CN104669091B - Six-axis linkage numerical control abrasive belt grinding machine - Google Patents

Abstract

The invention discloses a six-axis linkage numerical control abrasive belt grinding machine which comprises a machine body, an X-axis transmission system, a Y-axis transmission system, a Z-axis transmission system, an A-axis transmission system, a B-axis transmission system, a C-axis transmission system, an abrasive belt grinding system, a U-axis transmission system and a chip discharge system. The B-axis transmission system is used for driving the abrasive belt grinding system to rotate around a Y axis and the C-axis transmission system is used for driving the abrasive belt grinding system to rotate around a Z axis so as to implement two-degrees-of-freedom rotational motion of the abrasive belt grinding system; the abrasive belt grinding system is positioned above the chip discharge system so as to enable metal abrasive dust to fall into the chip discharge system; the A-axis transmission system is arranged at one side of the machine body and is used for clamping a blade-type workpiece and driving the workpiece to rotate around an X axis. The six-axis linkage numerical control abrasive belt grinding machine can be well applied to grinding and polishing processing of blade parts with complex profiles, such as a turbine blade and an aero-engine; grinding and polishing efficiency of the complex blade-type part is greatly improved, and product quality is improved.

Description

Six-axis linkage CNC abrasive belt grinder

technical field

The invention belongs to the field of numerical control machine tools, and more specifically relates to a six-axis linkage numerical control abrasive belt grinding machine.

Background technique

As the core component of power energy devices such as gas turbines and aero-engines, blades play an important role in the performance of gas turbines and aero-engines. The manufacturing accuracy and surface roughness of the blade profile are crucial to the performance and efficiency of the entire energy conversion device. important influence. In order to improve the energy conversion efficiency of modern gas turbines and aero-engines, reduce energy consumption, and obtain greater output power with a smaller volume, the design of the blade profile has developed from a straight surface to an arc surface and then to a twisted arc surface. The curves are becoming more and more complicated, the processing technology of blades is becoming more and more complicated, and the requirements for CNC machine tools for blade processing are also getting higher and higher.

Abrasive belt grinding and polishing is an efficient, economical and extremely versatile grinding and polishing process for blade surface processing and manufacturing, and is an important process for blade surface processing and manufacturing. At present, some CNC grinding machines in China have also made some attempts to grind and polish the blade surface with abrasive belts, which can realize the grinding of complex blade surfaces, but because of the unreasonable structure and layout, the grinding and polishing of metal chips cannot be effectively carried out. Discharge, so that the entire worktable is full of metal shavings, the blade grinding and polishing area is extremely dirty, after a period of continuous operation of the grinder, it needs to be shut down for a long time to clean up the metal shavings, which greatly reduces the wear and tear of the CNC abrasive belt. Grinding machine efficiency.

In addition, the servo rotary table on the current multi-axis CNC abrasive belt grinder adopts a gear transmission drive system. When the rotary table is rotating, the axis of the servo motor and the drive shaft of the reducer are generally arranged in line with the center of rotation, which will increase the The burden of the servo motor and reducer requires a larger output torque of the servo motor and reducer, and the dynamic performance of the servo turntable is poor; if the force arm is large, a very large output torque is required, and the requirements for the servo system will increase. In addition, the servo turntable is supported by only one drive shaft, which will cause the axial runout of the turntable to be relatively large, and the operation of the servo turntable is not stable enough, which is obviously not conducive to complex blade parts. precision grinding and polishing.

In addition, the transmission mechanism driving the rotation of the servo turntable on the CNC machine tool generally adopts a gear transmission mechanism. When the gear is driven, the tooth gap is large, which increases the difficulty of the control system and is not conducive to the high-speed and high-precision motion control of the servo turntable.

Contents of the invention

Aiming at the above defects or improvement needs of the prior art, the present invention provides a six-axis linkage CNC abrasive belt grinder. The structural layout of the abrasive belt grinder is reasonable, and the transmission part and the processing part are set separately so that the metal shavings produced by grinding and polishing can directly fall into the The chip removal system solves the problem of metal abrasive debris filling the transmission part of the grinder. At the same time, the roller arc rack mechanism is used to realize the backlash-free, high-speed, high-precision rotary motion of the servo rotary table of the abrasive belt grinder, and to improve the transmission accuracy and transmission stiffness of the servo rotary table.

In order to achieve the above object, according to one aspect of the present invention, a six-axis linkage CNC abrasive belt grinder is provided, including a bed, an X-axis transmission system, a Y-axis transmission system, a Z-axis transmission system, an A-axis transmission system, and a B-axis transmission system , C-axis transmission system, abrasive belt grinding system and chip removal system, the chip removal system is arranged side by side with the bed, the X-axis transmission system is installed on the bed, and the Y-axis transmission system is installed on the X-axis transmission system Above, the Z-axis transmission system is installed on the Y-axis transmission system.

