WO2021248623A9 - Système, procédé et appareil de commande numérique de découpe de surcote d'usinage de conduit aérospatial - Google Patents

Système, procédé et appareil de commande numérique de découpe de surcote d'usinage de conduit aérospatial Download PDF

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Publication number
WO2021248623A9
WO2021248623A9 PCT/CN2020/102037 CN2020102037W WO2021248623A9 WO 2021248623 A9 WO2021248623 A9 WO 2021248623A9 CN 2020102037 W CN2020102037 W CN 2020102037W WO 2021248623 A9 WO2021248623 A9 WO 2021248623A9
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WO
WIPO (PCT)
Prior art keywords
clamping
positioning
cutting
catheter
clamping seat
Prior art date
Application number
PCT/CN2020/102037
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English (en)
Chinese (zh)
Other versions
WO2021248623A1 (fr
Inventor
马俊
林姚辰
林伟明
陈怡吒
陈芳吉
Original Assignee
浙江金马逊机械有限公司
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Filing date
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Application filed by 浙江金马逊机械有限公司 filed Critical 浙江金马逊机械有限公司
Publication of WO2021248623A1 publication Critical patent/WO2021248623A1/fr
Publication of WO2021248623A9 publication Critical patent/WO2021248623A9/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D45/00—Sawing machines or sawing devices with circular saw blades or with friction saw discs
    • B23D45/12—Sawing machines or sawing devices with circular saw blades or with friction saw discs with a circular saw blade for cutting tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D47/00—Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts
    • B23D47/04—Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts of devices for feeding, positioning, clamping, or rotating work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D47/00—Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts
    • B23D47/12—Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts of drives for circular saw blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D59/00—Accessories specially designed for sawing machines or sawing devices

Definitions

  • the invention relates to the technical field of aerospace, and in particular to a digital control system, method and equipment for the removal of residual ducts in aerospace.
  • the rocket duct Due to the complex shape of the aerospace conduit conduit, it is necessary to use CNC bending equipment to bend it. During the bending process, it is necessary to leave technological allowances such as bending and clamping.
  • the two ends are usually designed with very short straight sections, and the excess length needs to be cut off after the catheter is bent and formed.
  • the rocket duct is a precise tube part, and the length of the end requires high precision when cutting.
  • the rocket duct is usually In the range of 0.5-2.0mm, the length of the straight line remaining at both ends of many conduits is only 25mm, which brings many difficulties to reliable clamping during cutting.
  • the rocket duct has high technical requirements on the deformation and depression of the clamping.
  • the rocket duct also has the characteristics of many specifications, many varieties, and small batches.
  • the purpose of the present invention is to provide a digital control system, method and equipment for the removal of an aerospace catheter margin, which adopts a digital controller to uniformly control each device, and realizes the excess process margin at the end of the catheter quickly and accurately. cutting process.
  • a digital control device for the removal of residual ducts in aerospace comprising a fuselage on which an angle adjustment device, a cutting device, a duct clamping device and a carriage mechanism are installed, and a positioning device and a mouth device are installed on the carriage mechanism , the positioning device and the flat mouth device are arranged in tandem, the carriage mechanism and the conduit clamping device are arranged on the left and the right, and there is also a waste chute on the fuselage, and the waste chute is located between the carriage mechanism and the conduit clamping device.
  • the cutting device feeds back and forth, the positioning device and the flat mouth device feed left and right;
  • the positioning device includes a positioning driver for driving the positioning block to move, and the catheter clamping device includes a clamping motor for driving the clamping seat to clamp the catheter,
  • the cutting device includes a cutting motor and a feed motor
  • the flat mouth device includes a flat mouth motor
  • the carriage mechanism includes a feed motor for driving the positioning device and the feeding of the mouth device, and a conversion motor for converting the processing position of the positioning device and the mouth device, positioning Drives, clamping motors, cutting motors, feed motors, flat motors, feed motors and conversion motors are all controlled by digital controllers.
  • the digital controller is a PLC controller or a CNC controller; the digital controller is connected with a touch screen and a console.
  • the catheter clamping device comprises a first clamping seat, a second clamping seat, a third clamping seat, a fourth clamping seat and a clamping device base.
  • the third clamping seat and the fourth clamping seat are oppositely arranged on the clamping device base in front and back, and the two cooperate to clamp the catheter in front and back.
