CN211028252U - Device for processing free edge of ship component - Google Patents

Abstract

A device for processing free edges of ship components comprises a three-degree-of-freedom movable portal frame, a component processing platform, a lifting mechanism, a milling mechanism and a controller; the three-degree-of-freedom movable portal comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a positioning sensor; a lifting mechanism is arranged on the component processing platform and comprises a support column and an oil cylinder or an air cylinder; the milling mechanism is arranged on the Z-axis moving mechanism and comprises a motor, a gearbox, a milling cutter and a multi-dimensional torque sensor. The utility model adopts the special software to output the executable program, thereby improving the working efficiency and reducing the capability requirement on the user; the milling cutter realizes one cutter with multiple purposes, and saves cost; the position of the milling cutter is adjusted in real time by a multidimensional torque sensor matching force/position hybrid control algorithm, so that the processing quality is ensured; different milling cutters can be selected according to different processing requirements, the rotating speed and the milling speed of the main shaft are adjusted, the processing efficiency is improved, and the product quality is improved.

Description

A device for free edge processing of ship components

technical field

The utility model belongs to the technical field of machine tool milling, in particular to a device for processing free edges of ship components, in particular to a device for rounding the free edges of large ship components such as ship floors and longitudinal girders.

Background technique

In order to ensure the corrosion resistance of the ship and prolong the service life, the hull and ship components need to be painted during the ship construction process. Since 2012, the ballast tank coating needs to meet the PSPC requirements. After the hull structure is cut and cut, its edges are sharp right angles, and the coating operation is carried out directly. In order to ensure the effect of the painting operation and prevent the paint film from falling off, it is necessary to round the edges of the ship components after cutting, and the radius of the fillet is greater than 2mm.

The traditional free edge processing of ship components is ground by the worker holding the grinding wheel. After the same trajectory is repeated three times, a rounded corner with a radius of R2 or more is formed. At present, some domestic shipyards use pneumatic milling cutters instead of grinding discs to round the free edges of ship components. It only needs one milling to form, the speed is increased by three times, and dust pollution is reduced compared with the use of grinding discs. However, after the top of the free edge is processed, the ship components need to be turned over. The flipping of large ship components also requires the help of door cranes and other equipment, which is time-consuming and labor-intensive, affects the operation efficiency, increases labor costs, and is harmful to workers' health and safety. Environmental impact is greater.

Utility model content

Aiming at the above problems, the utility model provides a device for processing free edges of ship components.

The purpose of the present utility model can be achieved through the following technical solutions: a device for processing free edges of ship components, including a three-degree-of-freedom movable gantry, a component processing platform, a lifting mechanism, a milling mechanism, and a controller; The movable gantry includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and a positioning sensor. The X-axis moving mechanism is arranged on the side of the component processing platform, and the Y-axis moving mechanism is arranged on the component processing platform. The upper and horizontal direction is perpendicular to the X-axis moving mechanism, the Y-axis moving mechanism is installed on the X-axis moving mechanism and moves under the driving of the X-axis moving mechanism, and the Z-axis moving mechanism is installed on the Y-axis moving mechanism and is in the The movement is driven by the Y-axis moving mechanism; a lifting mechanism is installed on the component processing platform, and the lifting mechanism includes a support column, an oil cylinder or an air cylinder, and a plurality of the support columns are embedded on the component processing platform. The bottom of the machine is connected with an independent oil cylinder or cylinder; the milling mechanism is installed on the Z-axis moving mechanism of the three-degree-of-freedom movable gantry and moves under the driving of the Z-axis moving mechanism. The milling mechanism includes a motor, a gearbox, a milling cutter , a multi-dimensional torque sensor, the multi-dimensional torque sensor is coaxially installed on the milling cutter; the controller is connected with a three-degree-of-freedom movable gantry, a lifting mechanism, and a milling mechanism.

Further, the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism all include a base, a linear guide, a sliding seat, a rack, a servo reduction motor, and a gear; the linear guide and the rack are installed on the base. , the rack is arranged along the linear guide rail, the servo reduction motor is installed on the sliding seat and its output shaft is connected with a gear, and the gear is meshed with the rack to realize transmission.

Further, the X-axis moving mechanism is a double linear guide rail structure, and is installed on both sides of the component processing platform; the two ends of the base of the Y-axis moving mechanism are respectively installed on the double straight line of the X-axis moving mechanism through the base bracket. On the sliding seat of the guide rail, a positioning sensor is installed on the base of the Y-axis moving mechanism; the base of the Z-axis moving mechanism is installed on the sliding seat of the Z-axis moving mechanism.

