CN209578289U - A kind of multiple degrees of freedom milling attachment of compressor blade - Google Patents

Abstract

A multi-degree-of-freedom milling device for a compressor blade, comprising a blade positioning and clamping device, an automatic tool changer and a multi-axis mechanical arm; the blade positioning and clamping device includes a blade tenon processing and clamping positioning mechanism and a blade surface processing and clamping mechanism The positioning mechanism is used to fix the engine blades; the automatic tool changing device includes an automatic tool changing tool magazine mechanism and an automatic tool changing actuator end mechanism; the multi-axis mechanical arm includes a base first axis structure, a second axis structure, a small arm The third axis structure, the fourth axis forearm structure, the fifth axis wrist structure and the machining spindle structure. The utility model provides a multi-degree-of-freedom milling device for a compressor blade, which utilizes a manipulator to realize flexible milling and automatic tool change, which can make the machining of the machine tool more flexible, fast and accurate, the positioning is more accurate and fast, the blade processing efficiency is high, and the blade surface High quality milling.

Description

A multi-degree-of-freedom milling device for compressor blades

technical field

The utility model relates to the field of milling devices, in particular to the field of multi-degree-of-freedom milling devices, in particular to a multi-degree-of-freedom milling device for engine compressor blades.

Background technique

At present, most of the compressor blades are manufactured by traditional CNC milling machines, which are matched with different dies. The machining of complex curved surfaces is achieved by the simultaneous movement of the machine tool and the dies. This processing method is cumbersome and complicated, and the required jigs and fixtures are required. Specially made, the machining accuracy and efficiency are not ideal, and its development is relatively limited, most of which are still limited to the semi-finishing of blades, and the final manufacturing quality of blades still relies on manual polishing; it is processed by ordinary milling machines and a lot of manual grinding. This method is time-consuming, labor-intensive and labor-intensive; the processing results of such rough processing technology mainly include low processing efficiency, large part tolerance range, high equipment cost and labor cost, and low blade surface quality. These problems seriously restrict the engine blade. manufacturing development.

SUMMARY OF THE INVENTION

In order to overcome the shortcomings of the existing compressor blade processing methods such as low processing efficiency, large parts tolerance range, high equipment cost and labor cost, and low blade surface quality, the utility model provides a multi-degree-of-freedom milling device for compressor blades. The use of manipulators to achieve flexible milling and automatic tool change can make machine tool processing more flexible, fast and accurate, positioning more accurate and faster, blade processing efficiency is high, and blade surface milling quality is high.

The technical scheme adopted by the utility model to solve its technical problems is:

A multi-degree-of-freedom milling device for a compressor blade, comprising a blade positioning and clamping device, an automatic tool changer and a multi-axis mechanical arm; the blade positioning and clamping device includes a blade tenon processing and clamping positioning mechanism and a blade surface processing and clamping mechanism The positioning mechanism is used to fix the engine blade; the automatic tool changing device includes an automatic tool changing tool magazine mechanism and an automatic tool changing actuator end mechanism; the multi-axis mechanical arm includes a base first axis structure, a second axis structure, a third axis structure Shaft structure, fourth axis structure, fifth axis structure and machining spindle structure.

The utility model utilizes the advantages of the automation and research basis of the traditional precision numerical control machine tool, and combines the flexibility of the multi-axis rotation of the industrial robot and the advantages of high positioning accuracy, and designs a multi-degree-of-freedom mechanical arm milling device focusing on finishing. Realize the machining of complex space curved surfaces of engine blades.

Further, the blade tenon processing, clamping and positioning mechanism adopts the method of wrapping the low melting point alloy. First, the blank and the low melting point alloy are melted and cast into a simple geometric shape. The movement of the workpiece Z axis; secondly, there is a positioning baffle plate on the base of the main fixture that restricts the movement of the workpiece in the X and Y axis directions. The upper and lower pressure blocks of the main fixture are pressed to provide clamping force. The static friction force generated by the specific pressing of the workpiece surface coincides with the main axial milling force generated by the tool.