  • the clamping seat and the third clamping seat are arranged at intervals on the left and right, the second clamping seat and the fourth clamping seat are arranged at intervals on the left and right, and the third clamping seat and the fourth clamping seat are located at the base of the clamping device close to the waste chute.
  • the base of the clamping device is provided with a waste landslide between the third clamping base and the fourth clamping base, the first clamping base is fixed on the base of the clamping device, and the second clamping base passes through the clamping base.
  • the holding motor is driven to slide back and forth on the base of the clamping device, the third clamping base is driven to slide back and forth on the base of the clamping device by the first clamping cylinder, and the moving end of the first clamping cylinder is hinged with the third clamping base , the fourth clamping base is driven by the second clamping cylinder to slide back and forth on the base of the clamping device, and the moving end of the second clamping cylinder is hinged with the fourth clamping base, wherein the cutting device is between the second clamping base and the fourth clamping base. Feed cutting between the fourth clamping seats.
  • the first clamping seat, the second clamping seat, the third clamping seat and the fourth clamping seat are all mounted with a clamp block for contacting and clamping the catheter, the clamp block is semi-annular, and the clamp block
  • the inner side of the clamp block is a semicircular clamping groove, and the two opposite clamp blocks at the front and rear cooperate to form clamping holes for accommodating the straight section of the end of the catheter, and a positioning protrusion is formed on the outer side of the clamp block.
  • the seat is provided with a fixed slot matched with the positioning protrusion of the clamp block.
  • the base of the clamping device is mounted on the worktable through a rotating shaft and can be rotated.
  • the first clamping seat and the second clamping seat clamp the catheter, the axis line of the straight section of the pipe end of the catheter and the axis of the rotating shaft The axes intersect and the intersecting point is located on the feeding cutting surface of the cutting device; the rotating shaft is connected with the angle encoder in a drive, and the angle encoder is connected with the digital controller.
  • the angle adjustment device includes a gear, which meshes with an arc-shaped tooth arranged on one side of the base of the clamping device, and the gear is driven to rotate by a rotation driving device.
  • the center of the circle is located on the axis of the rotating shaft;
  • the rotating driving device is a hand wheel or a motor;
  • an outer ring is also provided between the base of the clamping device and the worktable, and the outer ring is located outside the rotating shaft and is tightened by tightening
  • the part is fixed on the worktable to assist in supporting the base of the clamping device, and a rolling bearing or a smooth wear-resistant part is arranged between the outer ring part and the base of the clamping device to facilitate the rotation of the base of the clamping device;
  • the outer ring is provided with an arc-shaped limit groove, and the clamping device base is provided with a limit column that can be inserted into the arc-shaped limit groove and is restricted in movement;
  • the limit block that holds the rotation range of the base of the device
  • the cutting device includes a cutting device base, a cutting motor, a head reducer, a cutting saw blade and a feed motor
  • the cutting device base is fixed on the fuselage
  • the head reducer is connected to the cutting device base through a sliding rail.
  • the seat is slidably connected and is driven by the feed motor to move the feed back and forth.
  • a cutting saw blade is set on one side of the head reducer, and the cutting motor drives the cutting saw blade to cut after the reduction mechanism;
  • the cutting saw blade is a circular saw blade, a saw blade , blade or wire saw;
  • the cutting motor and the feeding motor are both servo motors, and a servo encoder is installed on the servo motor; the feeding route of the cutting saw blade is inclined downward for cutting.
  • the carriage mechanism includes a Y-direction carriage and an X-direction carriage
  • the X-direction carriage is slidably connected to the fuselage left and right and is driven by a feeding motor to move and feed
  • the Y-direction carriage and the X-direction carriage slide back and forth Connected and driven by the conversion motor to move back and forth
  • the Y-direction carriage is equipped with a positioning device and a flat mouth device, the positioning device and the flat mouth device are adjacent to each other, and when the Y-direction carriage moves back and forth, the positioning device and the flat mouth device can be respectively connected with the conduit.
  • the positions of the clamping conduits of the clamping device correspond to each other;
  • the positioning device includes a positioning device base, a positioning block and a positioning driver, the positioning device base is fixed on the Y-direction carriage, and the positioning block and the positioning device base are slidably connected left and right and are
  • the positioning driver is driven by a positioning driver to move and feed;
  • the positioning driver is a servo electric cylinder or a hydraulic oil cylinder controlled by a servo proportional valve;
  • the positioning surface of the positioning block is a positioning disk surface that can contact the entire end face of the catheter, or a straight-line positioning
  • the flat mouth device includes a flat mouth device base, a flat mouth motor, and a tool turntable, the flat mouth device base is fixed on the Y-direction carriage, and the tool turntable is installed on the flat mouth device base and is driven to rotate by the flat mouth motor.