The Z-axis transmission system includes a Z-axis base and a Z-axis guide rail, the Z-axis base is installed on the Y-axis transmission system, and the Z-axis guide rail is installed on the Z-axis base;

The B-axis transmission system is installed on the Z-axis guide rail, the C-axis transmission system is installed on the B-axis transmission system, the abrasive belt grinding system is installed on the C-axis transmission system, and the B-axis transmission system is used for Drive the abrasive belt grinding system to rotate around the Y axis, the C-axis drive system is used to drive the abrasive belt grinding system to rotate around the Z axis, and the abrasive belt grinding system is located above the chip removal system to allow the metal grinding debris to fall into the chip removal system;

The A-axis transmission system is installed on the side of the bed close to the chip removal system, and the output shaft end of the A-axis transmission system is provided with a blade clamp for clamping the grinding and polishing workpiece and driving the workpiece to rotate around the X-axis.

Preferably, it also includes a U-axis transmission system. The U-axis transmission system is installed on the bed and on the same side as the A-axis transmission system. The U-axis transmission system includes a U-axis guide rail, a U-axis support and a manual feed mechanism. The U-axis guide rail is installed on the side of the bed close to the chip removal system, the U-axis support is installed on the U-axis guide rail, and a manual feed mechanism is set on the U-axis support, and the manual feed mechanism is used to drive The U-axis support moves along the U-axis guide rail, and the U-axis support is used to cooperate with the A-axis transmission system to clamp the blades processed by grinding and polishing.

Preferably, the X-axis transmission system includes an X-axis transmission assembly and an X-axis guide rail, the X-axis transmission assembly and the X-axis guide rail are installed on the bed, and the X-axis transmission assembly is used to drive the Y-axis transmission system along the X axis. The shaft guide rail moves; the Y-axis transmission system includes a Y-axis base, a Y-axis transmission assembly, and a Y-axis guide rail, and the Y-axis transmission assembly and the Y-axis guide rail are installed on the Y-axis base, and the Y-axis transmission assembly is used for Drive the Z-axis transmission system to move along the Y-axis guide rail; the Y-axis base is installed on the X-axis guide rail; the Z-axis transmission system includes the Z-axis base, the Z-axis transmission assembly and the Z-axis guide rail, and the Z-axis base Installed on the Y-axis guide rail, the Z-axis transmission assembly and the Z-axis guide rail are installed on the Z-axis base, and the Z-axis transmission assembly is used to drive the B-axis transmission system to move along the Z-axis guide rail.

Preferably, the B-axis transmission system includes a B-axis fixed support base and a B-axis rotation system, the B-axis fixed support base is installed on the Z-axis guide rail, and the B-axis rotation system includes a rotating shaft B, a B-axis rotation base and B-axis deceleration motor, the rotating shaft B is rotatably installed on the B-axis fixed support seat and its axis is parallel to the Y-axis, the B-axis rotating base is fixedly installed on the rotating shaft B, and the B-axis The deceleration motor is fixedly installed on the B-axis rotating base, and it drives the B-axis rotating base to rotate around the axis of the rotating shaft B through the B-axis roller arc rack mechanism, so as to realize the backlash-free transmission of the B-axis transmission system .

Preferably, the B-axis roller arc rack mechanism includes a B-axis roller and a B-axis arc rack that cooperate with each other, and the B-axis roller is installed on the output shaft of the B-axis geared motor, and the B-axis geared motor The output shaft of the B-axis is set horizontally, the B-axis arc rack is installed on the B-axis fixed support seat, and the center line of the B-axis arc rack is in line with the axis of the rotating shaft B so that the B-axis roller drives the B-axis The rotating base rotates around the axis of the rotating shaft B.

Preferably, the B-axis fixed support seat is equipped with a B-axis arc-shaped guide rail at a position corresponding to the B-axis arc-shaped rack, the center line of the B-axis arc-shaped guide rail is on the same line as the axis of the rotating shaft B, and the A B-axis arc-shaped guide rail slider is installed on the B-axis arc-shaped guide rail, and the B-axis arc-shaped guide rail slider is fixedly connected to the B-axis rotating base.

Preferably, the C-axis transmission system includes a rotating shaft C, a C-axis rotating base and a C-axis geared motor. The rotating shaft C is rotatably mounted on the B-axis rotating base and its axis is parallel to the Z-axis. The C-axis rotating base is fixedly installed on the rotating shaft C, and the C-axis deceleration motor is fixedly installed on the B-axis rotating base and drives the C-axis rotating base to rotate through the C-axis roller arc rack mechanism. The axis of the shaft C rotates to realize the backlash-free transmission of the C-axis transmission system.

Preferably, the C-axis roller arc rack mechanism includes C-axis rollers and C-axis arc racks that cooperate with each other, the C-axis arc rack is installed on the C-axis rotating base, and the C-axis rollers are installed on On the output shaft of the C-axis deceleration motor, the center line of the C-axis arc rack is in line with the axis of the rotating shaft C so that the C-axis roller drives the C-axis rotating base to rotate around the axis of the rotating shaft C.

