CN109333320A - A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique - Google Patents
A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique Download PDFInfo
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- CN109333320A CN109333320A CN201811242357.5A CN201811242357A CN109333320A CN 109333320 A CN109333320 A CN 109333320A CN 201811242357 A CN201811242357 A CN 201811242357A CN 109333320 A CN109333320 A CN 109333320A
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- Prior art keywords
- bowl
- titanium alloy
- shape
- alloy casting
- intrados
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
- B24B29/04—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces for rotationally symmetrical workpieces, e.g. ball-, cylinder- or cone-shaped workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The bowl-shape intrados polishing system of the annular titanium alloy casting that the invention discloses a kind of based on industrial robot and technique, the system is made of mounting seat, robot, power control sensor, electro spindle mounting base, electro spindle, ER extension rod, the step of processing technology is rough polishing, half essence is thrown, essence is thrown, it is wherein polished during the polishing process using power control combination apery hand, the bowl-shape intrados of annular titanium alloy casting can be polished to higher surface quality by these steps.The present invention can be such that the efficiency of the polishing of the bowl-shape intrados of annular titanium alloy casting greatly improves, and can guarantee the roughness of workpiece surface and the consistency of burnishing surface after polishing, so that the bowl-shape intrados polishing process of annular titanium alloy casting is more perfect.
Description
Technical field
The invention belongs to field of machining, be related to a kind of polishing system and technique, in particular to it is a kind of to be based on industrial machine
The bowl-shape intrados polishing system of the annular titanium alloy casting of device people and technique.
Background technique
Titanium alloy specific strength is high, heat-proof corrosion-resistant performance is good, is a kind of lightweight high-temperature structural material, in aviation, navigation, change
The military domains such as work, weaponry have obtained large-scale application；Wherein casting titanium part because near net type structural member can be directly obtained,
Production cost is reduced, application percentage accounts for 90% or more.The bowl-shape intrados of annular titanium alloy casting is finished to titanium alloy component and adds
One of master operation during work, since titanium alloy belongs to difficult-to-machine material, bowl-shape intrados shape is arc, and area is big,
It is big to there is grinding force in process, grinding temperature is high, and grinding wheel adheres to the problems such as serious, and these problems seriously constrain titanium conjunction
The efficiency of the golden bowl-shape intrados polishing of annular cast and the quality on surface.
The bowl-shape intrados of annular titanium alloy casting traditional at present is polished the wheels of page thousand using people on polishing gun,
There are the following problems: (1) surface quality is poor, since people holds the dynamics of bad polishing and bowl-shape intrados in polishing
For complicated curved surface, the surface after manpower polishing has differences with desired surface；(2) low efficiency, annular titanium alloy casting are bowl-shape
Intrados is often the biggish arcwall face of area；(3) the degree of automation is lower, the workpiece using artificial polishing, after leading to polishing
Surface quality is poor, and consistency is bad；(4) since the comparison of coherence of titanium alloy casting is poor, the radian and ruler of bowl-shape intrados
Very little all there is a certain error, and the misoperation because artificial is easy to using lathe or manual polishing, ontology is injured, causes
Entire part is scrapped；These problems all seriously constrain the extensive use of titanium alloy and the production efficiency of enterprise.
Summary of the invention
It is in the prior art about the bowl-shape intrados polishing efficiency of annular titanium alloy casting it is an object of the invention to solve
Low, the problems such as surface quality is poor and consistency is poor, provide a kind of annular titanium alloy casting based on industrial robot it is bowl-shape in
Cambered surface polishing system and technique.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is that:
A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot, including mounting seat, work
Industry robot, power control sensor, electro spindle mounting base, electro spindle, extension rod, the wheels of page thousand, it is characterised in that: the industrial machine
Artificial six-joint robot, six shaft end of robot are equipped with power control sensor, and electro spindle mounting base is fixed on power by screw and pin
Sensor lower end is controlled, electro spindle is mounted in electro spindle mounting base by bolt, and electro spindle end is equipped with extension rod, the wheel dresses of page thousand
It is clipped on extension rod.
Preferably, the extension bar material is 20 Cr-Mo-Tis, extension rod front end is equipped with for clamping sized flap wheel
ER16 collet.
