal of scientific and technological achievements and has seven Axis control, five-axis linkage turning and milling compound machining, online measurement and other functions can realize comprehensive precision milling of the overlapping and non-overlapping parts of the propeller blade surface, the blade contour and the center hole of the propeller hub, and the machining diameter can reach 8.5 meters, with extensions up to 12.5 meters and a height of up to 3.3 meters. Its defect is that it cannot process both sides of the propeller in two directions at the same time, and the processing efficiency is not ideal. In addition, the gantry structure increases the weight of the components in order to improve the rigidity of the machine tool, making the machine tool as a whole too bulky.

In view of the various research programs above, the processing of large marine propellers mostly adopts tandem structure machine tools. The advantage of the series structure is that the movement of each axis of the machine tool is independent of each other, the movement control is simple, the technology is relatively mature, the working space is large, and the flexibility is good. However, the tandem machine tool has an open-chain structure, and there are cantilever components, which not only bear tension and compression loads, but also bear bending and torsional loads. Gives a substantial increase in speed. In addition, the superposition of the deformation of each link and the deformation of the connection in the tandem machine tool makes the relative motion error between the tool and the workpiece usually a linear superposition of each motion coordinate, and there is a cumulative error. However, the parallel mechanism is just a beneficial supplement to the serial machine tool. It has the advantages of high rigidity, high load capacity, high speed, low inertia, and simple structure. Realizing six-axis linkage, it is very suitable for processing complex curved surfaces in aviation, aerospace, and automobile fields, such as blades, impellers, propellers, etc. The representative one is the Tricept series parallel machine tool of Swedish NEOS company, which has been successfully applied in automobiles and aircrafts. on the production line. The characteristics of the parallel mechanism make it very suitable for processing complex curved surface parts with high processing efficiency and good processing stability. It also has flaws, such as complex positive solution of position, complex NC programming, small working space and so on.

Large-scale marine propellers are typical thin-walled parts with complex curved surfaces. The junction between the blade root and the hub is relatively narrow, and the blades overlap. Most of the current propeller processing equipment is a traditional series mechanism, which is prone to flutter, interference and collision during processing. , it is necessary to turn over and clamp multiple times to complete the processing of the entire propeller, and the processing efficiency and processing accuracy are low. How to expand the processing range while improving the processing efficiency, processing accuracy, machine tool stiffness and stability is an important problem facing the current CNC machining of large marine propellers.

Contents of the invention

The purpose of the present invention is to provide a device suitable for processing large-scale marine propellers, which can complete the processing of the entire propeller in one clamping, avoiding repeated positioning errors; using symmetrical processing can improve processing efficiency and reduce the propeller during processing. Deformation; Combining the respective advantages of series and parallel mechanisms, it can not only expand the working space of the machine tool, but also improve the rigidity and machining accuracy of the machine tool.

The present invention is achieved through the following technical solutions:

A machine tool for processing propellers, comprising a base, a first processing device, a second processing device exactly the same as the first processing device, and a workbench; the workbench is fixed on the center of the upper plane of the base, and the first processing The device and the second processing device are symmetrically arranged on both sides of the worktable and connected to the upper plane of the base; the connection line between the first processing device and the second processing device is set as the X direction, and the direction pointing to the workbench is the positive direction , the Y direction and Z direction can be determined according to the right-hand rule;

The first processing device includes a base, a supporting guide frame, an upper processing mechanism, and a lower processing mechanism; the base is fixedly connected to the upper plane of the base, the supporting guide frame is fixedly arranged on the upper surface of the base, and the upper processing mechanism and the lower processing mechanism are respectively arranged above and below the supporting guide frame;

The base is a cuboid structural part, and its upper plane is provided with several X-direction guiding bosses parallel to the X direction. The middle part of the upper plane of the base is also equipped with an X-direction driving device parallel to the X-direction guiding bosses. The X-direction driving device Including X-direction motor base, a pair of X-direction bearing housings, X-direction driving motor, a pair of X-direction bearings, X-direction ball screw, X-direction coupling, X-direction screw nut, X-direction motor base and a pair of X-direction The bearing housings are respectively fixed in the X direction of the base according to the above sequence. The X-direction driving motor and a pair of X-direction bearings are respectively installed in the X-direction motor housing and a pair of X-direction bearing housings. The two ends of the X-direction ball screw pass through the Supported by a pair of X-direction bearings, the X-direction ball screw is connected with the X-direction drive motor through the X-direction coupling, and the X-direction screw nut is screwed on the X-direction ball screw;

The supporting guide frame is a cuboid structural part, and its center is provided with a hollow part in the shape of a cuboid along the X direction. Several X-direction guiding grooves parallel to the X direction are provided on the lower plane of the supporting guide frame. The plane is provided with a pair of upper Y-direction guide bosses parallel to the Y direction, and an upper Y-direction guide groove parallel to the Y direction is provided between the pair of upper Y-direction guide bosses, and the upper Y-direction guide groove goes straight to The upper end of the hollow part is provided with a pair of lower Y-direction guide grooves parallel to the Y direction at the lower end of the hollow part; the X-direction screw nut of the X-direction driving device of the base is fixed in the middle of the lower plane of the support guide frame, and the support guide Several X-direction guide grooves of the frame are movably connected with several X-direction guide bosses of the base;