Preferably, a C-axis arc-shaped guide rail is installed on the C-axis rotating base, the center line of the C-axis arc-shaped guide rail is in line with the axis of the rotation axis C, and a C-axis arc-shaped guide rail is installed on the C-axis arc-shaped guide rail. An arc-shaped guide rail slider, the C-axis arc-shaped guide rail slider is fixedly connected to the B-axis rotating base.

Preferably, the number of the Z-axis guide rails is two, and the abrasive belt grinding system is rotated by the rotation axis C. The rotation axis C and the two Z-axis guide rails are symmetrically arranged in an isosceles triangle, and the rotation axis C reaches each Z-axis guide rails are equally spaced.

Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

1) The structure of the transmission system of the six-axis linkage CNC abrasive belt grinder is reasonably arranged, and the transmission part and the processing part are set separately so that the grinding debris generated during processing can directly fall into the chip removal system, realizing the work of the transmission area of the grinding and polishing machine tool and blade grinding and polishing The separation of the regions eliminates the influence of metal grinding dust on the transmission system of the grinding machine, and solves the problem of metal grinding debris filling the transmission part of the grinding machine.

2) The B-axis transmission system and C-axis transmission system of the six-axis linkage CNC abrasive belt grinder are symmetrically arranged on the Z-axis base of the Z-axis transmission system, which improves the transmission accuracy and overall rigidity of the machine tool transmission system.

3) The B-axis transmission system and the C-axis transmission system of the six-axis linkage CNC abrasive belt grinder both adopt the roller arc rack gear transmission mechanism, which realizes the backlash-free transmission of the B-axis transmission system and the C-axis transmission system, and improves the end grinding The motion accuracy of the cutting system.

Description of drawings

Fig. 1 is a structural representation of the present invention;

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

Fig. 3 is a top view of the present invention;

Fig. 4 is a schematic structural view of the C-axis transmission system installed on the B-axis transmission system in the present invention;

Fig. 5 is a structural schematic view of another viewing angle in which the C-axis transmission system is installed on the B-axis transmission system in the present invention;

Fig. 6 is a schematic structural view of the B-axis fixed support seat in the present invention;

Fig. 7 is a schematic diagram of the structure of the B-axis rotating base in the present invention;

Fig. 8 is a partial sectional view of the C-axis transmission system installed on the B-axis transmission system in the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

As shown in Figures 1 to 8, the six-axis linkage CNC abrasive belt grinder includes a bed 470, an X-axis transmission system 500, a Y-axis transmission system 600, a Z-axis transmission system 120, an A-axis transmission system 150, and a B-axis transmission system 140, C-axis transmission system 3, abrasive belt grinding system 80 and chip removal system 800, the chip removal system 800 is arranged side by side with the bed 470, the X-axis transmission system 500 is installed on the bed 470, and the Y The shaft transmission system 600 is installed on the X-axis transmission system 500, and the Z-axis transmission system 120 is installed on the Y-axis transmission system 600;

The Z-axis transmission system 120 includes a Z-axis base 360 and a Z-axis guide rail 350, the Z-axis base 360 is installed on the Y-axis transmission system 600, the Z-axis guide rail 350 is installed on the Z-axis base 360, It is preferably installed on the side of the Z-axis base 360 close to the chip removal system 800;

The B-axis transmission system 140 is installed on the Z-axis guide rail 350, the C-axis transmission system 3 is installed on the B-axis transmission system 140, the abrasive belt grinding system 80 is installed on the C-axis transmission system 3, the The B-axis transmission system 140 is used to drive the abrasive belt grinding system 80 to rotate around the Y axis, and the C-axis transmission system 3 is used to drive the abrasive belt grinding system 80 to rotate around the Z axis. above the chip removal system 800 so that metal abrasive chips fall into the chip removal system 800;

The A-axis transmission system 150 is installed on the side of the bed 470 close to the chip removal system 800. The A-axis transmission system 150 is used to clamp the workpiece and drive the workpiece to rotate around the X-axis. The chip removal system 800 is located in the A-axis transmission system 150 and below the U-axis transmission system 700, the metal shavings of the workpiece are directly collected and filtered by the chip removal system 800. The A-axis transmission system 150 includes an A-axis base 290 , a workpiece fixture 300 , a backlash-free gearbox 310 and an A-axis servo motor 320 . The backlash-free gearbox 310 is arranged on the upper surface of the A-axis base 290 , driven by the A-axis servo motor 320 , and the output end of the backlash-free gearbox 310 is equipped with a workpiece clamp 300 for fixing and clamping the workpiece 280 . The A-axis servo motor 320 can drive the workpiece 280 to rotate.