A kind of bowl-shape intrados polishing process of annular titanium alloy casting based on industrial robot, which is characterized in that including
Following steps:
Step 1: rough polishing selects page thousand of small grain size to take turns, the low speed of mainshaft, low feeding speed, big contact force, comes to workpiece
It is multiple to return grinding and polishing；
Step 2: half essence is thrown, the wheels of page thousand of granularity, the high speed of mainshaft, middle feeding speed, middle contact force, to workpiece in selection
Grinding and polishing is multiple back and forth；
Step 3: essence is thrown, and page thousand of big granularity is selected to take turns, the high speed of mainshaft, high feeding speed, low contact force size, to work
Grinding and polishing is multiple back and forth for part；
Step 4: polishing, the abrasive pastes cooperation wool felt wheel of selection superelevation granularity, the high speed of mainshaft, high feeding speed are low
Contact force size, to workpiece, grinding and polishing is multiple back and forth.
Preferably, being polished using six-joint robot and power control sensor in conjunction with control, guarantee that the wheels of page thousand are closed with titanium
The arcwall face moment of the golden bowl-shape intrados of annular cast keeps pressure contact, and the direction of pressure and annular titanium alloy casting are bowl-shape interior
The normal direction of cambered surface is consistent.
Preferably, industrial robot drives the wheels of page thousand using in such a way that workpiece surface run trace two sides vibrate up and down
It is polished.
Preferably, the wheels of page described thousand are SIC page thousand wheels of cloth base.
Preferably, the granule size of the wheel of page described thousand, small grain size range is 50-150；Middle particle size range is 200-300；
Big particle size range is 350-480；Superelevation particle size range is 800-1200.
Preferably, the low range of spindle speeds is 5500-6500r/min；High range of spindle speeds is 7500-
8500r/min。
Preferably, the low feeding speed range is 10-17mm/s；Middle feeding speed range is 18-22mm/s；Height is walked
Knife velocity interval is 23-27mm/s.
Preferably, the big contact force range is 15-19N；Middle contact force range is 10-14N；Small contact force range is
6-9N；Grinding and polishing number is 8-15 times back and forth in step 1 to step 4.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1, the present invention is polished using robot, by compensating based on the power control of power-position, and uses apery
The polishing path of hand vibration is polished, and is solved in conventional machining process the problems such as surface quality is poor, and consistency is poor, is mentioned significantly
High polished surface surface quality and precision.
2, the present invention is using the soft wheel of page thousand and wool felt, granularity from coarse to fine, flexible polishing.
3, the present invention is processed based on industrial robot, substantially increases the degree of automation of process, is reduced
Because of risk caused by human error, the policy of made in China 2025 is responded, has been that conventionally manufactured enterprise makes the transition to intelligence manufacture
Provide new thinking.
Detailed description of the invention
The bowl-shape intrados polishing system schematic diagram of Fig. 1 annular titanium alloy casting.
Fig. 2 is annular titanium alloy casting structure schematic diagram.
Fig. 3 is annular titanium alloy casting cross-sectional view.
Appended drawing reference: 1- industrial robot, 2- power control sensor, 3- electro spindle mounting base, 4- electro spindle, 5- extension rod,
6- page thousand wheels, 7- mounting seat, 8- annular titanium alloy casting, the bowl-shape intrados of 9-.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Patent for a better understanding of the present invention with reference to the accompanying drawings and detailed description makees into one the invention patent
The explanation of step, following embodiment, robot illustrated based on using ABB IRB 6700-200/2.60 model six-joint robot,
Power control sensor uses six-axis force sensor.The bowl-shape intrados polishing system schematic diagram of annular titanium alloy casting as shown in Figure 1,
6 are taken turns including mounting seat 7, industrial robot 1, power control sensor 2, electro spindle mounting base 3, electro spindle 4, extension rod page 5, thousand,
It is wherein mounted in mounting seat 7 in industrial robot 1, six shaft ends of industrial robot 1 are equipped with power control sensor 2, and electricity is main
Axis mounting base 3 is fixed under power control sensor 2 end by screw and pin, and electro spindle 4 is mounted on electro spindle by bolt and installs
On seat 3,3 end of electro spindle is equipped with extension rod 5, and for the wheels 6 of page thousand through ER collet clamping on extension rod 5, extending bar material is 20
Cr-Mo-Ti, diameter 20mm, length 100mm.