The upper processing mechanism includes the upper fixing frame, the upper Y-direction driving device, the sliding plate, and the parallel processing mechanism; the upper layer fixing frame is movably arranged on the upper end of the hollow part of the supporting guide frame, and the upper layer fixing frame is a cuboid structural part, and its center is along the X direction There is a fixed inner chamber 1 in the shape of a cuboid, and several support shaft holes 1 are respectively provided on the middle parts of the two vertical sides of the fixed inner chamber 1, and several positioning holes 1 are also provided on both sides of the support shaft hole 1. , a cuboid-shaped fixed boss is provided on the top of the upper fixed frame, the fixed boss is movably connected in the upper Y-direction guide groove of the support guide frame and passes through, and the upper Y-directed guide groove is pierced on the fixed boss There is a fixed square hole along the X direction, and a threaded screw hole is provided along the Y direction at the center of the upper Y-direction guide groove on the fixed boss; the slide plate is a cuboid structural part , a pair of moving grooves parallel to the Y direction is provided on the lower plane; the sliding plate is passed through the fixed square hole of the fixed boss and connected with it, and the pair of moving grooves of the sliding plate and the pair of upper layer Y supporting the guide frame The guiding and guiding bosses are connected with each other; the upper Y-direction driving device is provided along the Y direction in the upper Y-direction guiding groove, and the upper Y-direction driving device includes the upper Y-direction motor seat, a pair of upper Y-direction bearing seats, the upper layer The Y-direction drive motor, a pair of upper Y-direction bearings, the upper Y-direction ball screw, the upper Y-direction coupling, the upper Y-direction motor base and a pair of upper Y-direction bearing housings are respectively fixed on the top of the supporting guide frame according to the above sequence In the Y direction, the upper Y-direction driving motor and a pair of upper Y-direction bearings are respectively installed in the upper Y-direction motor base and a pair of upper Y-direction bearing housings, and the two ends of the upper Y-direction ball screw pass through a pair of upper Y-direction bearings respectively. The upper Y-direction ball screw is connected with the upper Y-direction drive motor through the upper Y-direction coupling, and the upper Y-direction ball screw is screwed and connected with the threaded screw hole of the upper fixed frame; the parallel processing mechanism is fixed on In the fixed inner cavity of the upper fixed frame, the parallel processing mechanism includes a fixed platform, a moving platform, three telescopic rods, a cutting device, and a ball hinge. The fixed platform is movably connected to the moving platform through three telescopic rods, and the cutting device is fixedly connected to the moving platform. , the fixed platform is an "I"-shaped part, two positioning plates parallel to each other are connected by a connecting plate, and a supporting shaft hole 2 is provided in the center of the two positioning plates, with the supporting shaft hole 2 as the center of the circle There are also several positioning holes 2, the support shaft holes 2 on both sides of the fixed platform are connected with the support shaft holes 1 on both sides of the upper fixed frame through the support shaft, and the positioning holes 1 and 2 are connected by positioning pins; Cylinder, inner sleeve, telescopic rod motor seat, telescopic rod servo motor, coupling 1, telescopic rod ball screw, bearing, one end of the outer sleeve is provided with a bearing, the other end is provided with an inner spline, telescopic rod motor seat Fixedly connected to one end of the outer sleeve with a bearing, the telescopic rod servo motor is fixed on the telescopic rod motor seat, one end of the telescopic rod ball screw is connected to the telescopic rod servo motor through a coupling one, and the bearing supports the telescopic rod ball screw , one end of the inner sleeve is provided with screw threaded hole 2, and its outer circle is provided with an external spline, and the other end of the ball screw is screwed into the inner sleeve In the threaded hole 2 of the lead screw of the sleeve, the outer spline of the inner sleeve is movably connected with the inner spline of the outer sleeve. The outer sleeve is equipped with a telescopic rod and one end of the servo motor is fixed on the connecting plate of the fixed platform through a ball hinge. Above, the other end of the inner sleeve is fixedly connected to the moving platform through a ball joint. The cutting device includes a rotating head, a driving motor for the rotating head, a spindle servo motor, and a tool clamping head. The rotating head is connected perpendicular to the moving platform, and the surrounding The rotation direction of the platform axis is set as the C direction, and the rotation direction perpendicular to the C direction is set as the A direction. The driving motor of the rotating head is fixedly connected with the rotating head, and drives the rotating head to rotate around the C and A directions. The other end of the rotating head There is a spindle servo motor, and one end of the spindle servo motor is provided with a tool chuck;

The lower processing mechanism includes a lower fixing frame, a parallel processing mechanism that is completely consistent with the upper processing mechanism, and a lower Y-direction driving device; the lower fixing frame is movably arranged at the lower end of the hollow part of the supporting guide frame, and the lower fixing frame is a cuboid structural part, and its center A cuboid-shaped fixed inner cavity 2 is provided along the X direction, several support shaft holes 3 are respectively provided in the middle of the two vertical sides of the fixed inner cavity 2, and several positioning shaft holes 3 are provided on both sides of the support shaft hole 3. Hole three, a pair of lower Y-direction guide bosses are provided along the Y direction on the lower plane of the lower fixed frame, and a pair of lower Y-direction guide bosses are movably connected with a pair of lower Y-direction guide grooves supporting the guide frame; The structure and installation method of the parallel processing mechanism of the lower processing mechanism are completely consistent with those of the upper processing mechanism; the lower Y-direction drive device includes the lower Y-direction motor base, a pair of lower Y-direction bearing seats, the lower Y-direction driving motor, and a pair of lower Y-direction drive motors. The bearing, the lower Y-direction ball screw, the lower Y-direction coupling, the lower Y-direction screw nut, the lower Y-direction motor base and a pair of lower Y-direction bearing housings are respectively fixed in the hollow part of the supporting guide frame in the above order. In the Y direction of the lower end, the lower Y-direction drive motor and a pair of lower Y-direction bearings are installed in the lower Y-direction motor base and a pair of lower Y-direction bearing housings respectively, and the two ends of the lower Y-direction ball screw pass through a pair of lower-layer Y-direction bearings respectively. Y-direction bearing support, the lower Y-direction ball screw is connected to the lower Y-direction drive motor through the lower Y-direction coupling, the lower Y-direction screw nut is fixedly connected to the lower plane of the lower fixed frame, and the lower Y-direction ball screw is connected to the lower Y-direction drive motor. Screw and connect the Y-direction screw nut;

The structure of the second processing device is completely consistent with that of the first processing device;

The workbench includes a workbench base, a rotary table, a bearing 2, fixed tooling, a rotating motor, and a coupling 2. The rotating table is connected and arranged on the upper plane of the workbench base through the bearing 2, and the rotating motor is arranged inside the workbench base, and It is connected with the rotary table through coupling 2. The fixed tooling includes a three-jaw chuck and a fixed end cover. The three-jaw chuck is set on the rotary table, and the propeller is fixed on the upper plane of the rotary table. The disc fixes its hub, and the upper end is fixed by a fixed end cap.