Further, the blade surface is processed to clamp the positioning mechanism, and the special clamp part matches the shape of the blade tenon; the special clamp part is positioned and fixed on the threaded hole of the upper pressing block and the clamp base with screws; The shape directly limits the displacement of the Z and X axes of the workpiece; the extension baffles on both sides of the special part limit the displacement of the Y axis of the workpiece; the main clamp provides the main clamping force, which coincides with the axial component of the milling force; the clamping force is the same as The friction and extrusion force generated by the workpiece coincide with the main milling force; the auxiliary clamping mechanism is located at the other end of the workpiece to provide lateral clamping force.

Further, the automatic tool change tool magazine mechanism includes a tool magazine frame and a tool clamping block, the clamping block is fixed on the tool magazine frame with threaded screw holes, and the tool magazine frame and the manipulator maintain a fixed relative position, so that the relative space between the two is fixed. The position input control system allows the manipulator to precisely position the position where the tool needs to be changed.

The automatic tool change actuator mechanism uses the cylinder to push the tool change push rod to the left and press the butterfly shrink spring during the tool change operation, the ball taper hole of the push rod enters the ball groove, and the small steel ball in the push rod moves up and down. Then, push the tool handle to the right to be close to the push rod, then slowly release the cylinder, the butterfly spring is deformed and recovered, while the tool handle is pushed to the right, the push rod is pulled back into the spindle cavity, and the ball taper hole is disengaged The ball groove, the space at the upper end of the small steel ball is closed, moves down, and clamps the tool holder head inward.

In the multi-axis manipulator, the upper part of the first shaft structure of the base is connected to the second shaft structure through the second shaft base, the lower end of the second shaft arm is connected to the second shaft structure, and the upper end of the second shaft arm is connected to the third shaft structure Connection, the third axis structure and the fourth axis structure are connected through the fourth axis forearm, one end of the fifth axis wrist is connected to the fourth axis structure, the other end of the fifth axis wrist is connected to the fifth axis structure, and the machining spindle structure is connected by the fifth axis The head section is connected with the fifth shaft structure.

The beneficial effects of the utility model are mainly manifested in: the blade positioning and clamping device can stably fix the engine blade, the workpiece is stable during the milling process, the automatic tool changing device has fast tool changing speed, high tool changing positioning accuracy, and tool storage in the tool magazine. The multi-axis manipulator has a large working space and high flexibility, and the multi-axis joint drive realizes the function of flexible processing of engine blades.

Description of drawings

Figure 1 is a schematic diagram of a blade surface machining clamping and positioning mechanism.

Figure 2 is a schematic diagram of an automatic tool changing tool magazine mechanism.

Fig. 3 is a schematic diagram of the automatic tool change actuator mechanism.

4 is a schematic diagram of a cross-sectional view of the spindle mechanism.

FIG. 5 is a process flow diagram of a multi-degree-of-freedom milling device for a compressor blade.

Among them, 1 is the secondary fixture base, 2 is the slider, 3 is the main fixture base, 4 is the tool magazine frame, 5 is the tool clamping block, 6 is the second axis base, 7 is the second axis arm, 8 It is the fourth axis forearm, 9 is the fifth axis wrist, 10 is the fifth axis head section, 11 is the cylinder, 12 is the butterfly spring, 13 is the tool change push rod, 14 is the main shaft, and 15 is the small steel ball.

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings of the description

1 to 5 , a multi-degree-of-freedom milling device for a compressor blade includes a blade positioning and clamping device, an automatic tool changer, and a multi-axis robotic arm; the blade positioning and clamping device includes blade tenon processing, clamping and positioning Mechanism, blade surface machining clamping and positioning mechanism, with a clamping position that can stably fix the engine blade and a reasonable shape, ensure the stability of the workpiece during the milling process, and increase the overall rigidity; the automatic tool changer includes an automatic tool changer magazine Mechanism, automatic tool change actuator, with fast tool change speed, high tool change positioning accuracy, large storage capacity of tools in the tool magazine, can realize rapid tool change, ensure the continuity of the milling process and complete CNC automatic processing; The multi-axis manipulator includes the first axis structure of the base, the second axis structure, the third axis structure, the fourth axis structure, the fifth axis structure, and the machining spindle structure. The drive realizes the function of flexible machining of engine blades. The utility model utilizes the advantages of the automation and research foundation of traditional precision numerical control machine tools, combines the flexibility of multi-axis rotation of industrial robots and the advantages of high positioning accuracy, and designs a multi-degree-of-freedom mechanical arm milling device focusing on finishing. Realize the machining of complex space curved surfaces of engine blades.