By taking the polishing of the bowl-shape intrados of annular titanium alloy casting as an example, processing request is that bowl-shape intrados is polished to table
Surface roughness is 0.4um, and specific embodiment is as follows:
1, the bowl-shape intrados polishing system of annular titanium alloy casting is built first and is finished；
2, the polishing locus of the bowl-shape intrados of annular titanium alloy casting is programmed and is imported into six-joint robot, opened
Power control sensor, carries out constant force polishing by the way of power-position control, and the size of power is that variable can be thick according to workpiece surface
Rugosity and polished amount are set, and the direction of power remains and keeps one with the normal direction of the bowl-shape intrados of annular titanium alloy casting
It causes；
3, rough polishing: granularity is 80 on the ER chuck replacing of extension rod end, the wheels of page thousand that diameter is 40mm, the speed of mainshaft
For 6000r/min, feeding speed 15mm/s, contact force size is 16N, back and forth grinding and polishing 10 times；
4, half essence is thrown, and granularity is 240 on the ER chuck replacing of extension rod end, the wheels of page thousand that diameter is 40mm, main shaft
Revolving speed is 8000r/min, and feeding speed 20mm/s, contact force size is 12N, back and forth grinding and polishing 10 times；
5, essence is thrown, and granularity is 400 on the ER chuck replacing of extension rod end, and the wheels of page thousand that diameter is 40mm, main shaft turns
Speed is 8000r/min, and feeding speed 25mm/s, contact force size is 8N, back and forth grinding and polishing 10 times；
6, polishing, the abrasive pastes cooperation diameter that granularity is 1000 on the ER chuck replacing of extension rod end is 40mm wool
Felt wheel, speed of mainshaft 8000r/min, feeding speed 25mm/s, contact force size are 8N, back and forth grinding and polishing 10 times.
The bowl-shape intrados completed to polishing is observed and is detected, the smooth no burn in surface, and roughmeter detects thick
Rugosity is 0.23um, meets processing technology requirement.
Claims (10)
1. a kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot, including mounting seat, industry
Robot, power control sensor, electro spindle mounting base, electro spindle, extension rod, the wheels of page thousand, it is characterised in that: the industrial robot
For six-joint robot, six shaft end of robot is equipped with power control sensor, and electro spindle mounting base is fixed on power control by screw and pin
Sensor lower end, electro spindle are mounted in electro spindle mounting base by bolt, and electro spindle end is equipped with extension rod, the wheel clampings of page thousand
On extension rod.
2. the bowl-shape intrados polishing system of annular titanium alloy casting as described in claim 1, it is characterised in that: the extension rod
Material is 20 Cr-Mo-Tis, and extension rod front end is equipped with the ER16 collet for clamping sized flap wheel.
3. a kind of bowl-shape intrados polishing process of annular titanium alloy casting based on industrial robot, which is characterized in that including with
Under several steps:
Step 1: rough polishing selects page thousand of small grain size to take turns, the low speed of mainshaft, low feeding speed, and big contact force grinds workpiece back and forth
It throws multiple；
Step 2: half essence is thrown, the wheels of page thousand of granularity in selection, the high speed of mainshaft, middle feeding speed, middle contact force, back and forth to workpiece
Grinding and polishing is multiple；
Step 3: essence is thrown, and page thousand of big granularity is selected to take turns, the high speed of mainshaft, high feeding speed, low contact force size, is come to workpiece
It is multiple to return grinding and polishing；
Step 4: polishing selects the abrasive pastes of superelevation granularity to cooperate wool felt wheel, the high speed of mainshaft, high feeding speed, low contact
Power size, to workpiece, grinding and polishing is multiple back and forth.
4. the bowl-shape intrados polishing process of annular titanium alloy casting as claimed in claim 3, it is characterised in that: use six axis machines
Device people and Li control sensor are polished in conjunction with control, guarantee the arcwall face of page thousand wheel and the bowl-shape intrados of annular titanium alloy casting
Moment keeps pressure contact, and the direction of pressure and the normal direction of the bowl-shape intrados of annular titanium alloy casting are consistent.