The object of the present invention can also be further realized by the following technical measures:

In the aforementioned machine tool for processing propellers, the upper plane of the base is provided with two arc tracks, and the arc track takes the center of the base as the center; the lower plane of the base of the second processing device is also provided with several rollers, The rollers are arranged in the two arc tracks, and the distance between the rollers is equal to the distance between the two arc tracks.

The aforementioned machine tool for processing propellers, the distance between the positioning hole 2 of the positioning plate and the supporting shaft hole 2 and the distance between the positioning hole 1 of the upper fixed frame and the supporting shaft hole 1, and the positioning hole of the lower fixed frame Three to the distance between the support shaft hole three is equal.

In the aforementioned machine tool for processing propellers, the distance between the positioning hole 2 of the positioning plate and the supporting shaft hole 2 is equal to the distance between the positioning hole 3 and the supporting shaft hole 3 of the lower fixing frame.

In the aforementioned machine tool for processing propellers, the strokes of the upper Y-direction driving device and the lower Y-direction driving device are equal.

The present invention is respectively provided with a first processing device and a second processing device on both sides of the workbench, which can process the propeller at the same time, which improves the production efficiency and saves the cost; Multi-axis linkage machining complex curved surface, due to the limited range of parallel processing mechanism, large-scale marine propellers are processed in different areas. The cutting device of parallel processing mechanism can cut the Z-direction area space of a single blade of the propeller within a range of X and Y directions, and process After completing one area, the upper Y-direction driving device and the lower Y-direction driving device respectively drive the upper and lower fixed frames to move along the Y direction and continue to process the next area of the blade in the Y direction until the blade is within a range of the X direction in the Y direction. All have been processed, combined with the support and guide frame to move along the X direction to complete the processing of one side of a single blade of the propeller, the upper processing mechanism and the lower processing mechanism can simultaneously process the upper and lower sides of a single blade, the first processing device and the second processing device The upper and lower sides of the two blades can be processed at the same time. After the processing, the worktable can rotate to continue the processing of the next group of blades, so the processing of the entire propeller can be completed. Processing large marine propellers, the high rigidity, high speed and low inertia of the parallel processing mechanism itself make the machine tool have better dynamic performance, reduce machine vibration, and have better flutter stability; the upper and lower symmetrical arrangements can be clamped at one time Just complete the processing on the upper and lower sides of the propeller, avoid repeated positioning errors, improve processing efficiency, and can offset part of the axial force during tool cutting to reduce blade deformation, with good static performance, thereby improving processing accuracy; left and right two-way layout Two blades can be processed at the same time, further improving the processing efficiency. The symmetrical arrangement of the first processing device and the second processing device is only suitable for propeller processing with an even number of blades. When the propeller blades are even, the bases of the first processing device and the second processing device are fixed symmetrically; when the propeller blades are odd, the second The base of the processing device rotates 180/n degrees around the central axis of the propeller along the arc track of the base on the basis of left-right symmetrical arrangement (n is the number of propeller blades), and then the base can be fixed to process two Blades; the parallel processing mechanism is fixed relative to the base during processing, instead of moving the upper and lower fixed frames during processing, which can ensure that the parallel processing mechanism has better rigidity; use the support shaft and positioning pin to install and fix the positioning of the parallel processing mechanism. Platform, so that the parallel processing mechanism can rotate in the XZ direction plane, so that the posture and posture of the parallel processing mechanism can be adjusted to adapt to the propeller processing of different models and sizes; in addition, the first processing device and the second processing device of the same structure type are used in the overall design scheme The processing device is convenient for modular design and improves design efficiency.

The invention, with advantages and characteristics, will be illustrated and explained by the following non-limiting description of preferred embodiments, given by way of example only with reference to the accompanying drawings.

Description of drawings

Fig. 1 is a perspective view of the present invention;

Fig. 2 is the front view of the present invention;

Fig. 3 is the left view of the present invention;

Fig. 4 is the perspective view of the parallel processing mechanism of the present invention;

Fig. 5 is a perspective view of the workbench of the present invention.

Detailed ways

The present invention will be further described below in conjunction with drawings and embodiments.