  • a number of flat cutting tools are installed, and when the tool turntable rotates, the flat cutting tools are driven to rotate to form
  • a digital control system for the removal of an aerospace duct margin is provided, which adopts the above-mentioned digital control device for the removal of an aerospace duct margin.
  • a digital control method for the removal of residual space in an aerospace duct using the above-mentioned digital control device for residual removal in an aerospace duct, comprising the following steps:
  • the cutting device feeds the knife for cutting, and the cutting saw blade enters between the second clamping seat and the fourth clamping seat to cut off the excess of the catheter;
  • the digital controller is used to control the various devices uniformly, and the operator inputs and sets each process parameter according to each processing requirement.
  • the excess process allowance at the end is quickly and accurately cut.
  • the removal and processing of excess process allowance at the end of the catheter can be quickly completed, so as to achieve digital accurate control of the allowance length positioning and reliable arc clamp Holding and circular saw blade cold cutting process, and the supporting digital controller realizes digital control.
  • Fig. 1 is the structural representation of the device of the present invention
  • Fig. 3 is one of the structural representations of the catheter clamping device of the present invention.
  • Fig. 4 is the second structural schematic diagram of the catheter clamping device of the present invention.
  • FIG. 5 is a top view of the catheter clamping device of the present invention.
  • Fig. 6 is the sectional view of A-A of Fig. 5;
  • Fig. 7 is one of the structural representations of the catheter clamping device and the angle adjustment device of the present invention.
  • FIG. 9 is a schematic structural diagram of another embodiment of the catheter clamping device of the present invention.
  • FIG. 10 is a schematic diagram of the fixture installation structure in the catheter clamping device of the present invention.
  • Fig. 11 is the structural representation of the fixture of the present invention.
  • Fig. 12 is the structural representation of the cutting device of the present invention.
  • Fig. 13 is the structural representation of the positioning device and the mouth device of the present invention.
  • FIG. 14 is a schematic diagram of the positioning device of the present invention implementing digital positioning
  • Figure 15 is a top view of the device of the present invention (angle is not adjusted);
  • Fig. 16 is the schematic diagram that the apparatus of the present invention carries out flushing processing
  • Fig. 17 is the top view that the equipment of the present invention carries out the flat mouth of horseshoe mouth;
  • Positioning device 61, Positioning drive; 62, Guide rod; 63, Positioning device base; 64, Positioning block; 7, Flat device; 71, Flat device base; 72, Flat motor; 73, Tool turntable; 74 8, cutting device; 801, cutting device base; 802, cutting motor; 803, head reducer; 804, cutting saw blade; 805, screw rod; 806, feed motor; 9, conduit clamping device; 901, the first clamping seat; 902, the second clamping seat; 903, the third clamping seat; 904, the fourth clamping seat; 905, the first clamping cylinder; 906, the clamping device base; 907, the second clamping cylinder; 908, the clamping motor; 909, the first connecting rod; 910, the second connecting rod; 911, the arc tooth; 912, the angle encoder; 913, the rotating shaft; 914, the plane bearing; 915 , waste landslide; 916, the third clamping cylinder; 917, the positioning groove of the clamping seat; 918, the arc groove; 919, the limit
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plural means two or more, unless otherwise expressly defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components.
  • installed e.g., it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components.
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.
  • a duct allowance cutting device is used for the allowance cutting and machining of engine ducts in the aerospace field, etc., and includes a fuselage 2.
  • the fuselage 2 is provided with an angle adjustment device 3,
  • the holding device 9 is arranged on the left and the right, and the machine body 2 is also provided with a waste chute 21.
  • the waste chute 21 is located between the carriage mechanism 5 and the conduit clamping device 9.
  • the cutting device 8 feeds the knife back and forth, and the waste chute 21
  • the outlet is provided with a waste bin 4 for collecting waste.
  • the digital controller includes a PLC controller.
  • the PLC controller is set in the electrical cabinet.
  • the PLC controller can also be connected to a touch screen and a console.