Further, the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism also include a drag chain slot, a drag chain bracket, and a drag chain, and the drag chain slot is installed on the base body and is parallel to the linear guide rail, so The towline bracket is installed at one end of the sliding seat, the towline is arranged in the towline slot and one end of the towline bracket is connected to the towline bracket; the three-degree-of-freedom movable gantry also includes a safety grating, and the safety grating is installed on the towline bracket. on the base support of the Y-axis moving mechanism.

Further, the plurality of support columns of the lifting mechanism are arranged in an array on the component processing platform.

Further, the milling mechanism further includes a mounting seat and a lubricating oil nozzle, the mounting seat is mounted on the Z-axis moving mechanism, and the lubricating oil nozzle is mounted on the mounting seat; the motor and the gearbox are mounted on the mounting seat , the milling cutter includes a milling cutter handle and a milling cutter blade, the milling cutter handle is arranged vertically, the upper end of the milling cutter handle is connected with the output shaft of the gearbox, and the lower end of the milling cutter handle is installed in the circumferential direction There are 3-8 milling cutter inserts.

Further, each of the milling cutter inserts is provided with two upper and lower symmetrical cutting edges, and each cutting edge is in the shape of a 1/4 arc with an inward concave and R≥2mm.

At present, there is no such automatic equipment for free edge processing of ship components in China. In addition to the overall technical solution, the technical solution of the present invention also includes optimization of many details, and has the following beneficial effects:

1. Using the special software of the device, the input is the model data of the ship design software, and the output is the executable program of the driving equipment. The operation process does not require the user to have excessive programming ability, and is basically completed by the special software independently, only the user is required. A small amount of manual intervention saves time and effort, improves work efficiency, and reduces the ability requirements for users;

2. The blade of the milling cutter can be applied not only to the treatment of the free edge of the upper surface of the ship component, but also to the treatment of the free edge of the lower surface of the ship component, so as to realize the multi-purpose of one tool, reduce the frequency of tool change, save the cost, and reduce the waste of tools;

3. Using a multi-dimensional torque sensor, the moment size of the contact between the milling cutter and the edge of the ship component can be captured during the processing of the free edge of the ship component. Combined with the force/position hybrid control algorithm, the position of the milling cutter can be adjusted in real time according to the magnitude of the torque. When the actual edge position is inconsistent with the model, the milling cutter can complete the fine-tuning of the position and track the actual edge of the component, so that the milling torque of the cutter is stable during the free edge processing, ensuring consistent machining quality, and effectively protecting the cutter;

4. The operation is simple and efficient, and the free edge processing effect of ship components is good. Different milling cutters can be selected according to different processing requirements, and the spindle speed and milling speed can be adjusted, which improves processing efficiency, reduces labor costs, and improves product quality.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.

FIG. 2 is a front view of an embodiment of the present invention.

3 is a side view of an embodiment of the present invention.

4 is a schematic diagram of a safety grating and an operation panel in an embodiment of the present invention.

5 is a partial schematic diagram of a milling mechanism in an embodiment of the present invention.

FIG. 6 is a partial schematic diagram of an embodiment of the present invention in a working state.

FIG. 7 is a schematic diagram of processing the upper surface of a ship component by a milling mechanism in an embodiment of the present invention.

The part numbers in the figure are as follows:

1 X-axis moving mechanism

2 Y-axis moving mechanism

3 Z-axis moving mechanism

4 component processing platform

5 support columns

6 Milling mechanism

7 Positioning sensors

8 safety gratings

9 Operation panel

10 Mounts

11 Milling tool holder

12 milling cutter inserts

13 lubricating oil nozzle

14 multi-dimensional torque sensor

15 Ship components.

Detailed ways

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can more clearly understand how to practice the present invention. Although the present invention has been described in conjunction with its preferred specific embodiments, these embodiments are intended to illustrate rather than limit the scope of the present invention.

Referring to Figures 1 to 3, a device for processing free edges of ship components includes a three-degree-of-freedom movable gantry, a component processing platform 4, a lifting mechanism, a milling mechanism 6, and a controller.