As shown in Figure 1, it includes a base 1, a first processing device 2, a second processing device 4 exactly the same as the first processing device 2, and a workbench 3; the workbench 3 is fixedly arranged on the center of the upper plane of the base 1 , the first processing device 2 and the second processing device 4 are symmetrically arranged on both sides of the worktable 3 and connected to the upper plane of the base 1; the connection line between the first processing device 2 and the second processing device 4 is set as X direction, the direction pointing to the workbench 3 is the positive direction, and the Y direction and Z direction can be determined according to the right-hand rule;

The first processing device 2 includes a base 21, a support guide frame 23, an upper processing mechanism 25, and a lower processing mechanism 29; the base 21 is fixedly connected on the upper plane of the base 1, and the support guide frame 23 is fixedly arranged on the upper surface of the base 21, The upper processing mechanism 25 and the lower processing mechanism 29 are respectively arranged above and below the supporting guide frame 23;

As shown in Figure 2, the base 21 is a cuboid structural part, and its upper plane is provided with several X-direction guide bosses 211 parallel to the X direction, and the middle part of the upper plane of the base 21 is also provided with a guide boss 211 parallel to the X direction. X-direction drive device 22, X-direction drive device 22 includes X-direction motor seat 221, a pair of X-direction bearing seats 222, X-direction drive motor 223, a pair of X-direction bearings 224, X-direction ball screw 225, X-direction coupling Shaft device 226, X-direction screw nut 227, X-direction motor seat 221 and a pair of X-direction bearing seats 222 are respectively fixed on the base 21X direction in the above order, and X-direction drive motor 223 and a pair of X-direction bearings 224 are respectively installed on In the X-direction motor base 221 and a pair of X-direction bearing housings 222, the two ends of the X-direction ball screw 225 are respectively supported by a pair of X-direction bearings 224, and the X-direction ball screw 225 is connected to the X-direction shaft coupling 226 through the X-direction shaft coupling 226. The driving motor 223 is connected, and the X-direction screw nut 227 is screwed on the X-direction ball screw 225;

As shown in Figure 3, the support guide frame 23 is a rectangular parallelepiped structural part, and its center is provided with a hollow part 235 of a rectangular parallelepiped shape along the X direction, and several X-direction guides parallel to the X direction are provided on the lower plane of the support guide frame 23. The groove 231 is provided with a pair of upper Y direction guide bosses 232 parallel to the Y direction on the upper plane of the support guide frame 23, and an upper Y direction parallel to the Y direction is provided between a pair of upper Y direction guide bosses 232. Guide groove 234, the upper Y-direction guide groove 234 leads directly to the upper end of the hollow part 235, and a pair of lower Y-direction guide grooves 236 parallel to the Y direction are provided at the lower end of the hollow part 235; the X-direction driving device of the base 21 The X-direction lead screw nut 227 of 22 is fixed on the middle part of the lower plane of the support guide frame 23, and several X-direction guide grooves 231 of the support guide frame 23 and several X-direction guide bosses 211 of the base 21 are movably connected one by one. ;

The upper processing mechanism 25 comprises an upper fixed mount 26, an upper Y-direction drive device 24, a sliding plate 27, and a parallel processing mechanism 28; the upper fixed mount 26 is movably arranged on the upper end of the hollow part 235 supporting the guide frame 23, and the upper fixed mount 26 is a cuboid Structural parts, the center of which is provided with a cuboid-shaped fixed inner cavity 262 along the X direction, and a support shaft hole 1 265 is respectively provided on the center of the vertical two sides of the fixed inner cavity 262 to support the shaft hole One 265 is that the center of circle is also provided with a positioning hole one 266, and the top of upper floor fixed mount 26 is provided with the fixed boss 261 of rectangular parallelepiped shape, and fixed boss 261 is movably connected in the upper floor Y direction guide groove 234 of support guide frame 23 And pass through, on the fixed boss 261, the position where the upper Y-direction guide groove 234 passes is provided with a fixed square hole 264 along the X direction, and the fixed boss 261 is arranged inside the upper Y-direction guide groove 234 A lead screw threaded hole 263 is provided along the Y direction at the central position of the center position; the sliding plate 27 is a cuboid structural part, and a pair of moving grooves 271 parallel to the Y direction are provided on its lower plane; the sliding plate 27 is worn on the fixed boss 261 in the fixed square hole 264 and connected with it, a pair of moving grooves 271 of the slide plate 27 and a pair of upper layer Y-direction guide bosses 232 of the support guide frame 23 are mutually movably connected; The upper layer Y direction drive device 24 is provided along the Y direction. The upper layer Y direction drive device 24 includes an upper layer Y direction motor seat 241, a pair of upper layer Y direction bearing seats 242, an upper layer Y direction drive motor 243, and a pair of upper layer Y direction bearings. 244, the upper Y-direction ball screw 245, the upper Y-direction shaft coupling 246, the upper Y-direction motor base 241 and a pair of upper Y-direction bearing housings 242 are respectively fixed in the Y direction on the top of the supporting guide frame 23 according to the above sequence, The upper layer Y direction drive motor 243 and a pair of upper layer Y direction bearings 244 are respectively installed in the upper layer Y direction motor seat 241 and a pair of upper layer Y direction bearing housings 242, and the two ends of the upper layer Y direction ball screw 245 pass through a pair of upper layer Y direction bearings respectively. Bearing 244 is supported, and upper Y to ball screw 245 is connected with upper Y to driving motor 243 by upper Y to shaft coupling 246, and upper Y to ball screw 245 and screw threaded hole one 263 of upper fixed frame 26 screw and Connection; As shown in Figure 4, parallel processing mechanism 28 is fixedly arranged in the fixed inner chamber one 262 of upper floor fixed frame 26, and parallel processing mechanism 28 comprises fixed platform 81, moving platform 82, three telescopic rods 83, cutting device 84, ball Hinge 85, fixed platform 81 is movably connected with moving platform 82 through three expansion rods 83, and cutting device 84 is fixedly connected on moving platform 82, and fixed platform 81 is the part of " I " font, and two mutually parallel positioning plates 812 Connected by a connecting plate 811, a support shaft hole 2 814 is respectively provided at the center of the two positioning plates 812, and several positioning holes 813 are also provided with the support shaft hole 2 814 as the center of the circle, and the support on both sides of the fixed platform 81 Shaft hole 2 814 is fixed with the upper layer Support shaft hole one 265 on both sides of frame 26 is connected by support shaft, and positioning hole one 266 is connected with positioning hole two 813 by positioning pin; Rod servo motor 834, coupling one 835, telescopic rod ball screw 836, bearing 837, one end of outer sleeve 831 is provided with bearing 837, the other end is provided with internal spline, telescopic rod motor base 833 is fixedly connected to the outer sleeve 831 is provided with one end of bearing 837, telescopic rod servo motor 834 is fixedly arranged on the telescopic rod motor seat 833, and one end of telescopic rod ball screw 836 is connected with telescopic rod servo motor 834 through coupling one 835, and the bearing supports the telescopic rod ball screw. Lead screw 836, one end of inner sleeve 832 is provided with lead screw threaded hole 2 838, and its outer circle is provided with external spline, and the other end of ball screw is screwed in the lead screw threaded hole 2 838 of inner sleeve 832, The outer splines of the inner sleeve 832 are movably connected with the inner splines of the outer sleeve 831, and one end of the outer sleeve 831 is provided with a telescopic rod servo motor 834 and is fixedly arranged on the connecting plate 811 of the fixed platform 81 through a ball joint 85. The other end of the inner sleeve 832 is fixedly connected to the moving platform 82 through a ball joint 85. The cutting device 84 includes a rotating head 841, a driving motor 842 for the rotating head, a spindle servo motor 843, and a tool clamping head 844. The rotating head 841 is perpendicular to the moving platform. 82 connection, set the rotation direction perpendicular to the axis of the moving platform 82 as the C direction, set the rotation direction perpendicular to the C direction as the A direction, and the rotary head drive motor 842 is fixedly connected with the rotary head 841, and drives the rotary head 841 to rotate around C direction, A direction rotation, the other end of the rotating head 841 is provided with a spindle servo motor 843, and one end of the spindle servo motor 843 is provided with a tool holder 844.