  • the operator can input and set each process according to the needs of each processing. parameters, during automatic operation, the equipment automatically executes each process parameter to achieve fast and accurate cutting of excess process allowance at the end of the catheter.
  • the digital controller can also be replaced by a CNC controller.
  • the catheter clamping device 9 is used to reliably clamp the catheter after the catheter end is positioned securely, to prevent the catheter from loosening during the cutting process, and to ensure the catheter is cut smoothly.
  • the catheter clamping device 9 is installed on the worktable 22 of the fuselage 2 , and the catheter clamping device 9 includes a first clamping seat 901 , a second clamping seat 902 and a third clamping seat 903, the fourth clamping seat 904 and the clamping device base 906, the first clamping seat 901 and the second clamping seat 902 are oppositely arranged on the clamping device base 906 in front and back, and the two cooperate with each other to clamp the catheter 1,
  • the third clamping seat 903 and the fourth clamping seat 904 are oppositely arranged on the clamping device base 906 in front and back, and they cooperate with each other to clamp the catheter 1 in front and back.
  • the second clamping seat 902 and the fourth clamping seat 904 are arranged at intervals on the left and right, the third clamping seat 903 and the fourth clamping seat 904 are located on the side of the clamping device base 906 close to the waste chute 21, the clamping device
  • the base 906 is provided with a waste slide 915 between the third clamping base 903 and the fourth clamping base 904, the first clamping base 901 is fixed on the clamping device base 906, and the second clamping base 902 is clamped by
  • the motor 908 is driven to slide back and forth on the clamping device base 906, and the third clamping base 903 is driven to slide back and forth on the clamping device base 906 by the first clamping cylinder 905.
  • the three clamping bases 903 are hinged, the fourth clamping base 904 is driven by the second clamping cylinder 907 to slide back and forth on the clamping device base 906, and the moving end of the second clamping cylinder 907 is hinged with the fourth clamping base 904,
  • the cutting device 8 feeds and cuts between the first clamping base 901 and the third clamping base 903 (or between the second clamping base 902 and the fourth clamping base 904 ). In this way, both the residual waste section and the reserved straight section at the end of the catheter are reliably clamped, so as to ensure the stability and processing accuracy of the cutting process.
  • the retained straight section at the end of the catheter is clamped by a dynamic and static clamping seat, and the fixed first clamping seat is used as a positioning reference, which can accurately locate the clamping position of the catheter on the base of the clamping device.
  • the waste section is driven by two clamping cylinders, which is fast and convenient, and has good flexibility and adaptability.
  • the clamping motor 908 is connected to the second clamping base 902 through the first link 909 and the second link 910 , and the moving end of the clamping motor 908 is connected to the first link
  • One end of 909 is hinged, the other end of the first link 909 is hinged with the clamping device base 906, one end of the second link 910 is hinged with the moving end of the clamping motor 908, and the other end of the second link 910 is hinged with the second link 910.
  • the clamping seat 902 is hinged.
  • the clamping motor pushes and locks the second clamping seat through the double link structure, which not only can realize the clamping and/or pre-clamping of the catheter, but also the clamping is stable and reliable.
  • the first link 909, the second link 910 and the moving end of the clamping motor 908 share a hinge shaft, so as to further ensure reliable clamping and locking and facilitate assembly.
  • the clamping motor 908 is preferably a servo electric cylinder, so that the digital controller can control the moving speed and moving position of the servo electric cylinder according to the catheter of different specifications and materials and the clamping contact area, so as to ensure that the clamping force does not damage the catheter, and the clamping force does not damage the catheter. stable and reliable.
  • the clamping motor 908 can also be replaced by an air cylinder to realize rapid replacement of the catheter.
  • the cylinder body of the third clamping cylinder 916 is hinged with the clamping device base 906, and the third clamping cylinder The moving ends of 916 are hinged with the first link 909 and the second link 910, respectively.
  • the moving end of the clamping motor 908 or the third clamping cylinder 916 moves obliquely downward to implement the clamping conduit.
  • the upper end of the first link 909 and the movement of the clamping motor 908 or the third clamping cylinder 916 The ends are hinged, the lower end of the first link 909 is hinged with the clamping device base 906, the upper end of the second link 910 is hinged with the second clamping seat 902, and the lower end of the second link 910 is hinged with the clamping motor 908 or the third
  • the moving end of the clamping cylinder 916 is hinged.
  • Such a locking structure has a larger locking force to ensure stable clamping, and the loosening and clamping actions can be adjusted quickly and flexibly.
