CN111761460A - Six-axis five-linkage grinding machine - Google Patents

Abstract

A six-axis five-linkage grinding machine belongs to the technical field of grinding machine machining. The scheme is as follows: the two groups of supports are oppositely arranged and used for placing a workpiece, the dividing head is connected with one of the supports, the supports and the dividing head are longitudinally movably arranged on the longitudinal feeding system, the transverse feeding system is vertically arranged with the longitudinal feeding system, the vertical feeding system is transversely movably arranged on the transverse feeding system, the grinding shaft seat is vertically movably arranged on the vertical feeding system by the turntable, and the grinding shaft seat is rotatably arranged on the vertical feeding system. The six-axis five-linkage grinding machine has the beneficial effects that the six-axis five-linkage grinding machine can realize the six-axis five-linkage omnibearing processing of a processed workpiece and the multidirectional high-precision heavy load cutting processing by performing vertical movement through the vertical feeding system, performing transverse movement through the transverse feeding system, performing longitudinal movement through the longitudinal feeding system, rotating the dividing head, rotating the grinding shaft seat and rotating the processing cutter.

Description

Six-axis five-link grinding machine

technical field

The invention belongs to the technical field of grinding machine processing, and particularly relates to a six-axis five-linkage grinding machine.

Background technique

Grinders are machine tools that use abrasive tools to grind the surface of workpieces. Most grinders use high-speed rotating grinding wheels for grinding. Grinders can process materials with high hardness and brittle materials. The grinding machine in the prior art cannot guarantee the machining accuracy of the workpiece when performing heavy-load cutting processing; the grinding machine with higher machining accuracy cannot process the heavy workpiece. Grinders in the prior art also cannot achieve multi-directional high-precision machining of heavy workpieces.

The indexing head is an important equipment in mechanical processing and is widely used. In the traditional machinery industry, most of the manual indexing heads are used, which have low indexing accuracy, poor indexing flexibility, and high labor intensity for operators.

The turning of the existing grinding tool is single enough, and cannot meet the multi-directional, all-round and three-dimensional processing.

SUMMARY OF THE INVENTION

In order to solve the technical problem that the grinding machine in the prior art cannot achieve multi-directional high-precision processing of heavy workpieces, the present invention proposes a six-axis five-linkage grinding machine, which can realize multi-directional high-precision heavy-load cutting processing, and effectively improves the Machining accuracy and machining efficiency.

The technical solution is as follows:

A six-axis five-linkage grinding machine, comprising: a bracket, a turntable for a grinding axis seat, a grinding axis seat, an indexing head, a vertical feeding system, a lateral feeding system, and a longitudinal feeding system, and the two sets of the brackets are set relative to each other. For placing the workpiece, the indexing head is connected with one of the brackets, and the bracket and the indexing head are longitudinally movably arranged on the longitudinal feeding system, the transverse feeding system and the longitudinal feeding system Vertically arranged, the vertical feeding system is arranged on the lateral feeding system in a laterally movable manner, and the grinding shaft seat with a turntable can be moved up and down on the vertical feeding system, and the grinding shaft seat can be installed on the vertical feeding system. is rotatably arranged on the vertical feed system.

Further, the turntable for the grinding shaft seat comprises: a turntable servo motor, a turntable solid worm, a turntable hollow worm, a turntable turbine, and a turntable mandrel, the turntable servo motor is connected with the turntable solid worm, and the turntable is connected to the turntable solid worm. The solid worm is connected with the turntable hollow worm, the turntable solid worm and the turntable hollow worm are both connected with the turntable turbine, and the turntable turbine is connected with the turntable mandrel.

Further, the grinding shaft seat includes: a grinding shaft seat servo motor, a grinding shaft seat main shaft, and a processing tool, the grinding shaft seat servo motor is connected with the grinding shaft seat main shaft, and the processing tool is connected with the grinding shaft seat Spindle connection.

Further, the indexing head includes: a servo motor, a solid worm, a hollow worm, a turbine, a mandrel, and a grating ruler, the servo motor is connected to the solid worm, and the solid worm is connected to the hollow worm. The core worm is connected, the solid worm and the hollow worm are both connected with the turbine, the turbine is connected with the mandrel, and the grating scale is connected with the mandrel.

Further, a plurality of tooth shapes are provided on the circumferential surface of the turbine, and four working tooth surfaces are respectively provided on the solid core worm and the hollow worm, and the working tooth surfaces are meshed and connected with the tooth shapes.