The lower floor processing mechanism 29 comprises a lower floor fixing frame 291, a parallel processing mechanism 292 completely consistent with the upper layer processing mechanism 25, and a lower Y direction driving device 293; The frame 291 is a cuboid structural part, and its center is provided with a cuboid-shaped fixed inner chamber 2 911 along the X direction, and a supporting shaft hole 3 914 is respectively provided on the center of the two vertical sides of the fixed inner chamber 911, With the supporting shaft hole 3 914 as the center of the circle, a positioning hole 3 913 is also provided, and a pair of lower Y-direction guide bosses 912 are arranged on the lower plane of the lower floor fixing frame 291 along the Y direction, and a pair of lower floor Y-direction guide bosses 912 and A pair of lower layer Y-direction guide grooves 236 supporting the guide frame 23 are movably connected with each other; the structure and installation method of the parallel processing mechanism 292 of the lower layer processing mechanism 29 are completely consistent with those of the upper layer processing mechanism 25; the lower layer Y-direction drive device 293 includes the lower layer Y-direction motor base 931, a pair of lower Y-direction bearings 934 seats 932, a lower Y-direction drive motor 933, a pair of lower Y-direction bearings 934, a lower Y-direction ball screw 935, a lower Y-direction coupling 936, a lower Y-direction Lead screw nut 937, lower floor Y to motor base 931 and a pair of lower floor Y to bearing 934 seats 932 are respectively fixed on the Y direction of the lower end of the hollow part 235 of support guide frame 23 according to the above order, and lower floor Y to drive motor 933 and a The lower Y direction bearings 934 are respectively installed in the lower Y direction motor base 931 and a pair of lower Y direction bearings 934 seats 932, and the two ends of the lower Y direction ball screw 935 are respectively supported by a pair of lower Y direction bearings 934, and the lower Y direction bearings 934 are respectively supported. The ball screw 935 is connected to the lower Y-direction drive motor 933 through the lower Y-direction coupling 936, and the lower Y-direction screw nut 937 is fixedly connected to the lower plane of the lower fixed frame 291, and the lower Y-direction ball screw 935 is connected to the lower Y direction. Screw and connect to the lead screw nut 937; the distance between the positioning hole 2 813 of the positioning plate 812 and the supporting shaft hole 2 814 is the distance between the positioning hole 1 266 of the upper fixed frame 26 and the supporting shaft hole 1 265, and the lower layer is fixed The distance between the third positioning hole 913 of the frame 291 and the third supporting shaft hole 914 is equal.

The structure of the second processing device 4 is completely consistent with the first processing device 2; the upper plane of the base 1 is provided with two arc tracks 11, and the arc track 11 takes the center of the base 1 as the center of circle; the second processing device 4 The lower plane of the base 21 is also provided with several rollers 41 , the rollers 41 are arranged in the two arc tracks 11 , and the distance between the rollers 41 is equal to the distance between the two arc tracks 11 .

As shown in Figure 5, the workbench 3 includes a workbench base 31, a rotary table 32, a bearing 2 33, a fixed tooling 34, a rotating motor 35, and a coupling 2 36, and the rotary table 32 is connected and arranged on the workbench base by a bearing 2 33 On the upper plane of 31, the rotary motor 35 is arranged in the inside of the workbench base 31, and is connected with the rotary table 32 through the coupling two 36, and the fixed tooling 34 includes a three-jaw chuck 341 and a fixed end cover 342, and the three-jaw chuck 341 Set on the turntable 32 , the propeller 5 is fixedly arranged on the upper plane of the turntable 32 , the lower end of the propeller 5 is fixed to its hub by a three-jaw chuck 341 , and the upper end is fixed by a fixed end cover 342 .