Further, the blade tenon processing clamping and positioning mechanism adopts the method of wrapping the low melting point alloy. First, the blank and the low melting point alloy are melted and cast into a simple geometric shape. Tighten, limit the movement of the workpiece Z axis; secondly, there is a positioning baffle plate on the main fixture base 3 to limit the movement of the workpiece X and Y axis directions. The upper and lower pressure blocks of the main clamp body are pressed to provide clamping force, and the clamping force directly acts on the Z-axis direction. The static friction force generated by the clamp body pressing the workpiece surface coincides with the main axial milling force generated by the tool.

In the blade surface processing clamping and positioning mechanism, the special fixture part matches the shape of the tenon of the blade, the special part is positioned and fixed on the threaded hole of the upper pressing block and the sub-clamp base 1 with screws, and the shape of the special fixture part and the tenon fit directly. The displacement of the Z and X axes of the workpiece is limited; the extension baffles on both sides of the special part limit the displacement of the Y axis of the workpiece. The main clamping body provides the main clamping force, which coincides with the axial component of the milling force; the clamping force and the friction force and extrusion force generated by the workpiece coincide with the main milling force; the auxiliary clamping mechanism is located at the other end of the workpiece to provide lateral clamping force.

The automatic tool changing tool magazine mechanism includes a tool magazine frame 4 and a tool clamping block 5. The clamping block is fixed on the tool magazine frame 4 with threaded screw holes. The tool magazine frame 4 and the manipulator maintain a fixed relative position, and the relative The spatial position input control system allows the manipulator to precisely locate the position where the tool needs to be changed.

The automatic tool change actuator mechanism uses the cylinder 11 to push the tool change push rod 13 to the left and compress the butterfly spring 12 during the tool change operation, the ball taper hole of the push rod enters the ball groove, and the small steel ball in the push rod 15 to produce up and down displacement; then, push the tool handle to the right to be close to the push rod, then slowly release the cylinder 11, the butterfly spring 12 deforms and recovers, and the push rod is pulled back into the spindle cavity while the tool handle is pushed to the right , the ball taper hole is separated from the ball groove, the space at the upper end of the small steel ball 15 is closed, moves downward, and clamps the tool holder head inward.

In the multi-axis manipulator, the top of the first axis structure of the base is connected to the second axis structure through the second axis base 6, the lower end of the second axis arm 7 is connected to the second axis structure, and the upper end of the second axis arm 7 is connected to the second axis structure. The three-axis structure is connected, the third-axis structure and the fourth-axis structure are connected through the fourth-axis small arm 8, one end of the fifth-axis wrist 9 is connected to the fourth-axis structure, the other end of the fifth-axis wrist 9 is connected to the fifth-axis structure, and the machining spindle is The structure is connected to the fifth shaft structure through a fifth shaft joint 10 .

The movement process of the utility model is as follows: first the processing part is the blade tenon, first the blank and the low melting point alloy are melted and cast into a simple geometric shape, the blade tenon is processed and the slider 2 of the clamping and positioning mechanism and the main fixture base 3 clamp the blade body, The multi-axis robotic arm clamps the milling tool to mill the blade tenon. After the tenon processing is completed, the low melting point alloy is melted, and the blade forging blank is taken out for the second clamping and processing; The special clamp is clamped and the auxiliary clamping mechanism is used to fasten it laterally; at the same time, the automatic tool changing device changes the tool, the cylinder 11 pushes out the tool change push rod 13 inside the main shaft, and the left end of the tool change push rod 13 is released from the small steel ball. In the small diameter cavity of 15, the small steel ball 15 in the taper hole of the tool change push rod 13 can be displaced upward, the clamping force of the small steel ball 15 on the tool handle disappears, and the tool can be separated from the spindle 14; after the tool change, the new tool Push into the spindle 14, the tool handle is clamped into the cavity at the front end of the tool change push rod 13, the tool handle continues to push into the spindle 14 to drive the tool change push rod 13 to move back, and the small steel ball 15 in the taper hole of the tool change push rod 13 The inward displacement is again restricted by the small-diameter cavity of the main shaft 14, which generates a clamping force on the tool holder, and finally completes the milling of the blade surface.