  • the first clamping seat 901 , the second clamping seat 902 , the third clamping seat 903 and the fourth clamping seat 904 are all installed with contact clamps Tighten the clamp block of the catheter 1, the clamp block is in a semi-ring shape, the inner side of the clamp block is a semi-circular clamping groove, and the two front and rear opposite clamp blocks cooperate to form a clamping hole 1013 for accommodating the straight section of the end of the catheter 1, Positioning protrusions are formed on the outer surface of the clamp block, and correspondingly, the clamping seat is provided with a fixing slot matched with the positioning protrusions of the clamp block.
  • first clamping block 101 is fixed on the first clamping base 901
  • second clamping block 102 is fixed on the second clamping base 902
  • third clamping block 103 is fixed on the third clamping base 903
  • fourth clamp block 104 is fixed on the fourth clamp base 904, and the four clamp blocks have the same structure.
  • the positioning protrusion is a circular arc protrusion 1012
  • the fixing slot is a circular arc groove 918
  • a fixture positioning groove 1011 is provided on the clamp block for clamping
  • the seat is provided with a clamping seat positioning groove 917 that communicates with the clamping seat positioning groove 1011
  • the locking member 105 passes through the clamp positioning groove 1011 and the clamping seat positioning groove 917 and is locked and fixed on the clamping seat by a fastener.
  • a unified outer arc positioning and installation reference is set on the clamping seat, in the shape of a semicircle, the outer arc of the clamp block is installed on this reference, and the inner arc of the clamp block is designed according to the outer diameter of the conduit.
  • the semi-circular arc structure has better centering accuracy, which helps to improve the machining accuracy, and only one locking piece can accurately locate and lock the fixing fixture. It is convenient and quick to install and disassemble, and it can realize the quick change of the end of the rocket guide tube with multiple specifications and small batches.
  • the positioning protrusions and the fixing grooves serving as the positioning and installation reference can also be designed into special shapes such as oval, rectangle, square, etc.
  • the clamp positioning groove 1011 is arranged under the upper end face or the lower end face of the clamping side of the clamp block, and correspondingly, the clamping seat positioning groove 917 is also arranged on the upper end face or the lower end face of the clamping side of the clamping seat.
  • the clamp positioning groove 1011 and the clamping seat positioning groove 917 have the same dovetail cross section, and the locking member 105 has a waist-shaped hole through which the fastener passes through the waist-shaped hole and is threadedly connected to the clamping seat.
  • the locking member 105 When the fastener is not locked with the locking member 105, the locking member 105 can be moved up and down to insert or withdraw from the fixture positioning slot 1011 to facilitate the quick disassembly and assembly of the clamp block. It is accurately fixed on the clamping seat, no screws are required for fixing, and the installation and disassembly are very convenient.
  • the clamping device base 906 is mounted on the table 22 through the rotating shaft 913 and can be rotated.
  • the first clamping seat 901 and the second clamping seat 902 clamp the catheter 1
  • the The axis line of the straight section of the pipe end intersects with the axis of the rotating shaft 913 , and the intersection point is located on the cutting surface of the cutting device 8 .
  • the clamping device base 906 is supported on the worktable 22 through a plane bearing 914 and rotates centered by a rotating shaft 913 , and the upper end of the rotating shaft 913 is inserted into the bottom of the clamping device base 906 .
  • the lower part of the rotating shaft 913 is engaged with the angle encoder 912 installed on the worktable 22 through gears to be locked and fixed in the fixing hole.
  • the angle rotation information of the clamping device base 906 can be transmitted to the digital controller through the angle encoder 912, and the adjustment angle of the “horseshoe mouth” can be directly displayed on the operation screen through numerical values, which is convenient for the operator to control.
  • the angle adjustment device 3 includes a gear 302 , the gear 302 is engaged with the arc-shaped teeth 911 provided on one side of the clamping device base 906 for transmission, and the gear 302 is driven by the rotation driving device When driven to rotate, the arc tooth 911 is in the shape of a circular arc and the center of the circular arc is located on the axis of the rotating shaft 913 .
  • the arc-shaped teeth 911 are circular arc-shaped racks fixed on the base 906 of the clamping device.