Adopting the above layout of the machine tool drive system, the machine tool drive system has a compact structure, which can realize the separation of the drive area of the six-axis CNC blade grinder from the blade grinding and polishing work area, so that the grinding chips generated during processing can directly fall into the chip removal system, eliminating the need for metal The impact of grinding dust on the transmission system of the grinding machine solves the problem of metal grinding dust filling the transmission part of the grinding machine.

Further, the six-axis linkage CNC abrasive belt grinder also includes a U-axis transmission system 700, which is installed on the bed 470 and on the same side as the A-axis transmission system 150. The U-axis transmission system 700 includes a U-axis guide rail 230, a U-axis support And the manual feed mechanism 260, the U-axis support includes a U-axis base 250 and a U-axis tailstock 270, the U-axis guide rail 230 is installed on the side of the bed 470 close to the chip removal system 800, and the U-axis support Installed on the U-axis guide rail 230, a manual feed mechanism 260 is arranged on the U-axis support, and the manual feed mechanism 260 is used to drive the U-axis support to move along the U-axis guide rail 230. The U-axis support is used Cooperate with the A-axis transmission system 150 to clamp the workpiece. The number of U-axis guide rails 230 is two, and a straight rack 240 is installed between the U-axis guide rails 230 parallel to the direction of the U-axis guide rails. The manual feed mechanism 260 includes a rocker and a gear. The gear rotates, and the gear meshes with the spur rack 240, which can drive the U-axis support to move, and the thimble on the U-axis support can withstand the workpiece. Therefore, by setting the U-axis support, it can adapt to workpieces of different lengths; at the same time, U-axis limit assemblies 220 are arranged near both ends of the U-axis guide rail 230 to prevent the U-axis transmission system 700 from moving beyond the designed stroke of the grinding machine.

Further, the number of Z-axis guide rails 350 is two, and the abrasive belt grinding system 80 is driven to rotate by the rotation axis C12. The rotation axis C12 and the two Z-axis guide rails 350 are symmetrically arranged in an isosceles triangle, and the rotation axis C12 reaches The distance of each Z-axis guide rail 350 is equal. The abrasive belt grinding system 80 is arranged between the two Z-axis guide rails 350, that is, the two Z-axis guide rails 350 are symmetrically arranged on both sides of the abrasive belt grinding system 80. Such a design makes the structure of the transmission system compact; at the same time, it can also realize The backlash-free transmission of the B-axis transmission system 140 and the C-axis transmission system 3 improves the motion accuracy of the belt grinding system 80 of the six-axis linkage CNC abrasive belt grinder and the overall rigidity of the machine tool.

Further, the X-axis transmission system 500 includes an X-axis ball screw transmission assembly 190, an X-axis guide rail 460 and an X-axis servo motor 200, and the X-axis ball screw transmission assembly 190 and the X-axis guide rail 460 are installed on the bed 470, the X-axis ball screw transmission assembly 190 is used to drive the Y-axis transmission system 600 to move along the X-axis guide rail 460; the Y-axis transmission system 600 includes a Y-axis base 450, a Y-axis ball screw transmission assembly 170, The Y-axis guide rail 430 and the Y-axis servo motor 180, the Y-axis ball screw drive assembly 170 and the Y-axis guide rail 430 are installed on the Y-axis base 450, and the Y-axis ball screw drive assembly 170 is used to drive the Z-axis The transmission system 120 moves along the Y-axis guide rail 430 ; the Y-axis base 450 is installed on the X-axis guide rail 460 .

The Z-axis transmission system 120 includes a Z-axis base 360, a Z-axis ball screw transmission assembly 380, a Z-axis guide rail 350, a Z-axis servo motor 390, and a Z-axis ball screw assembly 370. The Z-axis base 360 is installed On the Y-axis guide rail 430, the Z-axis ball screw transmission assembly 380 and the Z-axis guide rail 350 are installed on the Z-axis base 360, and the Z-axis ball screw transmission assembly 380 is used to drive the B-axis transmission system 140 along the The Z-axis guide rail 350 moves. The Z-axis base 360 is installed on the Y-axis guide rail 430. Two Z-axis guide rails 350 are arranged in parallel along the Z-axis direction on the side of the Z-axis base 360 close to the chip removal system 800; The Z-axis ball screw assembly 370 and the Z-axis servo motor 390 drive the Z-axis ball screw assembly 370 through the Z-axis transmission assembly 380 , and then drive the B-axis transmission system 140 and the C-axis transmission system 3 to move along the Z-axis direction. Two guide rail slider steps 420 are arranged parallel to the Y-axis direction on both sides of the lower end surface of the Z-axis base 360 . The slider step 420 is used for the installation of the Z-axis guide rail 350 , which facilitates the mechanical installation and precision adjustment of the Z-axis base 360 . The shaft end of the Z-axis ball screw transmission assembly 380 is provided with a brake 381 to realize the power-off brake of the Z-axis ball screw transmission system and improve the safety of the Z-axis transmission system.