The three-degree-of-freedom movable gantry includes an X-axis moving mechanism 1 , a Y-axis moving mechanism 2 , and a Z-axis moving mechanism 3 . The X-axis moving mechanism 1, the Y-axis moving mechanism 2, and the Z-axis moving mechanism 3 mainly include a base body, a linear guide, a sliding seat, a rack, a servo reduction motor, a gear, a towline slot, a towline bracket, and a towline. The linear guide rail and the rack are installed on the base, the rack is arranged along the linear guide, the servo reduction motor is installed on the sliding seat and its output shaft is connected with a gear, and the gear meshes with the rack to realize transmission, The drag chain groove is installed on the base body and is parallel to the linear guide rail, the drag chain bracket is installed on one end of the sliding seat, the drag chain is arranged in the drag chain groove and one end thereof is connected with the drag chain support. Further, one end of the linear guide rail is provided with an anti-shock baffle plate, a pad block is provided under the sliding seat for supporting the sliding seat, and a mounting plate for installing the servo reduction motor is installed on the sliding seat.

The X-axis moving mechanism 1 is a double linear guide rail structure, and is installed on both sides of the component processing platform 4 respectively. The Y-axis moving mechanism 2 is arranged above the X-axis moving mechanism 1 and the component processing platform 4 and is perpendicular to the X-axis moving mechanism 1 in the horizontal direction. On the sliding seat of the double linear guide rail of the shaft moving mechanism 1, a positioning sensor 7 for positioning the ship component 15 is installed on the base body, and the positioning sensor 7 is specifically a point laser ranging sensor; see FIG. and a controller, the controller includes an operation panel 9 . The base of the Z-axis moving mechanism 3 is mounted on the sliding seat of the Z-axis moving mechanism 3 . The drag chain is used to place the controller signal cable, sensor signal cable, and lubricating oil pipeline. The controller signal cable is connected to the controller and the control center that controls the device. The sensor signal cable is connected to the positioning sensor 7 and the control center. In the center, the lubricating oil pipeline connects the external oil tank and the lubricating oil nozzle 13 of the milling mechanism 6 .

The three-degree-of-freedom movable gantry realizes XYZ three-axis linkage without interfering with each other, and can effectively cover the entire working area. Since the ship component 15 is basically a sheet structure, when the ship component 15 is placed, it is parallel to the plane where the X and Y axes are located, and the milling cutter shank 11 of the milling mechanism 6 is parallel to the Z axis, so that the edge of the ship component 15 can be rounded. corner treatment.

The lifting mechanism is installed on the component processing platform 4, and the lifting mechanism includes a support column 5, an oil cylinder or an air cylinder, and a plurality of the support columns 5 are arranged on the component processing platform 4 in an array. The vertical direction is embedded and installed on the component processing platform 4 , and an independent oil cylinder or air cylinder is connected to the bottom of each support column 5 . Each support column 5 is driven hydraulically or pneumatically to realize the lifting and lowering controlled by an individual signal. Among them, the spacing between the plurality of support columns 5 is designed according to the size of the smallest ship member 15. If the spacing is too large, the number of contact points between the ship member 15 and the support column 5 will be too small and the ship member 15 cannot be fixed. The possibility of interference between the milling cutter of the milling mechanism 6 and the support column 5 is increased.

When the ship component 15 is placed on the component processing platform 4, all the supporting columns 5 are lifted up, and the ship component 15 is lifted up accordingly. The ship component 15 is not only separated from the surface of the component processing platform 4, but its free edge is exposed, which is easy to round the corners , and the lower surface of the ship member 15 is changed from plane contact to multi-point contact. If the material of the support column 5 is made of a hard material with a larger friction force, it can be ensured that the milling cutter of the milling mechanism 6 will perform the free edge of the ship member 15. During the rounding process, the frictional force generated by the ship member 15 due to its own weight is greater than the milling force, which plays a fixing role.

During milling, the milling cutter of the milling mechanism 6 moves along the free edge of the ship member 15, and if it happens to pass through the raised support column 5 at this time, it may cause malfunction or damage. In order to avoid this kind of situation, the coordinates of each support column 5 and the coordinates of the milling cutter that are fed back in real time are judged. When the straight-line distance between the two points is less than the set safety distance, the corresponding support column 5 is lowered, and the milling cutter passes through. When the space above and the distance is greater than the safety distance, these support columns 5 are raised to restore the state of positioning the ship member 15 .