  • the rotation driving device is a hand wheel 301 , a gear 302 is fixed or integrally formed on the gear shaft 303 , a worm gear 304 is fixed on the gear shaft 303 , the worm gear 304 meshes with the worm 306 for transmission, and the hand wheel 301 drives the worm 306 to rotate and then drives the gear 302
  • the clamping device base 906 is rotated, and an indicator plate 305 for indicating the rotation angle is mounted on the table 22 .
  • the rotational driving device can also be a motor, which can be connected to the above-mentioned worm, or can be drive-connected to the gear 302 or the rotating shaft 913 through a deceleration mechanism, and the motor can be a stepping motor, a servo motor, or an automatic motor. Motor with reduction gear.
  • the angle encoder 912 may also be connected to the rotating shaft 913 through a universal joint. The device adjusts the angle along the direction of the horizontal plane. After adjustment, it has a locking function. After the angle in the horizontal direction is properly adjusted, it is locked without affecting the changes in other directions. The angle adjustment amount in the horizontal direction will be displayed on the control screen in real time, which is convenient for the operator to grasp.
  • an outer ring member 23 is further provided between the clamping device base 906 and the worktable 22, and the outer ring member 23 is located outside the rotating shaft 913 and is fixed on the worktable 22 by fasteners for use in
  • the clamping device base 906 is auxiliary supported, and a rolling bearing (such as a ball roller) or a smooth wear-resistant member is provided between the outer ring member 23 and the clamping device base 906 to facilitate the rotation of the clamping device base 906 .
  • the outer ring member 23 is provided with an arc-shaped limiting groove 231
  • the clamping device base 906 is provided with a limiting column that can be inserted into the arc-shaped limiting groove 231 and has limited movement.
  • a limit block 919 can also be fixed on the worktable 22 to limit the rotation range of the clamping device base 906 .
  • the cutting device 8 After receiving the processing parameters such as saw blade speed and feed speed from the digital controller, the cutting device realizes accurate movement according to the requirements of each process parameter, ensuring that the catheter can obtain the best process parameters during cutting.
  • the cutting device 8 includes a cutting device base 801, a cutting motor 802, a head reducer 803, a cutting saw blade 804 and a feed motor 806.
  • the cutting device base 801 is fixed on the body 2, and the head
  • the reduction box 803 is slidably connected with the cutting device base 801 through the sliding rail, and is driven by the feed motor 806 to move the cutting blade forward and backward.
  • a cutting saw blade 804 is provided on one side of the head reduction box 803, and the cutting motor 802 drives the cutting saw through the reduction mechanism. Sheet 804 is cut.
  • the cutting saw blade 804 is a circular saw blade. In other embodiments, the cutting saw blade 804 may also be a cutting tool such as a saw blade, a blade, or a wire saw.
  • the feed motor 806 is a servo motor, and the head reduction box 803 is driven to move by the screw rod 805 .
  • the cutting motor 802 and the feeding motor 806 are both servo motors, and a servo encoder is installed on the servo motors, so that the feeding speed, feeding position and cutting can be accurately controlled by the digital controller according to the specifications of the catheter material. speed etc.
  • the preferred embodiment is that the above-mentioned clamping device base 906 upper rotating shaft
  • the axis of 913 is located on the cutting surface of the cutting saw blade 804, and the cutting surface of the cutting blade refers to the plane of the incision of the catheter after the cutting is completed.
  • the flushing surface of the flushing device 7 is parallel to the feeding cutting surface of the cutting device 8, or in other words, the feeding route of the cutting saw blade 804 is perpendicular to the feeding route of the flushing tool.
  • the feeding path of the cutting saw blade 804 is inclined downward to cut, so that the dislocation with the pipe clamping device 9 prevents the two devices from interfering with each other, and helps to reduce the cutting vibration for clamping the pipe clamping device 9
  • the influence of the catheter 1 ensures the cutting accuracy.
  • the carriage mechanism 5 includes a Y-direction carriage 53 and an X-direction carriage 54 .
  • the X-direction carriage 54 is slidably connected to the body 2 left and right and is driven by the feeding motor 51 to move and feed.
  • the Y to the carriage 53 is provided with a positioning device 6 and a flat mouth device 7, and the positioning device 6 and the flat mouth device 7 are adjacent to each other front and rear, and When the Y-direction carriage 53 moves back and forth, the positioning device 6 and the opening device 7 can respectively correspond to the positions of the catheter clamping device 9 for clamping the catheter 1 .
  • the servo motor of the positioning device drives the positioning device to position according to the positioning parameters, so as to realize the digital control of the length of the catheter end with accuracy.