The content described in the embodiments of the present specification is only an enumeration of the realization forms of the concept of the utility model. The protection scope of the present invention should not be regarded as limited to the specific forms stated in the embodiments. The protection scope of the present invention also extends to Equivalent technical means that can be conceived by those skilled in the art according to the concept of the present invention.

Claims (5)

1. A multi-degree-of-freedom milling device for a compressor blade, wherein the multi-degree-of-freedom milling device comprises a blade positioning and clamping device, an automatic tool changer and a multi-axis mechanical arm; the blade positioning and clamping device includes The blade tenon processing clamping and positioning mechanism and the blade surface processing clamping and positioning mechanism are used to fix the engine blade; the automatic tool changing device includes an automatic tool changing tool magazine mechanism and an automatic tool changing actuator mechanism; the multi-axis mechanical arm includes The first axis structure of the base, the second axis structure, the third axis structure of the small arm, the fourth axis small arm structure, the fifth axis wrist structure and the processing spindle structure. 2 . The multi-degree-of-freedom milling device for a compressor blade according to claim 1 , wherein the blade tenon processing and clamping and positioning mechanism adopts a method of wrapping with a low-melting alloy, and the blank and the low-melting alloy are first mixed It is cast into a simple geometric shape, and the casting and wrapping part of the blade is the positioning part, which is clamped up and down by the main clamp to limit the movement of the workpiece Z axis; secondly, there is a positioning baffle on the base of the main clamp that restricts the movement of the workpiece in the X and Y axis directions. The upper and lower pressure blocks of the clamping body are pressed to provide clamping force, and the clamping force directly acts on the Z-axis direction. The static friction force generated by the clamping body pressing the workpiece surface coincides with the main axial milling force generated by the tool. 3. The multi-degree-of-freedom milling device of a compressor blade according to claim 1 or 2, characterized in that, the blade surface is processed with a clamping and positioning mechanism, and the special clamp part matches the shape of the blade tenon, and the special clamp part is used for The screws are positioned and fixed on the threaded holes of the upper pressure block and the fixture base, and the shape of the special fixture component and the tenon fit directly limit the displacement of the workpiece Z and X axes; the extension baffles on both sides of the special component limit the displacement of the workpiece Y axis; The main clamping body provides the main clamping force, which coincides with the axial component of the milling force; the clamping force and the friction force and extrusion force generated by the workpiece coincide with the main milling force; the auxiliary clamping mechanism is located at the other end of the workpiece to provide lateral clamping force. 4. The multi-degree-of-freedom milling device of a compressor blade according to claim 1 or 2, wherein the automatic tool changer tool magazine mechanism comprises a tool magazine frame and a tool clamping block, and the clamping block uses threaded screw holes It is fixed on the tool magazine frame, and the tool magazine frame and the manipulator maintain a fixed relative position. Inputting the relative spatial position of the two into the control system enables the manipulator to accurately locate the position where the tool needs to be changed. 5. The multi-degree-of-freedom milling device for a compressor blade according to claim 1 or 2, wherein the automatic tool change actuator mechanism uses a cylinder to move the tool change push rod to the left during the tool change operation. Push and press the butterfly spring, the ball taper hole of the push rod enters the ball groove, and the small steel ball in the push rod moves up and down; The butterfly spring is deformed and recovers. When the tool handle is pushed to the right, the push rod is pulled back into the spindle cavity, the ball taper hole is separated from the ball groove, and the space at the upper end of the small steel ball is closed and moves downward to clamp the tool handle head inward.