CN203485005U - Six-axle linkage numerical-control abrasive belt grinding machine used for horizontal multi-abrasive-belt mechanism - Google Patents

Six-axle linkage numerical-control abrasive belt grinding machine used for horizontal multi-abrasive-belt mechanism Download PDF

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Publication number
CN203485005U
CN203485005U CN201320437327.6U CN201320437327U CN203485005U CN 203485005 U CN203485005 U CN 203485005U CN 201320437327 U CN201320437327 U CN 201320437327U CN 203485005 U CN203485005 U CN 203485005U
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abrasive belt
abrasive
belt grinding
shaft device
shaft
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刘树生
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Beijing Shengwei Hongji CNC Equipment Co Ltd
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Beijing Shengwei Hongji CNC Equipment Co Ltd
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Abstract

The utility model relates to a six-axle linkage numerical-control abrasive belt grinding machine used for a horizontal multi-abrasive-belt mechanism. A six-axle linkage machine tool overall arrangement with three rotary or swing shafts A, B, C and an abrasive belt grinding device that are independent with each other is adopted. The abrasive belt grinding device only moves in two linear directions perpendicular to contact forces. Z-direction movement and rotary shaft movement inertia forces have no influence on contact forces of the abrasive belt mechanism. And the multi-abrasive-belt grinding device integrates functions of blade grinding, polishing and forming. The six-axle linkage numerical-control abrasive belt grinding machine used for the horizontal multi-abrasive-belt mechanism has beneficial effects that negative influence on grinding movement caused by the rotary shafts in the prior art is eliminated by arranging the abrasive belt grinding device independently and not to be combined with any rotary shaft and accurate processing of sheet-shaped work pieces with extremely small thickness (such as 0.1 to 0.2mm) can be realized. By arranging the multi-abrasive-belt grinding device, a need for changing abrasive belts of different specifications is eliminated in a single processing process, so that real automatic production is realized.