  • the positioning device 6 includes a positioning device base 63 , a positioning block 64 and a positioning driver 61 .
  • the positioning device base 63 is fixed on the Y-direction carriage 53
  • the positioning block 64 is connected to the positioning device base.
  • 63 is slidably connected left and right and is driven by the positioning driver 61 to move and feed.
  • the positioning driver 61 is a servo electric cylinder
  • the positioning block 64 is fixed on the moving end of the servo electric cylinder.
  • the digital controller can accurately control the stop position of the positioning block 64, and the moving position of the positioning block 64 can also be displayed on the control screen in real time, which is convenient for operation.
  • the positioning driver 61 may also be a hydraulic cylinder controlled by a servo proportional valve.
  • the positioning block 64 is slidably connected to the positioning device base 63 through the guide rod 62 , so that the cooperation between the guide rod 62 and the piston rod of the servo electric cylinder increases the positioning stability of the positioning block 64 .
  • the positioning surface of the positioning block 64 may be a positioning disc surface that can contact the entire end face of the catheter, or may be a straight-line positioning surface, that is, the surface in contact with the catheter can be designed as a circular plane as required.
  • the knife-edge shape surface reduces the contact area with the catheter.
  • the flushing device 7 includes a flushing device base 71 , a flushing motor 72 , and a tool turntable 73 , the flushing device base 71 is fixed on the Y-direction carriage 53 , and the tool turntable 73 is mounted on the flushing device base 71 . And driven by the flat-mouth motor 72 to rotate, a number of flat-mouthed cutters 74 are installed on the tool turntable 73. When the tool turntable 73 rotates, it drives the flat-mouthed cutter 74 to rotate to form a flat-mouthed machining surface. It is parallel to the positioning surface of the positioning device 6 .
  • the flat mouth device 7 is driven by the feeding motor 51 to implement the feeding; the positioning device 6 can be driven by the feeding motor 51 to implement the feeding, and can also be implemented by the positioning driver 61. feed.
  • a wire brush can also be provided to clean the catheter port to make it smoother and smoother, thereby improving the welding quality.
  • the above-mentioned method for removing the remaining portion of the catheter of the device for removing the remaining portion of the catheter comprises the following steps:
  • the cutting device 8 advances the knife to cut, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut off the remainder of the catheter 1;
  • step 1) for how to obtain the residual positioning parameters of the catheter after the bending process is completed, you can refer to the publication number CN 108074277A patent document discloses a method for measuring and locating a bend pipe, the steps of which are: by means of a laser tracker and a target to perform global calibration of multi-sensors, and convert the multi-sensor coordinate system to the global coordinate system; Pipe image, edge detection and morphological refinement are used to obtain the center line of the elbow, and the center line is 3D reconstructed by means of bidirectional polar line matching algorithm; the center line is discretized into a spatial point cloud, and the control points, straight line segment endpoints and arc segments are calculated. The arc center point, using the center line as a guide line for 3D modeling; finally, using the closest point iterative method to match the design model and the measurement model, calculate the margin position, and obtain the margin positioning parameters.
  • a robot, a manipulator or manual transfer of the catheter 1 is used.
  • the method for cutting the mouth of the horseshoe by the above-mentioned catheter margin cutting device comprises the following steps:
  • the cutting device 8 feeds and cuts, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut off the remainder of the catheter 1;
  • the angle of rotation of the catheter 1 to be processed along the axis of the straight section of the pipe end can be adjusted by manual marking and positioning or the manipulator/robot, so as to ensure that the equipment only needs
  • the horizontal deflection angle of the catheter 1 can be adjusted.
  • a pipe fitting cutting equipment comprising a body 2, an angle adjustment device 3, a cutting device 8, a conduit clamping device 9 and a carriage mechanism 5 are installed on the body 2, and a positioning device 6 is installed on the carriage mechanism 5, and the positioning device 6 and the catheter clamping device 9 are arranged opposite to left and right, and the cutting device 8 feeds back and forth.
  • the only difference from Example 1 is that the flat mouth device 7 is not provided, and only the catheter cutting function is performed.
  • the cutting method of the above-mentioned pipe fitting cutting equipment comprises the following steps:
  • the positioning driver 61 and/or the feeding motor 51 drives the positioning block 64 to the designated position according to the positioning parameters of the catheter 1 to be cut;
  • the third clamping seat 903 and the fourth clamping seat 904 clamp one side of the catheter 1.
