CN109175326B - Titanium alloy casting head cleaning process based on industrial robot - Google Patents
Titanium alloy casting head cleaning process based on industrial robot Download PDFInfo
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- CN109175326B CN109175326B CN201811242194.0A CN201811242194A CN109175326B CN 109175326 B CN109175326 B CN 109175326B CN 201811242194 A CN201811242194 A CN 201811242194A CN 109175326 B CN109175326 B CN 109175326B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D31/00—Cutting-off surplus material, e.g. gates; Cleaning and working on castings
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Abstract
The invention discloses a titanium alloy casting head cleaning process based on an industrial robot, which comprises the steps of distance measurement, cutting, coarse grinding and semi-fine grinding. The invention can greatly improve the riser removing efficiency, reduce the residual stress, prevent burn, ensure the roughness of the surface of the processed workpiece and the consistency of the removed riser, and improve the grinding process of the titanium alloy.
Description
Technical Field
The invention belongs to the field of machining, relates to a riser cutting machining process, and particularly relates to a titanium alloy casting riser cleaning process based on an industrial robot.
Background
The titanium alloy has high specific strength and good heat resistance and corrosion resistance, is a light high-temperature structural material, and is widely applied to military fields such as aviation, navigation, chemical engineering, weaponry and the like; the titanium casting can directly obtain a near-net structural part, so that the production cost is reduced, and the application proportion accounts for more than 90%. The removal of a casting head of a cast titanium part is one of main processes in the processing process of a titanium alloy part, and because the titanium alloy belongs to a difficult-to-process material, the problems of large grinding force, high grinding temperature, serious adhesion of a grinding wheel and the like exist in the processing process, and the grinding efficiency and the grinding surface quality are seriously restricted by the problems.
At present traditional dead head is got rid of and is adopted flame cutting to get rid of most dead head earlier, then turns to the incomplete root of 1mm on the lathe that adds, adopts artifical handheld emery wheel to polish at last, has following several problems: (1) flame cutting is difficult to improve the cutting size precision and the heat affected zone, sparks are easy to sputter on the surface of a workpiece in the cutting process, the surface of the workpiece is damaged, and smoke dust and light pollution are serious; (2) the machining process is complex, and the removal efficiency of the casting head is greatly reduced due to multiple machining processes; (3) the automation degree is low, and manual polishing is adopted, so that the polished workpiece has poor surface quality and poor consistency; (4) because the consistency of the titanium alloy casting is poor, certain errors exist in the position and the height of the casting head, the body is easily damaged by adopting a machine tool or manual polishing due to manual misoperation, and the whole part is scrapped; these problems severely restrict the wide application of titanium alloys and the productivity of the enterprise.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, the surface of a titanium alloy casting riser is easy to burn, the residual stress is large, the efficiency is low, the consistency is poor and the like in the titanium alloy casting riser cleaning process, and provides a titanium alloy casting riser cleaning process based on an industrial robot.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a titanium alloy casting head cleaning process based on an industrial robot is characterized by comprising the following steps:
step 1: measuring the height of the plane of the root part of the riser, and moving the robot to a set height position h where the measuring device is located0The height is kept constant, and the height of the root plane of the riser is measured and calculated to be h1，h2Calculating a maximum value h;
step 2: the maximum height of a plane where the dead head is located is h, the cutting allowance is set to be delta h, the electric spindle and the cooling system are started, and the dead head is cut to be delta h allowance by adopting a cutting blade through the linear motion of a robot;
and step 3: coarse grinding, namely performing layered grinding by adopting a rotary file, wherein the machining allowance is delta apThe total depth of feed is delta h-delta apThe diameter of the cutter is d, the feed line spacing is L, and the feed depth of each layer is
The number of layers processed is
Determining a starting point of a first row of the riser and an end point of the first row, and performing track deviation by using the row spacing L to finish rough grinding;
and 4, step 4: semi-refining, continuing on the last remaining Δ apPolishing, adjusting the feed line spacing to
In the same way, the line spacing
And (4) performing track deviation, finishing machining the residual quantity at one time, and finishing the cleaning of the casting head of the titanium alloy casting.