Adjust the position of the parallel processing mechanism 28 with positioning pins and supporting shafts according to the propeller model, rotate the upper fixed frame 26 and the lower fixed frame 291 around the supporting shafts, adjust to a suitable position, and align the positioning pins into the positioning of the upper fixed frame 26 Hole one 266 and the positioning hole two 813 of the fixed platform 81 of the upper floor, in addition the positioning pin aligns and inserts the positioning hole three 913 of the lower floor fixed mount 291 and the positioning hole two 813 of the fixed platform 81 of the lower floor, so the Z of the upper and lower processing mechanism The orientation position is fixed.

The support guide frame 23 can move in the X direction through the X direction drive device 22, and the X direction ball screw 225 of the X direction drive device 22 drives the X direction screw nut 227 at the bottom of the support guide frame 23 under the drive of the X direction drive motor 223 , the supporting guide frame 23 moves along the X direction on the X-direction boss 211, and is used to adjust the position of the cutting device 84 relative to the propeller 5. After adjusting the distance in the X direction, it is fixed.

The upper-level processing mechanism 25 realizes the movement in the Y direction through the upper-level Y-direction drive device 24, and the upper-level Y-direction ball screw 245 of the upper-level Y-direction drive device 24 drives the screw thread of the upper-level fixed frame 26 under the drive of the upper-level Y-direction drive motor 243. Hole one 263, the upper floor fixed mount 26 drives the sliding plate 27 to move along the upper Y direction guide boss 232, realizes the Y direction movement of the upper floor fixed mount 26, and fixes after adjusting the position of the upper Y direction.

The lower processing mechanism 29 realizes the movement in the Y direction through the lower Y direction driving device 293, and the lower Y direction ball screw 935 of the lower Y direction driving device 293 drives the lower Y direction of the lower Y direction driving device 293 under the drive of the lower Y direction driving motor 933. The lead screw nut 937, the lower fixed frame 291 moves along the lower Y direction guide groove 236 to realize the Y direction movement of the lower fixed frame 291, adjust the position of the lower Y direction and fix it.

The parallel processing mechanism 28 forms a closed-loop structure by connecting the fixed platform 81, the moving platform 82, and the three telescopic rods 83. The telescopic rod servo motor 834 drives the telescopic rod ball screw 836 to rotate, and the cooperation between the inner sleeve 832 and the telescopic rod ball screw 836 The connection converts the rotary motion of the telescopic rod ball screw 836 into the linear motion of the inner sleeve 832 , so that the change of the length of the three telescopic rods 83 drives the change of the pose of the movable platform 82 . The rotary head 841 is connected with the moving platform 82 to assist the parallel processing mechanism to improve the flexibility of operation. The rotary head drive motor 842 can drive the rotary head 841 to rotate around the C direction and the A direction, and the spindle servo motor 843 drives the tool clamping head 844 to rotate.

Rotary table 32 is installed on workbench base 31, and they are connected with bearing 2 33 to avoid the direct friction of contact surface, can bear larger radial load simultaneously, and axial rigidity is good simultaneously, and propeller 5 is installed in the rotation On the table 32, the upper plane of the propeller 5 is fixed by the fixed end cover 342, and the hub 51 at the bottom is fixed by the three-jaw chuck 341, so that the propeller 5 and the rotary table 32 do not move relative to each other, which is beneficial to improve the positioning accuracy. Among them, the rotary motor 35 rotates to drive the rotary table 32 to rotate, and the rotary table 32 drives the propeller 5 to rotate, which is convenient for processing each blade.

After the propeller 5 and the first and second processing devices are respectively installed and fixed at the required positions, wait for the numerical control system to start.

The static coordinate system O-XYZ is built on the fixed platform 81, and the dynamic coordinate system O'-X'Y'Z' is built on the movable platform 82, and the angle of the cutting device 84 is reasonably configured by the size and shape of the propeller 5 to avoid interference and It has good processing performance. According to the size and posture of the rotating head 841, the coordinates of the connection points between the rotating head 841 and the moving platform 82 can be obtained, so that the coordinates of each hinge point of the moving platform 82 in the moving coordinate system can be determined. The moving platform The vector R' of any point on 82 in the dynamic coordinate system can be transformed into the static coordinate system of the fixed platform 81 through coordinate transformation, let T be the direction cosine matrix of the fixed platform 81 pose, and P be the origin of the dynamic coordinate system in the static coordinate system coordinates, the coordinate transformation formula is , the rod length vector of the telescopic rod 83 can be expressed in the static coordinate system as (i=1, 2, 3).

Obtain thus, the rod length calculation formula of telescopic rod 83 (i=1, 2, 3).

In this way, the length of the rod can be controlled to drive the moving platform 82 to move according to the expected law, thereby realizing the expected tool cutting track. When the program is running, three telescopic rod servo motors 834 drive the movement of the moving platform 82 to realize multi-axis linkage; the rotating head drive motor 842 drives its two rotating shafts to rotate, and assists the parallel processing mechanism 28 to realize the movement of the tool; the main shaft servo motor 3- 19 drives the spindle cutter to rotate. In this way, under the control of the numerical control system, the series-parallel mechanism arranged symmetrically up and down and left and right can realize the processing of a group of 4-6 left and right symmetrical blades of large marine propellers in the Z-direction curved surface area in a range of X and Y directions.

When the processing of the Z-curved surface area in the X direction and Y direction of the propeller blade is completed, the upper Y-direction driving device 24 and the lower Y-direction driving device 293 respectively drive the upper-layer fixed frame 26 and the lower-layer fixed frame 291 to translate a certain distance along the Y direction. , and then make it fixed, and continue to process the other Y and Z curved surface areas of the blade X direction range of the propeller 5. By repeating the above process, the machining of the curved surface area of the propeller blade in the X direction can be completed.