Two X-axis guide rails 460 are arranged in parallel on the upper surface of the bed 470 along the X-axis direction; an X-axis ball screw assembly 210 is arranged between the X-axis guide rails 470, and the X-axis servo motor 200 drives the X-axis ball screw assembly 210 Drive the movement of the Y-axis transmission system 600 in the X-axis direction.

The Y-axis transmission system 600 includes a Y-axis base 450 , a Y-axis ball screw assembly 160 , a Y-axis servo motor 180 and a Y-axis servo motor 180 . Wherein, the Y-axis base 450 is installed on the X-axis guide rail 460, and on both sides of the Y-axis base 450, two parallel trapezoidal bosses 440 are arranged along the Y-axis direction, and the front ends of the trapezoidal bosses 440 extend all the way to the Y-axis. Outside the base 450; two Y-axis guide rails 430 are arranged on the trapezoidal boss 440; the Y-axis ball screw assembly 170 is arranged between the two trapezoidal bosses 440, and the Y-axis servo motor 180 drives the Y-axis ball screw transmission assembly 170, and then drives the Z-axis transmission system 120 to move along the Y-axis direction. Setting two parallel trapezoidal bosses 440 on the Y-axis is beneficial to improve the structural rigidity of the Y-axis, and facilitate the mechanical installation and precision adjustment of the Y-axis ball screw assembly 170 .

Further, the B-axis transmission system 140 includes a B-axis fixed support base 1 and a B-axis rotary system 2, wherein the B-axis rotary system 2 includes a rotating shaft B4, a B-axis rotary base 14 and a B-axis geared motor 39, and the B-axis is fixed The support base 1 is installed on the Z-axis guide rail 350, the rotating shaft B4 is rotatably mounted on the B-axis fixed support base 1 and its axis is parallel to the Y-axis, and a B Shaft bearing 5, the B-axis rotating base 14 is fixedly installed on the rotating shaft B4, the B-axis reduction motor 39 is fixedly installed on the B-axis rotating base 14 and it passes through the B-axis roller arc rack The mechanism 37 drives the B-axis rotating base 14 to rotate around the axis of the rotating shaft B4. The B-axis geared motor 39 includes the B-axis servo motor 8 and the B-axis reducer 21, and the B-axis reducer 21 is installed through the B-axis motor. The seat 22 is installed on the B-axis rotating base 14 . The B-axis servo motor 8 drives the B-axis reducer 21, and then drives the B-axis roller arc rack mechanism 37 to move, thereby realizing the rotary motion of the B-axis rotating base 14 around the axis of the rotating shaft B4.

The C-axis transmission system 3 includes a rotating shaft C12, a C-axis rotating base 16 and a C-axis geared motor 40. The rotating shaft C12 is rotatably mounted on the B-axis rotating base 14 and its axis is parallel to the Z-axis. A C-axis bearing 13 is arranged between the shaft C12 and the B-axis rotation base 14, the C-axis rotation base 16 is fixedly mounted on the rotation shaft C12, and the C-axis reduction motor 40 is fixedly mounted on the B-axis rotation base. On the base 14 and it drives the C-axis rotating base 16 to rotate around the axis of the rotation axis C12 through the C-axis roller arc rack mechanism 38. The C-axis geared motor 40 includes a C-axis servo motor 9 and a C-axis reducer 19 . The C-axis servo motor 9 drives the C-axis reducer 19, and then drives the C-axis roller arc rack mechanism 38 to realize the rotary motion of the C-axis rotating base 16 around the axis of the rotating shaft C12.

Further, the B-axis roller arc rack mechanism 37 includes a B-axis roller 23 and a B-axis arc rack 24 that cooperate with each other, and the B-axis roller 23 is installed on the output shaft of the B-axis reduction motor 39. The output shaft of the B-axis decelerating motor 39 is horizontally arranged, and the B-axis arc rack 24 is installed on the B-axis fixed support base 1, and the center line of the B-axis arc rack 24 is on the same line as the axis of the rotating shaft B4 The B-axis roller 23 drives the B-axis rotating base 14 to rotate around the axis of the rotating shaft B4. The B-axis servo motor 8 drives the B-axis reducer 21, and then drives the B-axis roller arc rack mechanism 37 to move, thereby realizing the rotary motion of the B-axis rotating base 14 around the axis of the rotating shaft B4.

Further, the B-axis fixed support seat 1 is equipped with a B-axis arc guide rail 7 at a position corresponding to the B-axis arc rack 24, and the center line of the B-axis arc guide rail 7 is on the same line as the axis of the rotating shaft B4 A B-axis arc guide rail slider 25 is installed on the B-axis arc guide rail 7 , and the B-axis arc guide rail slider 25 is fixedly connected to the B-axis rotation base 14 . Due to the guiding and supporting functions of the B-axis arc-shaped guide rail 7 and the B-axis arc-shaped guide rail slider 25, the movement of the B-axis rotating base 14 is more stable and firm.