Furthermore, an action executing mechanism in the titanium alloy casting head cleaning process is a six-degree-of-freedom industrial robot, and a power mechanism is a high-rotation-speed and high-torque electric spindle.
Further, the cutting allowance delta h is set to be not more than 1.5mm, and the machining allowance delta a is set to be not more than 1.5mmpAnd depth of cut apAre no more than 0.5 mm.
Further, the cutting blade is made of resin CBN materials, the granularity is 40-120, the concentration is 100%, the hardness is M grade, the linear speed during grinding is 40-80M/s, and the feed speed is not higher than 0.2 mm/s.
Furthermore, the rotary file is a hard alloy spherical rotary file, the linear speed is 5-30m/s during polishing, and the feed speed is not higher than 5 mm/s.
Further, measuring device is laser distance sensor, and absolute positioning accuracy is for being not less than 5um, and repeated positioning accuracy is for being not less than 1um, and measuring device installs in the electric main shaft upper end of robot, measures rising head bottom plane height before the cutting to for adjustment cutting piece lower slitter position provides reference distance.
Further, the cooling liquid in the cooling system is environment-friendly cutting liquid special for polishing titanium alloy, and the components of the cooling liquid are ternary carboxylate, triethanolamine, glycerol, organic silicon, oleic acid, benzotriazole derivatives and water; during the polishing process, high pressure double-pipe jet flow is adopted, the pressure is 0.6-0.8Mpa, and the flow is not lower than 10L/min.
Furthermore, when the measuring device of the robot is used for measuring, the planar normal direction is found through the distance sensor and fed back to the robot, so that the posture of the cutting blade is adjusted to be consistent with the planar normal direction, the cutting blade is adapted to errors to cut, and the consistency of the heights of the dead heads after cutting is guaranteed.
Furthermore, in the cutting process in the step 2, the contact arc length at the initial stage and the later stage of cutting is short, the feed speed is high, the contact arc length at the middle stage of cutting is long, and the feed speed is low.
Furthermore, the titanium alloy casting head cleaning process mainly aims at the titanium alloy casting head with a large removal amount and adopts a mode of cutting firstly and then grinding.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention adopts the robot to cut and polish, and compensates by the laser distance sensor, thereby solving the problems of poor surface quality, poor consistency and the like in the traditional processing technology, and greatly improving the surface quality and precision of polished surfaces.
2. The invention adopts the resin CBN cutting sheet, the linear speed reaches 47.1m/s, and the titanium alloy cutting fluid with large flow rate is matched, thereby greatly improving the dead head removing efficiency through high-speed cutting, reducing the abrasion of the cutter, saving the cost of the cutter, preventing surface burn, reducing the surface residual stress and improving the production efficiency.
3. The invention is based on industrial robot to process, greatly improves the automation degree of the processing process, reduces the risk caused by human error, responds to the policy of China manufacturing 2025, and provides a new idea for the traditional manufacturing enterprises to intelligent manufacturing transformation.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
The present invention will be further described in detail by the following specific embodiments, in the following examples, the robot is described based on the use of ABB IRB 6700-.
The embodiment is a titanium alloy casting head cleaning process based on an industrial robot, and the cleaning process requires that the stub of a casting head after being polished is flush with the bottom plane, the surface roughness is below 0.6um, and the specific process steps are as follows
Step 1: firstly, clamping a workpiece on a clamp, and installing a CBN cutting sheet at the tail end of an electric spindle, wherein the granularity of the cutting sheet is 60, the concentration of the cutting sheet is 100%, the hardness of the cutting sheet is M grade, the diameter of the cutting sheet is 150mm, the width of an abrasive material with the inner diameter of 25.4mm is 5mm, and the thickness of the abrasive material is 1 mm;
step 2: the method comprises the following steps of moving a robot, adjusting the posture of the robot to a measuring posture, opening three points of a plane where a laser distance sensor measures a riser, wherein the error of the plane where the riser is located is large due to poor casting consistency, finding out the normal direction of the plane through the distance sensor and feeding back the normal direction to the robot, adjusting the posture of a cutting blade to be consistent with the normal direction of the plane, adapting to the error to cut, and accordingly guaranteeing the consistency of the height of the riser after cutting.