Further, the vertical feeding system includes: a vertical motor, a vertical worm, a vertical turbine, a vertical ball screw, and a vertical screw nut, and the vertical motor is connected with the vertical worm, so The vertical worm is connected to the vertical turbine, the vertical ball screw is connected to the vertical turbine, the vertical screw nut is movably connected to the vertical ball screw, the The lead screw nut is connected with the grinding shaft seat by a turntable.

Further, the transverse feed system includes: a transverse motor, a transverse ball screw, and a transverse screw nut, the transverse motor is connected with the transverse ball screw, and the transverse screw nut is movably connected to the transverse ball screw. on the lateral ball screw.

Further, the longitudinal feeding system includes: a longitudinal motor, a longitudinal ball screw, and a longitudinal screw nut, the longitudinal motor is connected with the longitudinal ball screw, and the longitudinal screw nut is movably connected to the longitudinal screw nut. on the longitudinal ball screw.

Further, it also includes a water tank for providing a water source for cooling during processing and a power distribution cabinet for power supply, the water tank and the power distribution cabinet are respectively arranged on both sides of the transverse feed system.

Further, it also includes a console, the console for controlling the entire system, and the console is a PLC control system.

The beneficial effects of the present invention are:

The six-axis five-linkage grinding machine of the present invention performs vertical movement through the vertical feed system, lateral movement by the lateral feed system, longitudinal movement by the longitudinal feed system, rotation of the indexing head, rotation of the grinding shaft seat, and machining. The rotation of the tool realizes the six-axis five-linkage processing of the workpiece in all directions, and realizes multi-directional high-precision heavy-load cutting processing; through the contact and cooperation of the solid core worm, the hollow worm and the high tooth surface of the turbine, the operation is stable and the transmission torque is large. , Positioning self-locking, compact structure, effectively improving the indexing accuracy and flexibility of the indexing head, with the use of the grating ruler, so as to achieve high-precision heavy-load cutting; grinding tools can also achieve vertical, lateral and self-180 ° rotation, can meet higher processing requirements.

Description of drawings

1 is a schematic top view of the structure of a six-axis five-linkage grinding machine according to the present invention;

Fig. 2 is the front view of the structure schematic diagram of the six-axis five-linkage grinding machine of the present invention;

Fig. 3 is the left side view of the structure schematic diagram of the six-axis five-linkage grinding machine of the present invention;

Fig. 4 is the vertical feed system, the transverse feed system, the rotary table for the grinding shaft seat, and the partial structural schematic diagram of the grinding shaft seat of the present invention;

5 is a schematic structural diagram of the indexing head of the present invention;

6 is a sectional view of the indexing head of the present invention;

7 is a top view of the indexing head of the present invention;

8 is a schematic diagram of the structure of the turntable turbine of the present invention;

Fig. 9 is the sectional view of the turntable used for the grinding shaft seat of the present invention;

Fig. 10 is the top sectional view of the turntable used for the grinding shaft seat of the present invention;

Figure 11 is a top view of the vertical feeding system of the present invention;

Figure 12 is a sectional view of the vertical feeding system of the present invention;

Figure 13 is a top sectional view of the vertical feeding system of the present invention;

Figure 14 is a main sectional view of the vertical feeding system of the present invention;

The reference numbers in the figure are as follows: 1-bracket, 2-turntable for grinding shaft seat, 3-grinding shaft seat, 4-dividing head, 5-vertical feeding system, 6-transverse feeding system, 7-longitudinal feeding Feeding system, 8-processed parts, 9-water tank, 10-distribution cabinet, 11- console;

21- turntable servo motor, 22- turntable solid worm, 23- turntable hollow worm, 24- turntable turbine, 25- turntable mandrel;

31- Servo motor for grinding shaft seat, 32- Spindle for grinding shaft seat, 33- Machining tool;

41-servo motor, 42-solid worm, 43-hollow worm, 44-turbine, 45-mandrel, 46-grating ruler,

51-vertical motor, 52-vertical worm, 53-vertical turbine, 54-vertical ball screw, 55-vertical screw nut;

61-transverse motor, 62-transverse ball screw, 63-transverse screw nut;

71-longitudinal motor, 72-longitudinal ball screw, 73-longitudinal screw nut.

Detailed ways

The six-axis five-linkage grinding machine is further described below in conjunction with the accompanying drawings.