  • a clamping seat 901 and a second clamping seat 902 clamp the other side of the catheter 1, and the positioning block 64 is reset;
  • the cutting device 8 feeds the knife, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut the conduit 1;
  • the method for cutting a horseshoe mouth by the above-mentioned pipe fitting cutting equipment comprises the following steps:
  • the positioning driver 61 and/or the feeding motor 51 drives the positioning block 64 to the designated position according to the positioning parameters of the catheter 1 to be cut;
  • the third clamping seat 903 and the fourth clamping seat 904 clamp one side of the catheter 1.
  • a clamping seat 901 and a second clamping seat 902 clamp the other side of the catheter 1, and the positioning block 64 is reset;
  • the cutting device 8 feeds the knife, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut the conduit 1;
  • a pipe fitting flat mouth equipment comprising a body 2, an angle adjustment device 3, a conduit clamping device 9 and a carriage mechanism 5 are installed on the body 2, and a positioning device 6 and a flat mouth device 7 are installed on the carriage mechanism 5.
  • the positioning device 6 and the catheter clamping device 9 are arranged opposite to left and right, and the flat mouth device 7 moves left and right to feed the knife.
  • the only difference from Example 1 is that the cutting device 8 is not provided, and only the end face of the catheter nozzle is flushed.
  • the flat-mouth processing method of the above-mentioned pipe fitting flat-mouth equipment comprises the following steps:
  • the positioning driver 61 and/or the feeding motor 51 drive the positioning block 64 to the designated position according to the positioning parameters of the catheter 1 to be processed;
  • the conversion motor 52 drives the Y-direction carriage 53 to move the flushing device 7 to the processing position, the flushing motor 72 drives the tool turntable 73 to rotate, and the feed motor 51 drives the flushing device 7 to feed and perform flush machining on the end face of the nozzle of the conduit 1;
  • the method for processing the flat mouth of the horseshoe mouth by the above-mentioned pipe fitting flat mouth equipment comprises the following steps:
  • the positioning driver 61 and/or the feeding motor 51 drive the positioning block 64 to the designated position according to the positioning parameters of the catheter 1 to be processed;
  • the conversion motor 52 drives the Y-direction carriage 53 to move the flushing device 7 to the processing position, and the feeding motor 51 drives the flushing device 7 to feed and perform flushing processing on the end face of the horseshoe mouth of the catheter 1;

Abstract

L'invention concerne un système, un procédé et un appareil de commande numérique de découpe de surcote d'usinage de conduit aérospatial, le système comprenant un dispositif de réglage d'angle (3), un dispositif de découpe (8), un dispositif de serrage de conduit (9), un mécanisme de chariot (5), un dispositif de positionnement (6) et un dispositif de nivellement d'ouverture (7). Le dispositif de découpe (8) alimente une lame vers l'avant et vers l'arrière, le dispositif de positionnement (6) et le dispositif de nivellement d'ouverture (7) l'alimentent vers la gauche et vers la droite, le dispositif de positionnement (6) comprend une commande de positionnement (61) utilisée pour commander le déplacement d'un bloc de positionnement (64), le dispositif de serrage de conduit (9) comprend un moteur électrique de serrage (908) utilisé pour commander le serrage d'un conduit par un siège de serrage, le dispositif de découpe (8) comprend un moteur électrique de découpe (802) et un moteur électrique d'alimentation de lame (806), le dispositif de nivellement d'ouverture (7) comprend un moteur électrique de nivellement d'ouverture (72), le mécanisme de chariot (5) comprend un moteur électrique d'alimentation (51) utilisé pour commander l'alimentation du dispositif de positionnement (6) et du dispositif de nivellement d'ouverture (7) et un moteur électrique de conversion (52) utilisé pour convertir des positions d'usinage du dispositif de positionnement (6) et du dispositif de nivellement d'ouverture (7), et tous les dispositifs sont commandés par un contrôleur numérique. Le contrôleur numérique est utilisé pour commander tous les dispositifs d'une manière unifiée, ce qui permet d'obtenir un usinage de découpe rapide et précis de la surcote d'usinage à une extrémité d'un conduit.
PCT/CN2020/102037 2020-06-12 2020-07-15 Système, procédé et appareil de commande numérique de découpe de surcote d'usinage de conduit aérospatial WO2021248623A1 (fr)

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