Description

The numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of a kind of level
Technical field
The utility model relates to a kind of grinding attachment, relates in particular to the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of a kind of level.
Background technology
At present, the grinding-polishing of blade after milling generally adopts six-axis linked numerical control sbrasive belt grinding mode, correspondingly also has the numerical control abrasive belt grinding machine of different size and model.The principle of the work of six Shaft and NC Machining Test sbrasive belt grindings is to grow up on the basis of five-axle linkage milling, forms cutter the locus of processing stand is located by three linear axis motions, forms cutter the normal direction attitude of processing stand is located by two gyroaxises.For sbrasive belt grinding, because having the abrasive band parcel contact wheel of certain width, employing processes, therefore contact wheel and processed point are that line contacts and the point that is different from five axle millings contacts, just there is the interference problem of contact wire and concave curved surface in this, numerical control sbrasive belt grinding need to increase a universal driving shaft for this reason, control the principal direction of curvature of the processed point of contact wheel orientation of its axis and choose contact wheel diameter and the abrasive band width that curvature adapts therewith, could realize the grinding-polishing processing to curved surface.According to the principle of above-mentioned six axle sbrasive belt grindings, typical six-axis linked numerical control abrasive belt grinding and polishing bed has following several version:
Germany IBS six axle abrasive belt grinding machine MTS series, design feature: AB axle form five axles add C axle and form six axle machine arrangements, and two gyroaxises of abrasive belt mechanism and BC are compound, vertical cantilever is arranged, gravity has impact to contact force direction, and Z-direction motion and gyroaxis motion inertia force have impact to contact force.
Chongqing San Mohai reaches six axle abrasive belt grinding machines, design feature: AB axle form five axles add C axle cloth and form six axle lathe offices, and two gyroaxises of abrasive belt mechanism and BC are compound, vertical cantilever is arranged, gravity has impact to contact force direction, and Z-direction motion and gyroaxis motion inertia force have impact to contact force.
Mitsubishi six axle abrasive belt grinding machine special planes, design feature: AB axle form five axles add C axle cloth and form six axle lathe offices, and two gyroaxises of abrasive belt mechanism and BC are compound, vertical, cantilever is little, and gravity has impact to contact force direction, and Z-direction motion and gyroaxis motion inertia force have impact to contact force.
Beijing victory is great skill TX6/2600 six axle abrasive belt grinding machines, design feature: AB axle form five axles add C axle cloth and form six axle lathe offices, two gyroaxises of abrasive belt mechanism and BC are compound, vertical, hollow C axle is without cantilever, gravity has impact to contact force direction, and Z-direction motion and gyroaxis motion inertia force have impact to contact force.
U.S. GE six axle abrasive belt grinding machine special planes, design feature: AB axle form five axles add C axle cloth and form six axle lathe offices, and abrasive belt mechanism and a gyroaxis are compound, horizontal layout, without cantilever, gravity is on contact force direction without impact, and Z-direction motion and gyroaxis motion inertia force have impact to contact force.
Germany IBS vanelets six axle abrasive belt grinding machine SPE series, design feature: take six-axis linkage as starting point formation machine arrangement, two gyroaxises of abrasive belt mechanism and BC are compound, vertical sleeping change type is arranged, cantilever very long and stack, gravity is less to contact force aspect effect, and Z-direction motion and gyroaxis motion inertia force are larger on contact force impact.
The above analysis, the shortcoming that prior art exists is: for known numerical control abrasive belt grinding machine with six-axis linkage structure, choose the contact wheel of suitable diameter and the abrasive band of suitable granularity, under the support of programing system, all can realize the grinding-polishing to blade profile, but for thinner blade intake and exhaust limit (thickness 0.1mm----0.2mm), because contact wheel contact force is difficult to realize accurate control, ground effect is all undesirable; And, owing to needing to change varigrained abrasive band in grinding process, be difficult to realize the grinding-polishing processing that completes different working positions in clamped one time, be difficult to realize the integrated process automation of blade and produce.From structural analysis, mainly by following structural disadvantages, caused: 1. most machine tool structures adopt the vertical layout of abrasive belt mechanism and rotate (swinging axle is compound) with at least one, in motion, owing to rotating (swinging axle), move, abrasive belt mechanism changes partical gravity with pivot angle and is also changing, and contact force is affected also by this to change; 2. abrasive belt device and rotation (swinging axle) is compound, makes abrasive belt device affected by motion inertia force, causes contact force to change;