A six-axis five-linkage grinding machine, comprising: a bracket 1, a turntable for a grinding shaft seat 2, a grinding shaft seat 3, an indexing head 4, a vertical feeding system 5, a transverse feeding system 6, a longitudinal feeding system 7, two The brackets 1 are arranged opposite to each other for placing the workpiece 8, the indexing head 4 is connected with one of the brackets 1, and the bracket 1 and the indexing head 4 are longitudinally movably arranged on the longitudinal feed system 7 , the transverse feed system 6 and the longitudinal feed system 7 are arranged vertically, and the vertical feed system 5 is arranged on the transverse feed system 6 in a laterally movable manner, and the grinding shaft seat uses a turntable 2 The vertical feeding system 5 is movable up and down, and the grinding shaft seat 3 is rotatably arranged on the vertical feeding system 5 .

Further, the turntable 2 for the grinding shaft seat includes: a turntable servo motor 21, a turntable solid worm 22, a turntable hollow worm 23, a turntable turbine 24, and a turntable mandrel 25, and the turntable servo motor 21 is connected to the turntable. The core worm 22 is connected, the turntable solid worm 22 is connected with the turntable hollow worm 23, the turntable solid worm 22 and the turntable hollow worm 23 are both connected with the turntable turbine 24, and the turntable turbine 24 is connected with the turntable turbine 24. The turntable mandrel 25 is connected.

Further, the grinding shaft seat 3 includes: a grinding shaft seat servo motor 31, a grinding shaft seat main shaft 32, and a machining tool 33, the grinding shaft seat servo motor 31 is connected with the grinding shaft seat main shaft 32, and the processing tool 33 is connected with the main shaft 32 of the grinding shaft seat.

Further, the indexing head 4 includes: a servo motor 41, a solid worm 42, a hollow worm 43, a turbine 44, a mandrel 45, and a grating ruler 46, and the servo motor 41 is connected with the solid worm 42, The solid worm 42 is connected to the hollow worm 43 , the solid worm 42 and the hollow worm 43 are both connected to the turbine 44 , the turbine is connected to the mandrel 45 , and the grating ruler 46 Connected to the mandrel 45 .

Further, a plurality of tooth shapes are provided on the circumferential surface of the turbine 44 , and four working tooth surfaces are respectively provided on the solid worm 42 and the hollow worm 43 , and the working tooth surfaces are meshed and connected with the tooth shapes.

Further, the vertical feeding system 5 includes: a vertical motor 51, a vertical worm 52, a vertical turbine 53, a vertical ball screw 54, and a vertical screw nut 55. The vertical motor 51 is connected to the The vertical worm 52 is connected, the vertical worm 52 is connected with the vertical turbine 53, the vertical ball screw 54 is connected with the vertical turbine 53, and the vertical screw nut 55 is movably connected. Connected to the vertical ball screw 54, the screw nut 55 is connected to the turntable 2 for the grinding shaft seat.

Further, the transverse feed system 6 includes: a transverse motor 61, a transverse ball screw 62, and a transverse screw nut 63, the transverse motor 61 is connected with the transverse ball screw 62, and the transverse screw nut 63 It is movably connected to the transverse ball screw 62 .

Further, the longitudinal feeding system 7 includes: a longitudinal motor 71, a longitudinal ball screw 72, and a longitudinal screw nut 73, the longitudinal motor 71 is connected with the longitudinal ball screw 72, and the longitudinal screw nut 73 It is movably connected to the longitudinal ball screw 72 .

Further, it also includes a water tank 9 for providing water for cooling during processing and a power distribution cabinet 10 for power supply.

Further, a console 11 is also included. The console is used to control the entire system, and the console is a PLC control system.

Define the line where the longitudinal feed system 7 moves direction is the X axis, the line where the vertical feed system 5 moves direction is the Y axis, and the line where the transverse feed system 6 moves direction is the Z axis.

The workpiece 8 is placed between the two brackets 1, and the two brackets 1 are of the same height, so that the workpiece 8 can be positioned accurately. The cross-section of the insertion opening of the bracket 1 is conical. The inner surface is attached and connected, and the workpiece 8 is placed to shake.

The solid worm 42, the hollow worm 43 and the turbine 44 form a high-precision worm gear and worm pair indexing and positioning device. Put the solid worm 42 into the hollow worm 43, and adjust the gap between the end faces of the two worms to eliminate or The forward and reverse clearances of the worm gear and worm pair are reduced; when the solid worm 42 and the hollow worm 43 mesh with the turbine 44, there are 8 working tooth surfaces meshing at the same time. High-precision heavy-load cutting processing, because of the high tooth surface contact, so the operation is stable, the transmission torque is large, the positioning is self-locking, the structure is compact, the volume is small, the noise is low, and the service life is long, which can meet the high-precision indexing and positioning requirements of the rotary motion mechanism. .