And step 3: opening a cooling liquid, wherein the titanium alloy belongs to a difficult-to-process material, and has the defects of large grinding force, high grinding temperature, serious adhesion of a grinding wheel, easy surface burn and large residual stress in the processing process, so that the special environment-friendly cutting liquid for grinding the titanium alloy is required, and comprises 2% of tricarboxylate, 12% of triethanolamine, 3% of glycerol, 0.2% of organosilicon, 3% of oleic acid, 0.3% of benzotriazole derivatives and the balance of water; in the polishing process, high-pressure double-pipe jet flow is adopted, the pressure is 0.7Mpa, and the flow is not lower than 10L/min; the cooling liquid pipe is arranged on the electric spindle and moves along with the movement of the electric spindle, the spraying direction of the cooling liquid is tangent to the cutting-in direction of the cutting blade and is aligned to two sides of the casting head, and therefore the cooling liquid can enter the casting head in the cutting process to achieve a better cooling effect;
and 4, step 4: the dead head is cut to 1mm of allowance by adopting a resin CBN cutting piece through the linear motion of a robot, the contact arc length is shorter in the initial stage and the later stage of cutting, the grinding force is smaller, the grinding temperature is lower, the feed speed can be increased to 0.2mm/s, the contact arc length is longer in the middle stage of cutting, the grinding force is larger, the grinding temperature is high, the feed speed needs to be reduced to 0.1mm/s, and the rotating speed of a main shaft is 6000 r/min;
and 5: replacing a cutting blade at the tail end of the electric spindle with a hard alloy spherical rotary file with the diameter of 16 mm;
step 6: coarse grinding, namely cutting to the residual 1mm, then performing layered grinding by using a rotary file, wherein the total feed depth is 0.9mm, feeding is performed in three layers, the feed depth is 0.3mm each time, the feed speed is 3mm/s, the line spacing is 3mm, and the rotating speed of a main shaft is 10000 r/min;
and 7: semi-finish grinding, namely, adopting a hard alloy ball-shaped rotary file pair with the diameter of 16mm to finish the grinding by 0.1mm, wherein the row spacing value is smaller to 0.5mm due to higher requirement on the roughness of the semi-finish grinding surface, the feed speed is 5mm/s, and the rotating speed of a main shaft is 10000 r/min;
and (5) repeating the steps 1-7 until all the casting heads are cleaned, and then cleaning the whole titanium alloy casting head.
The plane of the casting head after cutting and polishing is observed after the steps are completed, the surface is free of burn, the height of the stub is parallel and level to the plane of the bottom, and the surface roughness is measured to be 0.4um by adopting a roughness meter, so that the processing technology requirement is met.