After completing the processing of all the curved surface areas of the propeller blade in the X direction in the Y direction and the Z direction, under the control of the numerical control system, the X-direction drive device 22 drives the support guide frame 23 to move a certain distance along the X direction, and then fixes it. Continue to process the blade X of the propeller 5 to another range, repeat the above steps, until the upper and lower sides of the left and right blades of the propeller and the hub are all processed. Then, the upper and lower processing mechanisms return to their original positions and wait for subsequent operations.

After processing a pair of blades, under the control of the numerical control system, the rotating motor 35 starts to drive the rotating table 32 to rotate, and the propeller 5 rotates with the rotating table 32 at a certain angle of 360/n° (n is the number of propeller blades), repeat the previous three steps The operation process of the first step can complete the processing of the next pair of blades.

Repeat this until the entire propeller 5 is processed.

When the number of blades of the propeller 5 is an odd number, the roller 41 on the second processing device 4 rotates along the circular arc track 11 to realize the purpose of simultaneously processing blades on both sides.

In addition to the above-mentioned embodiments, the present invention can also have other implementations, and all technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

Claims (5)

1., for processing a lathe for screw, it is characterized in that: comprise pedestal, the first processing unit (plant), with duplicate second processing unit (plant) of the first processing unit (plant), workbench; Described workbench is fixedly installed in the upper planar central of pedestal, and described first processing unit (plant), the second processing unit (plant) are symmetricly set on the both sides of workbench and are connected with the upper plane of pedestal; Line between first processing unit (plant) and the second processing unit (plant) is set to X-direction, and the direction pointing to workbench is positive direction, can determine Y-direction and Z-direction according to right-hand rule;

Described first processing unit (plant) comprises base, support guide frame, upper strata organisation of working, lower floor's organisation of working; Described base is fixedly connected on the upper plane of pedestal, and described support guide frame is fixedly installed on the upper surface of base, and described upper strata organisation of working and lower floor's organisation of working are separately positioned on above and below support guide frame;

Described base is rectangular structure parts, on it, plane is provided with several X being parallel to X-direction to guide ledges, the middle part of the upper plane of described base is also provided with and is parallel to the X of X to guide ledges to drive unit, described X comprises X to motor cabinet to drive unit, a pair X is to bearing block, X is to drive motors, a pair X is to bearing, X is to ball-screw, X is to shaft coupling, X is to feed screw nut, described X is separately fixed at base X-direction in bearing block by said sequence to motor cabinet and a pair X, described X is arranged on X respectively to motor cabinet and a pair X in bearing block to drive motors and a pair X to bearing, X to the two ends of ball-screw respectively by a pair X to bearings, X is connected to drive motors to shaft coupling with X to ball-screw by X, X to feed screw nut revolve and at X on ball-screw,

Described support guide frame is rectangular structure parts, its center is provided with the hollow part of rectangular shape along the X direction, several X being parallel to X-direction is provided with to direction recess at the lower plane of support guide frame, be provided with pair of parallel in the upper strata Y-direction guide ledges of Y-direction in the upper plane of support guide frame, the upper strata Y-direction direction recess that one is parallel to Y-direction is provided with between described a pair upper strata Y-direction guide ledges, described upper strata Y-direction direction recess passes straight through to the upper end of hollow part, be provided with pair of parallel in lower floor's Y-direction direction recess of Y-direction in the lower end of described hollow part, the X of described base is fixed on the middle part of the lower plane of support guide frame to the X of drive unit to feed screw nut, several X of described support guide frame coordinate one by one to several X of direction recess and base to guide ledges and are flexibly connected,

Described upper strata organisation of working comprises upper strata fixed mount, upper strata Y-direction drive unit, slide carriage, parallel machanism, described upper strata fixed mount is movably arranged on the upper end of the hollow part of support guide frame, described upper strata fixed mount is rectangular structure part, its center is provided with the fixing inner chamber one of rectangular shape along the X direction, the middle part of two vertical sides of described fixing inner chamber one is respectively provided with several supporting shaft hole one, several locating hole one is also provided with in the both sides of supporting shaft hole one, the fixing lug boss of rectangular shape is provided with on the top of upper strata fixed mount, pass in the upper strata Y-direction direction recess that described fixing lug boss is movably connected in support guide frame, the position that described fixing lug boss passes upper strata Y-direction direction recess is provided with a fixing square hole along the X direction, the center position that described fixing lug boss is arranged on the inside of upper strata Y-direction direction recess is provided with a threads of lead screw hole along the Y direction, described slide carriage is rectangular structure part, is provided with pair of parallel in the shifting chute of Y-direction at its lower plane, be connected with it in the fixing square hole that described slide carriage is through fixing lug boss, a pair shifting chute of described slide carriage cooperatively interacts with a pair upper strata Y-direction guide ledges of support guide frame and is flexibly connected, upper strata Y-direction drive unit is provided with along the Y direction in the Y-direction direction recess of upper strata, described upper strata Y-direction drive unit comprises upper strata Y-direction motor cabinet, a pair upper strata Y-direction bearing block, upper strata Y-direction drive motors, a pair upper strata Y-direction bearing, upper strata Y-direction ball-screw, upper strata Y-direction shaft coupling, described upper strata Y-direction motor cabinet and a pair upper strata Y-direction bearing block are fixed on according to said sequence in the Y-direction on top of support guide frame respectively, upper strata Y-direction drive motors and a pair upper strata Y-direction bearing are arranged in upper strata Y-direction motor cabinet and a pair upper strata Y-direction bearing block respectively, the two ends of upper strata Y-direction ball-screw are respectively by a pair upper strata Y-direction bearings, upper strata Y-direction ball-screw is connected with upper strata Y-direction drive motors by upper strata Y-direction shaft coupling, upper strata Y-direction ball-screw revolves with the threads of lead screw hole of upper strata fixed mount and is connected, described parallel machanism is fixedly installed in the fixing inner chamber one of upper strata fixed mount, described parallel machanism comprises fixed platform, moving platform, three expansion links, topping machanism, ball pivot, described fixed platform is flexibly connected with moving platform by three expansion links, described topping machanism is fixedly connected on moving platform, described fixed platform is the parts of " work " font, two location-plates be parallel to each other are connected by one piece of connecting plate, a supporting shaft hole two is respectively provided with in the heart in described two location-plates, several locating hole two is also provided with for the center of circle with supporting shaft hole two, the supporting shaft hole two of described fixed platform both sides is connected by back shaft with the supporting shaft hole one of fixed mount both sides, upper strata, described locating hole one is connected by alignment pin with locating hole two, described expansion link comprises outer sleeve, inner sleeve, expansion link motor cabinet, expansion link servomotor, shaft coupling one, expansion link ball-screw, bearing, one end of described outer sleeve is provided with bearing, the other end is provided with internal spline, described expansion link motor cabinet is fixedly connected on one end that outer sleeve is provided with bearing, described expansion link servomotor is fixedly installed on expansion link motor cabinet, one end of described expansion link ball-screw is connected with expansion link servomotor by shaft coupling one, described bearings expansion link ball-screw, one end of described inner sleeve is provided with threads of lead screw hole two, its cylindrical is provided with external splines, the other end of described ball-screw revolves and in the threads of lead screw hole two of inner sleeve, the external splines of described inner sleeve coordinates with the internal spline of outer sleeve and is flexibly connected, one end that described outer sleeve is provided with expansion link servomotor is fixedly installed on the connecting plate of fixed platform by ball pivot, the other end of described inner sleeve is fixedly connected with moving platform by ball pivot, described topping machanism comprises rotary head, rotary head drive motors, spindle servo electric machine, cutter clamping head, described rotary head connects perpendicular to moving platform, by be set to around the direction of rotation perpendicular to moving platform axis C to, by perpendicular to C to direction of rotation be set to A to, described rotary head drive motors is fixedly connected with rotary head, and drive rotary head around C to, A is to rotation, the other end of described rotary head is provided with spindle servo electric machine, one end of described spindle servo electric machine is provided with cutter clamping head,