The servo motor 41 rotates and is connected with the solid-core worm 42 through a coupling, the solid-core worm 42 and the hollow-core worm 43 are tightly connected by a holding plate, and the solid-core worm 42 and the hollow-core worm 43 rotate at the same time, driving the turbine 44 When rotating, the turbine 44 drives the mandrel 45 to rotate, and at the same time drives the workpiece 8 to rotate; the grating ruler 46 detects the coordinates of the workpiece 8, observes and tracks the tool movement error, and plays the role of compensating the tool movement error.

The rotation of the longitudinal motor 71 drives the longitudinal ball screw 72 to rotate, and the longitudinal ball screw 72 drives the longitudinal screw nut 73 to move in the X-axis direction, thereby driving the upper bracket 1 and the indexing head 4 as a whole on the X-axis rolling linear guide. move.

The rotation of the transverse motor 61 drives the transverse ball screw 62 to rotate, and the transverse ball screw 62 drives the transverse screw nut 63 to move in the Y-axis direction, thereby driving the upper vertical feed system 5 and the turntable 2 for the grinding shaft seat as a whole in the Y-axis. The axis moves on a linear guide.

The vertical motor 51 rotates, drives the vertical worm 52 to rotate, drives the vertical turbine 53 to rotate, thereby drives the vertical ball screw 54 to rotate, and then the vertical screw nut 55 moves up and down on the ball screw 54, thereby driving the grinding shaft The table 2 moves on the Z-axis linear guide.

The turntable servo motor 21 rotates, drives the turntable solid worm 22 and the turntable hollow worm 23 to rotate, then drives the turntable turbine 24 to rotate, and the turntable turbine 24 drives the turntable mandrel 25 to rotate, thereby driving the grinding shaft seat 3 to rotate 180°; The connection relationship and working principle between the solid worm 22 , the turntable hollow worm 23 and the turntable turbine 24 are the same as those of the solid worm 42 , the hollow worm 43 and the turbine 44 in the indexing head 4 .

The rotation of the grinding shaft seat servo motor 31 drives the grinding shaft seat spindle 32 to rotate, thereby driving the machining tool 33 to rotate, and the machining tool 33 grinds the workpiece 8 . The processing tool 33 can be a diamond grinding wheel, or a hob, a broach, a rotary broach, a straight grooved knife, and the like.

The water tank 9 is connected to the water pipe to the processing place to cool the processing tool and the workpiece, and the power distribution cabinet 10 is used to supply power to the whole system.

The console 11 is a PLC control system, which adopts Siemens numerical control system to control the six-axis motor. The numerical control indexing head and the longitudinal direction use HEIDENHAIN light flash reading to control the accuracy, so as to realize various rotation angles of tool processing and achieve high precision.

Diameter grinding range: 10mm-50mm, maximum circle diameter: 500*L1500mm, it can be used as fully ground carbide, high-speed steel special extended drill bit, special deep hole reamer.

The CNC spindle head can be rotated 180 degrees to meet the requirements of any rotation angle, and the grinding spindle can also be rotated at a certain angle to grind the outer circle of the tool. The use of bearing links to connect the rotation, reduce the torque of the CNC indexing turntable, so that the 428 kg tool can be easily ground. Using the Rainey online monitoring system, the detection data can be positioned at one time, the computer data is transmitted to each command to complete, and the design style of the machine tool fills the technical gap in the field.

The six-axis five-linkage grinding machine of the present invention performs vertical movement through the vertical feed system, lateral movement by the lateral feed system, longitudinal movement by the longitudinal feed system, rotation of the indexing head, rotation of the grinding shaft seat, and machining. The rotation of the tool realizes the six-axis five-linkage processing of the workpiece in all directions, and realizes multi-directional high-precision heavy-load cutting processing; through the contact and cooperation of the solid core worm, the hollow worm and the high tooth surface of the turbine, the operation is stable and the transmission torque is large. , Positioning self-locking, compact structure, effectively improving the indexing accuracy and flexibility of the indexing head, with the use of the grating ruler, so as to achieve high-precision heavy-load cutting; grinding tools can also achieve vertical, lateral and self-180 ° rotation, can meet higher processing requirements.