Claims (1)
1. The titanium alloy casting head cleaning process based on the industrial robot is characterized by comprising the following steps of:
step 1: firstly, a workpiece is clamped on a clamp, a CBN cutting piece is arranged at the tail end of an electric spindle, the granularity of the CBN cutting piece is 60, the concentration of the CBN cutting piece is 100%, the hardness of the CBN cutting piece is M grade, the diameter of the CBN cutting piece is 150mm, the inner diameter of the CBN cutting piece is 25.4mm, the width of an abrasive is 5mm, and the thickness of the CBN cutting piece is 1 mm;
step 2: the method comprises the following steps of moving a robot, adjusting the posture of the robot to a measuring posture, opening three points of a plane where a laser distance sensor measures a riser, wherein due to the fact that casting consistency is poor, the error of the plane where the riser is located is large, the normal direction of the plane is found through the laser distance sensor and fed back to the robot, so that the posture of a CBN cutting sheet is adjusted to be consistent with the normal direction of the plane, the error is adapted to be cut, and therefore the consistency of the height of the riser after cutting is guaranteed;
and step 3: opening a cooling liquid, wherein the titanium alloy belongs to a difficult-to-process material, and has the defects of large grinding force, high grinding temperature, serious adhesion of a grinding wheel, easy surface burn and large residual stress in the processing process, so that the special environment-friendly cutting liquid for grinding the titanium alloy is required, and comprises 2% of tricarboxylate, 12% of triethanolamine, 3% of glycerol, 0.2% of organosilicon, 3% of oleic acid, 0.3% of benzotriazole derivatives and the balance of water; in the polishing process, high-pressure double-pipe jet flow is adopted, the pressure is 0.7Mpa, and the flow is not lower than 10L/min; the cooling liquid pipe is arranged on the electric spindle and moves along with the movement of the electric spindle, the spraying direction of the cooling liquid is tangent to the cutting-in direction of the CBN cutting blade and is aligned to two sides of the casting head, so that the cooling liquid can enter the casting head in the cutting process to achieve a better cooling effect;
and 4, step 4: the dead head is cut to 1mm of allowance by adopting a resin CBN cutting blade through the linear motion of a robot, the contact arc length at the initial stage and the later stage of cutting is short, the grinding force is small, the grinding temperature is low, the feed speed is accelerated to be 0.2mm/s, the contact arc length at the middle stage of cutting is long, the grinding force is large, the grinding temperature is high, the feed speed is reduced to be 0.1mm/s, and the rotating speed of a main shaft is 6000 r/min;
and 5: replacing a CBN cutting blade at the tail end of the electric spindle with a hard alloy spherical rotary file with the diameter of 16 mm;
step 6: coarse grinding, namely cutting to the residual 1mm, then performing layered grinding by using a rotary file, wherein the total feed depth is 0.9mm, feeding is performed in three layers, the feed depth is 0.3mm each time, the feed speed is 3mm/s, the line spacing is 3mm, and the rotating speed of a main shaft is 10000 r/min;
and 7: semi-finish grinding, namely performing semi-finish grinding on the last 0.1mm by adopting a hard alloy spherical rotary file with the diameter of 16mm, wherein the row spacing value is 0.5mm, the feed speed is 5mm/s and the rotating speed of a main shaft is 10000r/min because the requirement on the roughness of the semi-finish grinding surface is higher;
and (5) repeating the steps 1-7 until all the casting heads are cleaned, and then cleaning the whole titanium alloy casting head.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112872336A (en) * | 2019-11-29 | 2021-06-01 | 兰州兰石集团有限公司铸锻分公司 | Riser cutting method based on six-axis industrial robot |
| CN111014586A (en) * | 2020-01-07 | 2020-04-17 | 晋西装备制造有限责任公司 | Casting method for preventing cracks at root of riser of casting |
| CN112045171B (en) * | 2020-09-07 | 2021-10-15 | 中国航发北京航空材料研究院 | Process method for solving fluorescent cracks of cast titanium alloy |
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| WO1993024246A1 (en) * | 1992-05-26 | 1993-12-09 | Bruce James Lake | Duct cleaning devices |
| CN101767261A (en) * | 2010-01-13 | 2010-07-07 | 西安热工研究院有限公司 | Process for repairing water erosion damage of flow passage component of steam turbine and protecting flow passage component of steam turbine |
| JP2012007032A (en) * | 2010-06-23 | 2012-01-12 | Jfe Steel Corp | Riser cleaning device |
| CN106774144A (en) * | 2016-12-21 | 2017-05-31 | 上海华括自动化工程有限公司 | A kind of intelligent CNC processing methods based on industrial robot |
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