Figure DEST_PATH_DEST_PATH_IMAGE001
abrasive belt device and rotation (swinging axle) compound, is difficult to arrange many abrasive belt mechanisms, realizes the integrated grinding of blade different parts and automated production.
Utility model content
The purpose of this utility model is to provide the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of a kind of level, to overcome currently available technology above shortcomings.
The purpose of this utility model is to be achieved through the following technical solutions:
The numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of a kind of level, the vertical lathe bed that comprises right side on horizontal lathe bed and horizontal lathe bed, on described horizontal lathe bed, slidably connect Z-direction mobile device, described Z-direction mobile device is provided with B shaft device, right side, described B shaft device top is provided with C shaft device, the right side of described C shaft device is provided with A shaft device, described A shaft device is provided with work holder, the centre of described B shaft device and C shaft device and the work holder on A shaft device be can 360 the rotating mechanism of degree rotation; The left side of described vertical lathe bed slidably connects X-direction mobile device, on described X-direction mobile device, slidably connect Y-direction mobile device, on described Y-direction mobile device, be evenly provided with several abrasive belt grinding devices, described abrasive belt grinding device is corresponding with the center of work holder; One side of described horizontal lathe bed is provided with electric control system, and described electric control system disposes program storage and executive circuit, to control the motion of A shaft device, B shaft device, C shaft device, X-direction mobile device, Y-direction mobile device and Z-direction mobile device.
Further, on described B shaft device, by turning cylinder, be connected with B axle rotating disk, described C shaft device is arranged on B axle rotating disk upper left side, and described A shaft device is positioned at the top on B axle rotating disk right side.Described C shaft device is connected with C axle suspension arm by turning cylinder, and the right side upper and lower corresponding of described C axle suspension arm is provided with two A shaft devices.
Preferably, the connecting portion of two described A shaft devices and C axle suspension arm is equipped with adjusting device, to regulate two distances between A shaft device.
Further, described abrasive belt grinding device is comprised of installing plate, drive motors, contact wheel and abrasive band, on described contact wheel, is rotatably connected to abrasive band, and described drive motors drives abrasive band to rotate and abrasive belt grinding device stretching motion.Described abrasive belt grinding device horizontal positioned.Described electric control system is selected one and workpiece grinding work in a plurality of abrasive belt grinding devices according to workpiece state.
The beneficial effects of the utility model are: by abrasive belt grinding device is proposed separately, not compound with any one turning cylinder, thereby stopped the negative effect of gyroaxis to grinding motion in prior art, the sheet-like workpiece of thickness minimum (as 0.1-0.2mm) has been accomplished to accurate processing.By the setting of many abrasive belt grinding devices, in time processing, no longer need to change the abrasive band of different model, accomplish real automated production.
Accompanying drawing explanation
With reference to the accompanying drawings the utility model is described in further detail below.
Fig. 1 is the structural representation of the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level described in the utility model embodiment;
Fig. 2 is six axle motion schematic diagrames of the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level described in the utility model embodiment.
In figure:
1, horizontal lathe bed; 2, vertical lathe bed; 3, Z-direction mobile device; 4, B shaft device; 5, C shaft device; 6, A shaft device; 7, work holder; 8, X-direction mobile device; 9, Y-direction mobile device; 10, abrasive belt grinding device; 11, electric control system; 12, B axle rotating disk; 13, C axle suspension arm; 14, workpiece.
The specific embodiment
As shown in Figure 1-2, the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of a kind of level described in the utility model embodiment, shortcoming for traditional numerical control abrasive belt grinding machine with six-axis linkage, adopt workpiece (blade) compound with tri-gyroaxises of ABC and Z axis, two linear axis of abrasive belt device and XY are compound, the structure of horizontally disposed abrasive belt mechanism, solved the existing deficiency of traditional numerical control abrasive belt grinding machine with six-axis linkage.The numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level of the present utility model comprises mechanical execution system, electric control system two parts, wherein mechanical execution system comprises horizontal lathe bed 1, vertical lathe bed 2, XY slide plate foundation, three gyroaxis telecontrol equipments, three linear axis telecontrol equipments and a plurality of abrasive belt grinding devices 10 arranged side by side, electric control system comprises that digital control system, each axle drive and motor.
The numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of a kind of level described in the utility model embodiment, its specific works flow process is, workpiece 14(blade) be clamped on A shaft device 6, work holder 7(tailstock centre) centre of gyration along A shaft device 6 holds out against, A shaft device 6 is installed in C axle swing arm 13, the centre distance of the end face of A shaft device 6 and tailstock centre and C axle swing arm 13 is adjustable, so that the clamping of different length blade.C shaft device 5 is arranged on B axle rotating disk 12, and B shaft device 4 base bottom are installed on Z-direction mobile device 3, and feed screw nut is connected with B shaft device 4 pedestals, and under the drive of servomotor and leading screw, ABC axle and workpiece are done the motion of Z-direction linear axis.Many abrasive belt devices of horizontally disposed abrasive belt grinding device 10 are installed on Y-direction mobile device 9, and slide plate is connected with the feed screw nut of Y-direction mobile device 9, and under the drive of servomotor and leading screw, slide plate drives abrasive belt device to do the motion of above-below direction; Y-direction mobile device 9 is arranged on rear lathe bed, and slide plate bottom is connected with the feed screw nut of X-direction mobile device 8, does directions X rectilinear motion under the drive of servomotor and leading screw.Tri-linear motion axis of XYZ and tri-gyration axles of ABC are under the control of digital control system, according to the nc program of the generation of programing system, complete the relative motion processing of abrasive band contact wheel and blade surface of the work, complete blade six-axis linked numerical control sbrasive belt grinding polishing.
By tri-linear axis motions of XYZ, form the locus location of abrasive band back shaft vector (processing stand method vector) to processing stand, by two gyroaxises of AB, forming abrasive band back shaft vector locates the normal direction attitude of processing stand, the gyration of gyroaxis C makes the principal direction of curvature of the processed point of contact wheel axis vectors directed, to points different on curved surface, continuously according to above-mentioned principle, can form by the relative motion of abrasive band and processed some the moulding of spoon of blade grinding-polishing.Its specific works step is:
1) clamping workpiece on A shaft device after, A shaft device is motion under the swing arm of C axle drives, A axle axis is parallel with X-axis axis, workpiece is in state to be processed;
2) abrasive belt mechanism, under the promotion of pneumatic apparatus, stretches out, abrasive band rotation;
3) lathe moves under six-axis linkage programme-control, tri-direction rotations of blade ABC put in place, synchronize with three rotating shafts by speed ring, position ring simultaneously for three linear axis, make processed some position of contact wheel arrival, abrasive band and attitude all meet six-axis linkage sbrasive belt grinding principle, under the effect of pneumatic system pressure, abrasive band contact blade surface, abrasive band rotatablely moves and removes metal at surface of the work;
4) the continuously relative motion of difference, realizes the continuous grinding polishing of blade surface;
5) for different parts, switch many abrasive belt mechanisms, realize the processing request of different grain size abrasive band to different parts;
6) complete the integrated processing of blade.
Such scheme and robot blade grinding Polishing Motion mode approach, but robot spatial accuracy is poor, and programming spatial point is separates more, and movement locus needs to optimize; And joint of robot arm rigidity is not enough, be difficult to realize the Precise Grinding moulding to blade profile.Its final manufacturing deficiency bringing is consistent with the defect of background technology part in fact.The numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level that the utility model provides thus needs only advantage and is:
1) take six-axis linkage as starting point formation machine arrangement, tri-rotations of ABC or swinging axle separated with abrasive belt mechanism and with workpiece (blade) combination, abrasive belt mechanism is only done two rectilinear motions vertical with contact force direction, Z-direction motion and gyroaxis motion inertia force on abrasive belt mechanism contact force without impact;
2) horizontal positioned abrasive belt grinding device 10, and abrasive belt grinding device 10 is separated with gyroaxis, are convenient to arrange many abrasive belt mechanisms and block form normal-direction detecting device;
3) ABC axle all can turn round on a large scale or swing, and is convenient to significantly twisted blade processing;
4) ABC axle can 360 ° of revolutions, are convenient to realize the integrated grindings of processing content such as boss, blade root fillet;
5) ABC axle can 360 ° of rotations, use hand type tool magazine can realize workpiece and automatically exchange.
The utility model is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present utility model; no matter but do any variation in its shape or structure; every have identical with a application or akin technical scheme, within all dropping on protection domain of the present utility model.