3 and 5, the milling mechanism 6 is mounted on the sliding seat of the Z-axis moving mechanism 3, and the milling mechanism 6 includes a mounting seat 10, a motor, a gearbox, a milling cutter handle 11, a milling cutter blade 12, lubricating oil The nozzle 13, the multi-dimensional torque sensor 14, the mounting seat 10 is mounted on the sliding seat of the Z-axis moving mechanism 3, the motor and the gearbox are mounted on the mounting seat 10, the milling cutter shank 11 and the milling cutter blade 12 A milling cutter is formed, the upper end of the milling cutter handle 11 is coaxially connected with the output shaft of the gearbox, the lower end of the milling cutter handle 11 is installed with 3-8 milling cutter blades 12 along the circumferential direction, and the lubricating oil nozzle 13 is installed in the The mounting seat 10 is disposed on the side of the milling cutter shank 11 and downward, and the multi-dimensional torque sensor 14 is coaxially mounted on the milling cutter shank 11 . Among them, the middle opening of each milling cutter blade 12 can be fixed on the milling cutter handle 11 by screws. The milling cutter blade 12 is provided with two upper and lower symmetrical cutting edges, and each cutting edge is concave and R≥2mm. 1/4 arc shape, the upper edge of the milling cutter blade 12 is used for rounding the lower surface of the ship member 15, and the blade at the lower part of the milling cutter blade 12 is used for rounding the upper surface of the ship member 15. , to achieve a multi-purpose tool, reduce the frequency of tool change, and save the cost of use.

The controller is installed on the base bracket of the Y-axis moving mechanism 2, and the controller includes a control panel.

In this embodiment, the material model of the ship component 15 is AH36 steel, and the corresponding free edge normal milling force is 500N. When performing the rounding process, the milling force of the milling cutter in contact with the edge of the ship member 15 is captured in real time by the multi-dimensional torque sensor 14 . The milling force under normal operation is 500N. If the actual edge of the ship component 15 protrudes from the model outline, the milling cutter will move according to the original path, and the milling force will be greater than 500N. Optimize and adjust the position of the milling cutter. The milling cutter is offset to the outside of the theoretical track, which is exactly the same as the actual free edge position to avoid damage to the props. Conversely, if the actual edge of the ship component 15 is concave in the contour of the model, the milling cutter will move according to the original path, and the milling force will be less than 500N. At this time, the force/position hybrid control algorithm is used to optimize and adjust the position of the milling cutter, and the milling cutter moves to the theoretical position. The inner side of the track is offset to ensure the edge milling effect.

The implementation method based on the above device includes the following steps:

S1. Obtain the model data of various types of ship components from the ship design software (Tribon). The model data of each type of ship components includes 3D model, material, processing requirements, and free edge position. The corresponding G code is generated by the special software of the device. It is an executable program of the basic language, and the executable program is stored in the device. The executable program includes the ship component positioning code, the milling cutter path code, the milling cutter setting code, the milling force, and the milling speed;

S2, use the door crane to place the ship component 15 that needs free edge processing in the operation area on the component processing platform 4, and then start the device;

S3, the support column 5 of the lifting mechanism on the component processing platform 4 rises, and the ship component 15 is lifted up, and the ship component 15 is fixed by its own weight and the friction force of the support column 5;

S4, operate the operation panel 9 of the controller, select the ship component type in the current operation area, and the device immediately calls the executable program of this type of ship component;

S5. After confirming that the executable program matches the ship component 15 in the device, execute the executable program:

S501, execute the ship component positioning code of the executable program, use the positioning sensor 7 to measure the actual positions of the two points set on the ship component 15, and calculate the unit vector of the line connecting the two points, and complete the ship component 15 in the operation area. the actual position calibration;

S502, according to the actual position of the two points on the ship component 15 and the absolute position deviation of the corresponding two points in the milling cutter path code, correct the parameters in the milling cutter path code, and express the generated milling path as a translation transformation. The angular deviation between the unit vector between two points on the component 15 and the unit vector between the corresponding two points in the milling cutter path code, the parameters in the milling cutter path code are corrected, and the generated milling trajectory is represented as rotation and translation, thus completing the The position calibration result offsets the theoretically planned milling cutter path to generate the actual milling path;

S503. After confirming that the personnel exits the dangerous area by using the safety grating 8, the device selects a suitable milling cutter according to the milling cutter setting code of the executable program. After the cutter self-checks, it starts to process the free edge of the upper surface of the ship component 15, as shown in Figs. 6 and 6. Figure 7;

S504, after the upper surface of the ship member 15 is processed, the device performs self-checking of the tool again, and then processes the free edge of the lower surface of the ship member 15;

S6. After the execution of the executable program is completed, the ship component 15 is loaded and unloaded to the pallet by means of a door crane.