The above is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the inventive concept thereof shall be included within the protection scope of the present invention.

Claims (10)

1. The utility model provides a six-axis five-linkage grinding machine which characterized in that includes: the grinding machine comprises supports (1), a rotary table (2) for a grinding shaft seat, a grinding shaft seat (3), a dividing head (4), a vertical feeding system (5), a transverse feeding system (6) and a longitudinal feeding system (7), wherein the two groups of supports (1) are oppositely arranged and used for placing a machined part (8), the dividing head (4) is connected with one of the supports (1), the supports (1) and the dividing head (4) are arranged on the longitudinal feeding system (7) in a longitudinally movable manner, the transverse feeding system (6) is arranged perpendicular to the longitudinal feeding system (7), the vertical feeding system (5) is transversely movably arranged on the transverse feeding system (6), the turntable (2) for the grinding shaft seat can move up and down on the vertical feeding system (5), the grinding shaft seat (3) is rotatably arranged on the vertical feeding system (5).

2. The six-axis five-linkage grinding machine according to claim 1, wherein the turntable (2) for the grinding axis seat comprises: revolving stage servo motor (21), revolving stage solid core worm (22), revolving stage hollow worm (23), revolving stage turbine (24), revolving stage dabber (25), revolving stage servo motor (21) with revolving stage solid core worm (22) are connected, revolving stage solid core worm (22) with revolving stage hollow worm (23) are connected, revolving stage solid core worm (22) and revolving stage hollow worm (23) all with revolving stage turbine (24) are connected, revolving stage turbine (24) with revolving stage dabber (25) are connected.

3. The six-axis five-linkage grinding machine according to claim 1, characterized in that the grinding shaft seat (3) comprises: the grinding machine comprises a grinding shaft seat servo motor (31), a grinding shaft seat main shaft (32) and a machining tool (33), wherein the grinding shaft seat servo motor (31) is connected with the grinding shaft seat main shaft (32), and the machining tool (33) is connected with the grinding shaft seat main shaft (32).

4. A six-axis five-linkage grinding machine as claimed in claim 1, characterized in that said indexing head (4) comprises: servo motor (41), real worm (42), hollow worm (43), turbine (44), dabber (45), grating chi (46), servo motor (41) with real worm (42) are connected, real worm (42) with hollow worm (43) all with turbine (44) are connected, the turbine with dabber (45) are connected, grating chi (46) with dabber (45) are connected.

5. The six-axis five-linkage grinding machine according to claim 4, characterized in that a plurality of tooth forms are arranged on the circumference of the worm wheel (44), 4 working tooth surfaces are respectively arranged on the solid worm (42) and the hollow worm (43), and the working tooth surfaces are in meshed connection with the tooth forms.

6. A six-axis five-linkage grinding machine as claimed in claim 1, characterized in that said vertical feed system (5) comprises: vertical motor (51), vertical worm (52), vertical turbine (53), vertical ball (54), vertical screw nut (55), vertical motor (51) with vertical worm (52) are connected, vertical worm (52) with vertical turbine (53) are connected, vertical ball (54) with vertical turbine (53) are connected, the movably connection of vertical screw nut (55) is in on vertical ball (54), screw nut (55) with it is connected with revolving stage (2) to grind the axle bed.

7. A six-axis, five-linked grinding machine as claimed in claim 1, characterised in that said infeed system (6) comprises: the transverse ball screw mechanism comprises a transverse motor (61), a transverse ball screw (62) and a transverse screw nut (63), wherein the transverse motor (61) is connected with the transverse ball screw (62), and the transverse screw nut (63) is movably connected to the transverse ball screw (62).

8. A six-axis five-linked grinding machine as claimed in claim 1, characterized in that said longitudinal feed system (7) comprises: the device comprises a longitudinal motor (71), a longitudinal ball screw (72) and a longitudinal screw nut (73), wherein the longitudinal motor (71) is connected with the longitudinal ball screw (72), and the longitudinal screw nut (73) is movably connected to the longitudinal ball screw (72).

9. The six-axis five-linkage grinding machine according to claim 1, characterized by further comprising a water tank (9) for supplying water for cooling during the machining process and a power distribution cabinet (10) for supplying power, wherein the water tank (9) and the power distribution cabinet (10) are respectively arranged on two sides of the transverse feeding system (6).

10. The six-axis five-linkage grinding machine according to claim 1, characterized by further comprising a console (11), wherein the console (11) is used for controlling the whole system, and the console (11) is a PLC control system.

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