5. the bowl-shape intrados polishing process of annular titanium alloy casting as claimed in claim 3, it is characterised in that: industrial robot
The wheels of page thousand are driven to be polished using in such a way that workpiece surface run trace two sides vibrate up and down.
6. the bowl-shape intrados polishing process of annular titanium alloy casting as claimed in claim 3, it is characterised in that: the wheels of page described thousand
For SIC page thousand wheels of cloth base.
7. the bowl-shape intrados polishing process of annular titanium alloy casting as claimed in claim 3, it is characterised in that: the wheels of page described thousand
Granule size, small grain size range be 50-150；Middle particle size range is 200-300；Big particle size range is 350-480；Superelevation grain
Degree range is 800-1200.
8. the bowl-shape intrados polishing process of annular titanium alloy casting as claimed in claim 3, it is characterised in that: the low main shaft
The range of speeds is 5500-6500r/min；High range of spindle speeds is 7500-8500r/min.
9. the bowl-shape intrados polishing process of annular titanium alloy casting as claimed in claim 3, it is characterised in that: the low feed
Velocity interval is 10-17mm/s；Middle feeding speed range is 18-22mm/s；High feeding speed range is 23-27mm/s.
10. the bowl-shape intrados polishing process of annular titanium alloy casting as claimed in claim 3, it is characterised in that: described to connect greatly
Touch range is 15-19N；Middle contact force range is 10-14N；Small contact force range is 6-9N；It is ground back and forth in step 1 to step 4
Throwing number is 8-15 times.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811242357.5A CN109333320A (en) | 2018-10-24 | 2018-10-24 | A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811242357.5A CN109333320A (en) | 2018-10-24 | 2018-10-24 | A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique |
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| Publication Number | Publication Date |
|---|---|
| CN109333320A true CN109333320A (en) | 2019-02-15 |
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ID=65311935
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811242357.5A Pending CN109333320A (en) | 2018-10-24 | 2018-10-24 | A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique |
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Citations (5)
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|---|---|---|---|---|
| CN1426342A (en) * | 2000-04-28 | 2003-06-25 | 莱姆普工程师有限公司 | Device for mechanically rough machining and/or finish machining cast parts |
| EP1987406A2 (en) * | 2006-02-23 | 2008-11-05 | Abb Ab | A system for controlling the position and orientation of an object in dependence on received forces and torques from a user |
| CN205835000U (en) * | 2016-06-08 | 2016-12-28 | 武汉理工大学 | Complex-curved burnishing device based on six-DOF robot |
| CN106346337A (en) * | 2015-07-14 | 2017-01-25 | 汉达精密电子(昆山)有限公司 | Automatic grinding device and method thereof |
| CN108214288A (en) * | 2018-01-07 | 2018-06-29 | 余成付 | The robot polishing system of titanium alloy stent |
-
2018
- 2018-10-24 CN CN201811242357.5A patent/CN109333320A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1426342A (en) * | 2000-04-28 | 2003-06-25 | 莱姆普工程师有限公司 | Device for mechanically rough machining and/or finish machining cast parts |
| EP1987406A2 (en) * | 2006-02-23 | 2008-11-05 | Abb Ab | A system for controlling the position and orientation of an object in dependence on received forces and torques from a user |
| CN106346337A (en) * | 2015-07-14 | 2017-01-25 | 汉达精密电子(昆山)有限公司 | Automatic grinding device and method thereof |
| CN205835000U (en) * | 2016-06-08 | 2016-12-28 | 武汉理工大学 | Complex-curved burnishing device based on six-DOF robot |
| CN108214288A (en) * | 2018-01-07 | 2018-06-29 | 余成付 | The robot polishing system of titanium alloy stent |
Non-Patent Citations (2)
| Title |
|---|
| 天津机械工业局教研室: "《新编 实用五金工具手册》", 31 December 1992, 中国计量出版社 * |
| 申秀丽等: "《航空燃气涡轮发动机典型制造工艺》", 30 June 2016, 北京航空航天大学出版社 * |
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Application publication date: 20190215 |
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