The B-axis support base 36 and the B-axis support shaft base 29, the side of the B-axis support base 36 close to the B-axis rotation base 14 is integrally formed with an arc-shaped positioning boss 26 and a mounting boss 27, which rotate away from the B-axis One side of the base 14 is integrally formed with the B-axis supporting shaft seat 29, the B-axis supporting shaft seat 29 is used to support the rotating shaft B4, the B-axis supporting shaft seat 29 is surrounded by reinforcing ribs 28, and the B-axis arc-shaped guide rail 7 and B-axis circular arc rack 24 are installed on the arc positioning boss 26. The top of the B-axis support base 36 is also provided with a C-axis reducer installation base 31 and a B-axis reducer installation base 32, so as to install the C-axis reducer 19 and the B-axis reducer 21 respectively. The B-axis fixed support base 1 bears the weight of the turntable itself, the weight of all accessory structural parts and the additional external force in the working process, and the overall frame structure makes the B-axis fixed support base 1 firm and reliable.

Further, the C-axis roller arc rack mechanism 38 includes a C-axis roller 20 and a C-axis arc rack 17 that cooperate with each other, and the C-axis arc rack 17 is installed on the C-axis rotating base 16, and C The shaft roller 20 is installed on the output shaft of the C-axis reduction motor 40, and the center line of the C-axis arc rack 17 is in line with the axis of the rotating shaft C12 so that the C-axis roller 20 drives the C-axis rotating base 16 to rotate The axis of shaft C12 rotates. The C-axis servo motor 9 drives the C-axis reducer 19, and then drives the C-axis roller arc rack mechanism 38 to realize the rotary motion of the C-axis rotating base 16 around the axis of the rotating shaft C12.

Further, a C-axis arc-shaped guide rail 15 is installed on the C-axis rotating base 16, the center line of the C-axis arc-shaped guide rail 15 is on the same line as the axis of the rotation axis C12, and the C-axis arc-shaped guide rail 15 is installed There is a C-axis arc-shaped guide rail slider 18, and the C-axis arc-shaped guide rail slider 18 is fixedly connected with the B-axis rotating base 14. Due to the guiding and supporting functions of the C-axis arc-shaped guide rail 15 and the C-axis arc-shaped guide rail slider 18, the rotation of the C-axis is more stable and firm.

Further, the axis of the rotating shaft B4 intersects the axis of the rotating shaft C12, so as to facilitate the servo control of the machine tool.

Further, the side of the B-axis fixed support base 1 close to the B-axis rotation base 14 is rotatably fitted with a rotary support ring 6, and a support bearing is installed between the rotary support ring 6 and the B-axis fixed support base 1; The supporting ring 6 is fixedly connected to the B-axis rotating base 14, and the rotating shaft B4 is fixedly connected to the B-axis rotating base 14 after passing through the rotating supporting ring 6, so that the rotating connection at the rotating shaft B4 is firm and reliable.

Further, the B-axis rotating base 14 adopts a shell structure with reinforcing ribs 28 inside; the end of the B-axis rotating base 14 close to the B-axis fixed support seat 1 protrudes into a rectangular structure, which is fixed away from the B-axis. One end of the support base 1 is a semi-cylindrical structure; along the direction from the end of the rectangular structure to the end of the semi-cylindrical structure, the width of the B-axis rotating base 14 gradually narrows symmetrically. In this way, the B-axis rotating base 14 can reduce the weight of the structure while meeting the requirements of function and strength, and make the design more reasonable.

Further, the B-axis rotating base 14 includes a B-axis base body 35 and a B-axis rotating shaft seat 34, and the side of the B-axis base body 35 close to the rotating shaft B4 is integrally formed with the B-axis rotating shaft seat 34. The B-axis rotating shaft seat 34 is provided with an inner cavity, and the end of the rotating shaft B4 close to the B-axis rotating base 14 is provided with a shoulder, and this end extends into the B-axis rotating shaft seat 34 and connects with the B-axis base The seat body 35 is fixedly connected, and the said shoulder abuts against the outer side of the B-axis rotating shaft seat 34 . This makes the B-axis rotating base 14 more reasonable in design while meeting the requirements of function and space arrangement.

In addition, a C-axis rotary shaft seat 30 is also provided on the top of the B-axis base body 35, and the axis of the B-axis rotary shaft seat 34 and the axis of the C-axis rotary shaft seat 30 perpendicularly intersect. One side of the B-axis support base body 36 is provided with a stepped step 33, and the B-axis motor mount 22 and the C-axis motor mount 10 are arranged in parallel on the top of the B-axis base body 35, and the B-axis motor mount 22 and the C-axis motor The structure of the mounting seat 10 is symmetrical about the middle plane of the B-axis base body 35 . C-axis flanges 11 are fixedly sleeved on the upper and lower parts of the rotating shaft C12, and the function of the C-axis flanges 11 is to fix the bearings on the rotating shaft C12.