Described lower floor organisation of working comprise lower floor's fixed mount, with the on all four parallel machanism of upper strata organisation of working, lower floor's Y-direction drive unit, described lower floor fixed mount is movably arranged on the lower end of the hollow part of support guide frame, described lower floor fixed mount is rectangular structure part, its center is provided with the fixing inner chamber two of rectangular shape along the X direction, several supporting shaft hole three is respectively provided with in the middle part of two vertical sides of described fixing inner chamber two, several locating hole three is provided with in the both sides of supporting shaft hole three, a pair lower floor's Y-direction guide ledges is provided with along the Y direction at the lower plane of lower floor's fixed mount, described a pair lower floor's Y-direction guide ledges cooperatively interacts with a pair lower floor's Y-direction direction recess of support guide frame and is flexibly connected, the structure of the parallel machanism of described lower floor organisation of working and mounting means and upper strata organisation of working completely the same, described lower floor Y-direction drive unit comprises lower floor's Y-direction motor cabinet, a pair lower floor's Y-direction bearing block, lower floor's Y-direction drive motors, a pair lower floor's Y-direction bearing, lower floor's Y-direction ball-screw, lower floor's Y-direction shaft coupling, lower floor's Y-direction feed screw nut, described lower floor Y-direction motor cabinet and a pair lower floor's Y-direction bearing block are fixed in the Y-direction of the lower end of the hollow part of support guide frame respectively according to said sequence, lower floor's Y-direction drive motors and a pair lower floor's Y-direction bearing are arranged in lower floor's Y-direction motor cabinet and a pair lower floor's Y-direction bearing block respectively, the two ends of lower floor's Y-direction ball-screw are respectively by a pair lower floor's Y-direction bearings, lower floor's Y-direction ball-screw is connected with lower floor Y-direction drive motors by lower floor's Y-direction shaft coupling, lower floor's Y-direction feed screw nut is fixedly connected on the lower plane of lower floor's fixed mount, lower floor's Y-direction ball-screw revolves with lower floor Y-direction feed screw nut and is connected,

Structure and first processing unit (plant) of described second processing unit (plant) are completely the same;

Described workbench comprises table base, turntable, bearing two, fixing tool, electric rotating machine, shaft coupling two, described turntable connects the upper plane being arranged on table base by bearing two, described electric rotating machine is arranged on the inside of table base, and be connected with turntable by shaft coupling two, described fixing tool comprises scroll chuck and fixing end cap, described scroll chuck is arranged on a spinstand, screw is fixedly installed on the upper plane of turntable, its wheel hub is fixed by scroll chuck in the lower end of screw, and upper end is fixed by fixing end cap.

2. a kind of lathe for processing screw as claimed in claim 1, is characterized in that: the upper plane of described pedestal is provided with two arc orbits, described arc orbit with the center of pedestal for the center of circle; The lower plane of the base of described second processing unit (plant) is also provided with several roller, and described roller is arranged in two arc orbits, and the distance between described roller is equal with the distance between two arc orbits.

3. a kind of lathe for processing screw as claimed in claim 1, is characterized in that: the locating hole two of described location-plate is equal to the distance between supporting shaft hole one with the locating hole one of upper strata fixed mount to the distance between supporting shaft hole two.

4. a kind of lathe for processing screw as claimed in claim 1, is characterized in that: the distance between the locating hole two of described location-plate to supporting shaft hole two is equal to the distance between supporting shaft hole three with the locating hole three of lower floor's fixed mount.

5. a kind of lathe for processing screw as claimed in claim 1, is characterized in that: the stroke of described upper strata Y-direction drive unit and lower floor's Y-direction drive unit is equal.