Among them, in the process of free edge processing on the upper surface of the ship component 15 in S504 and free edge processing on the lower surface of the ship component 15 in S505, the multi-dimensional torque sensor 14 and the force/position hybrid control algorithm are both used to ensure that the milling trajectory tracks the ship component 15 in real time. Free edge, so that the milling normal torque is always kept around the set value to ensure the processing quality. At the same time, during the movement of the milling cutter, the coordinates of each support column 5 of the lifting mechanism and the real-time feedback of the coordinates of the milling cutter are judged. The support column 5 of the lifting mechanism in the coverage area under the cutter automatically descends to avoid collision with the milling cutter.

It should be pointed out that, for the fully described utility model, there can also be various modified and modified implementations, and it is not limited to the specific examples of the above implementations. The above-mentioned embodiments are only used as an illustration of the present invention, rather than a limitation of the present invention. In a word, the protection scope of the present invention should include those changes or substitutions and modifications that are obvious to those of ordinary skill in the art.

Claims (7)

1. a device for free edge processing of ship components, is characterized in that, comprises three degrees of freedom movable gantry, component processing platform, lifting mechanism, milling mechanism, controller; The three-degree-of-freedom movable gantry includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and a positioning sensor. The X-axis moving mechanism is arranged on the side of the component processing platform, and the Y-axis moving mechanism is arranged on the Above the component processing platform and perpendicular to the X-axis moving mechanism in the horizontal direction, the Y-axis moving mechanism is installed on the X-axis moving mechanism and moves under the driving of the X-axis moving mechanism, and the Z-axis moving mechanism is installed on the Y-axis moving mechanism It moves on the mechanism and is driven by the Y-axis moving mechanism; A lifting mechanism is installed on the component processing platform, and the lifting mechanism includes a support column, an oil cylinder or an air cylinder, a plurality of the support columns are embedded on the component processing platform, and the bottom of each support column is connected with an independent oil cylinder or air cylinder ; The milling mechanism is installed on the Z-axis moving mechanism of the three-degree-of-freedom movable gantry and moves under the driving of the Z-axis moving mechanism. The milling mechanism includes a motor, a gearbox, a milling cutter, and a multi-dimensional torque sensor. The multi-dimensional torque sensor Coaxially mounted on the milling cutter; The controller is connected with a three-degree-of-freedom movable gantry, a lifting mechanism and a milling mechanism. 2. The device for processing free edges of ship components according to claim 1, wherein the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism all comprise a base body, a linear guide rail, a sliding seat, a rack, Servo reduction motor, gear; the linear guide and rack are installed on the base body, the rack is arranged along the linear guide, the servo reduction motor is installed on the sliding seat and its output shaft is connected with a gear, the gear is connected with Rack meshing to achieve transmission. 3. The device for processing free edges of ship components according to claim 2, wherein the X-axis moving mechanism is a double linear guide rail structure, and is respectively installed on both sides of the component processing platform; the Y-axis moving mechanism The two ends of the base body are respectively installed on the sliding seat of the double linear guide rail of the X-axis moving mechanism through the base support, and the positioning sensor is installed on the base of the Y-axis moving mechanism; the base of the Z-axis moving mechanism is installed on the Z-axis moving mechanism. on the slide. 4. The device for processing free edges of ship components according to claim 3, wherein the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism all further comprise a towline slot, a towline support, a towline , the towline groove is installed on the base body and is parallel to the linear guide rail, the towline bracket is installed on one end of the sliding seat, the towline is arranged in the towline groove and its one end is connected with the towline bracket; the three The movable gantry with the degree of freedom also includes a safety grating, and the safety grating is mounted on the base support of the Y-axis moving mechanism. 5 . The device for processing free edges of ship components according to claim 1 , wherein a plurality of support columns of the lifting mechanism are arranged on the component processing platform in an array. 6 . 6. The device for processing free edges of ship components according to claim 1, wherein the milling mechanism further comprises a mounting seat and a lubricating oil nozzle, the mounting seat is mounted on the Z-axis moving mechanism, and the lubricating oil The nozzle is mounted on the mounting seat; the motor and the gearbox are mounted on the mounting seat, the milling cutter includes a milling cutter handle and a milling cutter blade, the milling cutter handle is arranged vertically, and the upper end of the milling cutter handle is Connected with the output shaft of the gearbox, the lower end of the milling cutter handle is provided with 3-8 milling cutter blades along the circumferential direction. 7. The device for processing the free edge of a ship component according to claim 6, wherein each of the milling cutter blades is provided with two upper and lower symmetrical cutting edges, and each cutting edge is concave and R≥2mm. /4 arc shape.

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