The B-axis transmission system 140 and the C-axis transmission system 3 of the present invention form a backlash-free crossing vertical axis turntable, and the turntable is cantilever-mounted on the Z-axis guide rail 350 of the Z-axis transmission system 120; the rotation of the C-axis transmission system 3 An abrasive belt grinding system 80 is fixedly installed on the axis C12. The B-axis transmission system 140 is supported by the B-axis servo motor 8, the B-axis roller arc rack mechanism 37, and the B-axis arc guide rail 7; the C-axis transmission system 3 is composed of the C-axis servo motor 9, the C-axis roller arc gear The bar mechanism 38 is formed, and the C-axis arc-shaped guide rail 15 is used as an auxiliary support. The B-axis servo motor 8 drives the B-axis reducer 21, thereby driving the B-axis roller arc rack mechanism 37 to realize the rotary motion of the B-axis rotary base 14 around the axis of the rotary shaft B4, and then drives the C-axis rotary system 3 to rotate around Rotary movement of the axis of the shaft B4. The C-axis servo motor 9 can drive the C-axis reducer 19 , so that the C-axis rotating base 16 can rotate around the axis of the rotating shaft C12 through the C-axis roller arc rack mechanism 38 . Therefore, the present invention can well realize the coupling and linkage of the B and C axes through the servo control system.

The B-axis servo motor 8 drives the B-axis roller arc rack mechanism 37 through the B-axis reducer 21, and then drives the B-axis rotating base 14 to swing about ±45° with the vertical plane around the Y-axis. At the same time, the B-axis The arc-shaped guide rail 7 is used as an auxiliary support for the rotation of the B-axis. The C-axis transmission system 13 is installed on the B-axis rotating base 14, the C-axis servo motor 6 drives the C-axis roller arc rack mechanism 38 through the C-axis reducer 19, and then drives the abrasive belt grinding system 80 around the rotation axis C12 and The vertical plane swings at about ±90°. At the same time, the C-axis arc-shaped guide rail 15 is used as an auxiliary support for rotation to cooperate with the rotation axis C12 to achieve double support.

In summary, the present invention can be well applied to the grinding of workpieces with complex profiles such as steam turbine blades, which greatly improves the product quality and efficiency of processing large and complex components.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.

Claims (8)

1. numerical control abrasive belt grinding machine with six-axis linkage, including lathe bed (470), X-shaft transmission system (500), Y-axis transmission system (600), Z Shaft transmission system (120), A shaft transmission systems (150), B axle transmission system (140), C shaft transmission systems (3), abrasive belt grinding system (80) and chip removal system (800), the chip removal system (800) is arranged side by side with lathe bed (470), it is characterised in that：

On lathe bed (470), the Y-axis transmission system (600) is installed in X-axis power train for the X-shaft transmission system (500) On system (500), the Z-axis transmission system (120) is in Y-axis transmission system (600)；

The Z-axis transmission system (120) includes Z axis pedestal (360) and Z axis guide rail (350), and the Z axis pedestal (360) is arranged on In Y-axis transmission system (600), the Z axis guide rail (350) is on Z axis pedestal (360)；

In Z axis guide rail (350), the C shaft transmission systems (3) are driven the B axle transmission system (140) installed in B axle In system (140), the abrasive belt grinding system (80) on C shaft transmission systems (3), use by the B axle transmission system (140) In driving abrasive belt grinding system (80) to rotate around Y-axis, the C shaft transmission systems (3) are for driving abrasive belt grinding system (80) around Z Axle is rotated, and the abrasive belt grinding system (80) is positioned at the top of chip removal system (800) so that metal filings fall into chip removal system (800)；

The A shaft transmission systems (150) are installed in lathe bed (470) near the side of chip removal system (800), A shaft transmission systems (150) for clamping workpiece and drive workpiece to turn about the X axis；

The B axle transmission system (140) includes B axle fixed supporting seat (1) and B axle rotary system (2), B axle fixed supporting seat (1) In Z axis guide rail (350), B axle rotary system (2) slows down electric including rotary shaft B (4), B axle rotating basis (14) and B axle Machine (39), rotary shaft B (4) is on B axle fixed supporting seat (1) and its diameter parallel is in Y-axis, and the B axle rotates base Seat (14) is fixedly mounted in described rotary shaft B (4), and the B axle reducing motor (39) is fixedly mounted on B axle rotating basis (14) on and it passes through B axle roller arc rack mechanism (37) and drives described B axle rotating basis (14) around rotary shaft B (4) Axis rotates；

The B axle roller arc rack mechanism (37) includes the B axle roller (23) and B axle arc rack (24) for cooperating, institute B axle roller (23) is stated on the output shaft of B axle reducing motor (39), the output shaft level of the B axle reducing motor (39) Arrange, the B axle arc rack (24) on B axle fixed supporting seat (1), the center line of the B axle arc rack (24) It is collinear with the axis of rotary shaft B (4) so that B axle roller (23) drive B axle rotating basis (14) around rotary shaft B (4) axis revolve Turn.