Claims (6)

1. a numerical control abrasive belt grinding machine with six-axis linkage for the many abrasive belt mechanisms of level, comprises horizontal lathe bed (1) and is located at the above vertical lathe bed (2) on right side of horizontal lathe bed (1), it is characterized in that:
On described horizontal lathe bed (1), slidably connect Z-direction mobile device (3), described Z-direction mobile device (3) is provided with B shaft device (4), right side, described B shaft device (4) top is provided with C shaft device (5), the right side of described C shaft device (5) is provided with A shaft device (6), described A shaft device (6) is provided with work holder (7), the centre of described B shaft device (4) and C shaft device (5) and the work holder (7) on A shaft device (6) be can 360 the rotating mechanism of degree rotation;
The left side of described vertical lathe bed (2) slidably connects X-direction mobile device (8), slidably connects Y-direction mobile device (9) on described X-direction mobile device (8), is evenly provided with several abrasive belt grinding devices (10) on described Y-direction mobile device (9);
One side of described horizontal lathe bed (1) is provided with electric control system (11), and described electric control system disposes program storage and executive circuit to control the motion of A shaft device (6), B shaft device (4), C shaft device (5), X-direction mobile device (8), Y-direction mobile device (9) and Z-direction mobile device (3).
2. the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level according to claim 1, it is characterized in that: described B shaft device (4) is upper is connected with B axle rotating disk (12) by turning cylinder, described C shaft device (5) is arranged on B axle rotating disk (12) upper left side, and described A shaft device (6) is positioned at the top on B axle rotating disk (4) right side.
3. the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level according to claim 2, it is characterized in that: described C shaft device (5) is connected with C axle suspension arm (13) by turning cylinder, and the right side upper and lower corresponding of described C axle suspension arm (13) is provided with two A shaft devices (6).
4. the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level according to claim 3, it is characterized in that: two described A shaft devices (6) are equipped with adjusting device with the connecting portion of C axle suspension arm (13), to regulate the distance between two A shaft devices (6).
5. the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level according to claim 4, it is characterized in that: described abrasive belt grinding device (10) is comprised of installing plate, drive motors, contact wheel and abrasive band, on described contact wheel, be rotatably connected to abrasive band, described drive motors drives abrasive band to rotate and abrasive belt grinding device (10) stretching motion.
6. the numerical control abrasive belt grinding machine with six-axis linkage of the many abrasive belt mechanisms of level according to claim 5, is characterized in that: described abrasive belt grinding device (10) horizontal positioned.
CN201320437327.6U 2013-07-22 2013-07-22 Six-axle linkage numerical-control abrasive belt grinding machine used for horizontal multi-abrasive-belt mechanism Withdrawn - After Issue CN203485005U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103358210A (en) * 2013-07-22 2013-10-23 北京胜为弘技数控装备有限公司 Six-shaft linkage numerical control abrasive belt grinding machine for horizontal multi-abrasive-belt mechanism
CN103769997A (en) * 2014-01-06 2014-05-07 北京航空航天大学 Rectangular array synchronous swing mechanism and multi-shaft linkage processing lathe based on same
CN104400594B (en) * 2014-10-28 2016-05-18 西安航空动力股份有限公司 A kind of weak rigidity casing electron beam weld automatic grinding method of aero-engine
CN106695550A (en) * 2016-11-16 2017-05-24 黄大海 Rotating and swinging clamp device
CN108544333A (en) * 2018-05-23 2018-09-18 北京勤牛创智科技有限公司 A kind of grinding device
CN113427368A (en) * 2021-07-16 2021-09-24 吉林大学 Intelligent grinding and polishing system with automatically replaced tool for complex curved surface robot and control method
CN115488734A (en) * 2022-09-29 2022-12-20 中国航发动力股份有限公司 Chamfering machining method for edge plate face of compressor rotor blade

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103358210A (en) * 2013-07-22 2013-10-23 北京胜为弘技数控装备有限公司 Six-shaft linkage numerical control abrasive belt grinding machine for horizontal multi-abrasive-belt mechanism
CN103769997A (en) * 2014-01-06 2014-05-07 北京航空航天大学 Rectangular array synchronous swing mechanism and multi-shaft linkage processing lathe based on same
CN103769997B (en) * 2014-01-06 2016-01-20 北京航空航天大学 A kind of multi-axis linkage processing machine tool based on rectangular array synchronous hunting mechanism
CN104400594B (en) * 2014-10-28 2016-05-18 西安航空动力股份有限公司 A kind of weak rigidity casing electron beam weld automatic grinding method of aero-engine
CN106695550A (en) * 2016-11-16 2017-05-24 黄大海 Rotating and swinging clamp device
CN108544333A (en) * 2018-05-23 2018-09-18 北京勤牛创智科技有限公司 A kind of grinding device
CN108544333B (en) * 2018-05-23 2024-05-03 北京勤牛创智科技有限公司 Polishing device
CN113427368A (en) * 2021-07-16 2021-09-24 吉林大学 Intelligent grinding and polishing system with automatically replaced tool for complex curved surface robot and control method
CN115488734A (en) * 2022-09-29 2022-12-20 中国航发动力股份有限公司 Chamfering machining method for edge plate face of compressor rotor blade

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