2. numerical control abrasive belt grinding machine with six-axis linkage according to claim 1, it is characterised in that：Also include U shaft transmission systems (700), its be arranged on lathe bed (470) and with A shaft transmission systems (150) homonymy, the U shaft transmission systems (700) are including U axles Guide rail (230), U shaft stools and hand feeding mechanism (260), the U axis rails (230) are installed in lathe bed (470) near chip removal The side of system (800), the U shaft stools are arranged on U axis rails (230), and on the U shaft stools hand feeding mechanism is arranged (260), the hand feeding mechanism (260) for driving U shaft stools mobile along U axis rails (230), the U shaft stools are used for Coordinate with A shaft transmission systems (150) and clamp workpiece.

3. numerical control abrasive belt grinding machine with six-axis linkage according to claim 1, it is characterised in that：The X-shaft transmission system (500) Including X-axis transmission component (190) and X-axis guide rail (460), the X-axis transmission component (190) and X-axis guide rail (460) are installed in Lathe bed (470), the X-axis transmission component (190) is moved for driving Y-axis transmission system (600) along X-axis guide rail (460)；It is described Y-axis transmission system (600) includes Y-axis pedestal (450), Y-axis transmission component (170) and Y-axis guide rail (430), the Y-axis transmission group On Y-axis pedestal (450), the Y-axis transmission component (170) is for driving Z-axis transmission for part (170) and Y-axis guide rail (430) System (120) is mobile along Y-axis guide rail (430)；Y-axis pedestal (450) is in X-axis guide rail (460)；The Z-axis transmission system (120) including Z axis pedestal (360), Z-axis transmission component (380) and Z axis guide rail (350), the Z axis pedestal (360) is installed in Y On axis rail (430), the Z-axis transmission component (380) and Z axis guide rail (350) on Z axis pedestal (360), the Z axis Transmission component (380) is moved for driving B axle transmission system (140) along Z axis guide rail (350).

4. numerical control abrasive belt grinding machine with six-axis linkage according to claim 1, it is characterised in that：The B axle fixed supporting seat (1) B axle arc-shaped guide rail (7), the center line of the B axle arc-shaped guide rail (7) are installed in the position corresponding to B axle arc rack (24) It is collinear with the axis of rotary shaft B (4), B axle arc-shaped guide rail slide block (25), the B axle are installed on the B axle arc-shaped guide rail (7) Arc-shaped guide rail slide block (25) is fixedly connected on B axle rotating basis (14).

5. numerical control abrasive belt grinding machine with six-axis linkage according to claim 1, it is characterised in that：C shaft transmission systems (3) bag Rotary shaft C (12), C axle rotating basis (16) and C axle reducing motors (40) are included, rotary shaft C (12) may be rotatably mounted at B axle On rotating basis (14) and axis its parallel to Z axis, the C axles rotating basis (16) is fixedly mounted on described rotary shaft C (12) on, the C axles reducing motor (40) is fixedly mounted on B axle rotating basis (14) and it passes through C shaft roller arc racks Mechanism (38) drives C axle rotating basis (16) to rotate around the axis of rotary shaft C (12).

6. numerical control abrasive belt grinding machine with six-axis linkage according to claim 5, it is characterised in that：The C shaft rollers arc rack Mechanism (38) includes the C shaft rollers (20) and C axle arc racks (17) for cooperating, and the C axles arc rack (17) is installed in C On axle rotating basis (16), C shaft rollers (20) on the output shaft of C axle reducing motors (40), the C axles arc rack (17) center line is collinear with the axis of rotary shaft C (12) so that C shaft rollers (20) drive C axle rotating basis (16) around rotary shaft The axis rotation of C (12).

7. numerical control abrasive belt grinding machine with six-axis linkage according to claim 5, it is characterised in that：The C axles rotating basis (16) On C axle arc-shaped guide rails (15) is installed, the center line of the C axles arc-shaped guide rail (15) is collinear with the axis of rotary shaft C (12), institute State and C axles arc-shaped guide rail slide block (18) is installed on C axle arc-shaped guide rails (15), the C axles arc-shaped guide rail slide block (18) rotates with B axle Pedestal (14) is fixedly connected.

8. numerical control abrasive belt grinding machine with six-axis linkage according to claim 5, it is characterised in that：The number of the Z axis guide rail (350) Measure as two, the abrasive belt grinding system (80) is rotated by rotary shaft C (12), rotary shaft C (12) and two Z axis guide rails (350) it is arranged symmetrically in isosceles triangle and the distance of rotary shaft C (12) to every Z axis guide rail (350) is equal.