Spatial irregular-shaped items machining device

FIELD: engineering industry.

SUBSTANCE: invention refers to engineering industry, and can be used for grinding, polishing and milling spatial polysurfaces of details, and namely propeller blades, working part of gas, steam or hydraulic turbine blades. At the device bottom there arranged is the point for installing the machining tool with the tool rotary drive, and the point for installing the machined item in the form of multilink manipulator. There provided are two mechatronic modules of rotary and translational movements - machined item movement module and cutting tool rotary drive movement module. Each module consists of a housing, splined bush, nut and outlet shaft. Stators of two synchronous electric motors are fixed on the housing, rotor of the one synchronous electric motor - on splined bush, and rotor of the other synchronous electric motor - on the nut. Outlet shaft is connected by means of a rectilinear kinematic pair made in the form of a spline connection to splined bush, and by means of a screw pair - to nut. Outlet shaft is hollow. Nut and splined bush are connected to the housing by means of turning pair made in the form of ball bearing or slide bearings. All kinematic pairs of each mechatronic module of rotary and translational movements have a common axis. There provided is at least one kinematic pair with the appropriate drive which is intended for moving the cutting tool rotary drive movement module housing relative to machined item movement module housing.

EFFECT: improving accuracy and efficiency of processing due to decrease of a number of kinematic pairs and movable links, and decrease of mass thereof.

5 cl, 6 dwg

The invention relates to the field of engineering, in particular to a device for the mechanical machining of complex spatial forms, and can be used for grinding, polishing, milling spatially complex surface parts, in particular of the blades of propellers, the working side of the blades of the gas, steam or hydraulic turbine.

A device for the mechanical machining of complex spatial forms containing the base and located on the site for installation of the machining tool with a drive of rotation and displacement, and the site for installation of workpiece can move (European patent 0142072 on CL VV 19/20 from 20.10.1984 year). The disadvantages of this device are the relative complexity of the device, the relatively low precision processing products, due to the large number of links in the nodes to move and rotation of the machining tool and to move the processed product.

It is also known a device for machining turbine blades, containing the base and placed on the site to move the workpiece by six coordinates, the node for rotational and translational movement of the machining tool (European patent 0325495 on CL VV 19/14 from 23.01.1989 year). Not what atcom this device is the large inertial mass of the link mechanism, reducing the processing performance, due to the fact that the links in the nodes to move the workpiece and the machining tool consistently associated translational kinematic pairs.

A device for the mechanical machining of complex spatial forms containing the base and placed on the site to install the machining tool, supplied with the actuator housing rotation tool, site installation workpiece, is made in the form of a multi-link manipulator, containing the driving and the driven links pivotally interconnected and drives their rotational movement (RF patent 2063329 class B25J 9/00 from 10.07.1996 year). The disadvantages of this device are the complexity of the design, due to the presence of a large number of links in mice, as well as the uneven relations RMS value of the drive speed to the speed of movement of the tool relative to the product within the working area (kinematic anisotropic spatial mechanism).

The closest technical solution with respect to the proposed device, the set of essential features for a device for the mechanical machining of complex spatial forms containing the base and rasmusen the e on it manipulator moving workpiece, consisting of a planar five-bar manipulator with two rotary actuators that move two rotational drive (only has four managed coordinates), and the planar two-link manipulator movement of the drive rotation of the cutting tool (two managed coordinates)(patent RF №2202465 from 28.05.2001, class B25J 9/00, WV 19/14). It should also be noted the possibility of using direct drive action based on the synchronous rotational electric motors with permanent magnets, eliminating the gears of the design, thereby simplifying and reducing its error handling. The six managed coordinates creates the opportunity of product processing tool movement relative to the product in accordance with the method described in the patent of Russian Federation №2198778 from 26.02.2001, class WW 19/14, WV 19/20, WV 51/00, VS 3/18. However, the mechanism contains a large number of kinematic pairs, each of which contributes to the error handling due to backlash and eccentricity. The manipulator is moving the article is moved in the vertical plane, causing the need for static discharge manipulator additional handling devices. Each kinematic pair of five-bar mechanism due to console location on it TLDs the rotational actuator and the clamping mechanism and the product is subjected to bending moment from gravity and must have sufficient axial dimension, to withstand this bending moment. This causes an increase in the weight and size of the links of the mechanism, increasing the dynamic load on the drives and reducing the maximum processing performance of the product.

Task to be solved by the claimed invention is directed, is to improve the accuracy of processing of the products by reducing the number of moving links and kinematic pairs of the mechanism and increasing productivity in the processing of the products by reducing the mass of the movable parts of the mechanism.

The problem is solved due to the fact that the device for the mechanical machining of complex spatial form includes two mechatronic module reciprocating linear movements: module movement of workpiece and module move the drive rotation of the cutting tool. Each mentioned mechatronic module consists of a housing on which are fixed the two stators of synchronous motors, slotted sleeve mounted on it with one rotor synchronous motor, a nut mounted on it the other rotor of the synchronous motor and the output shaft, the mating splined connection (translational kinematic pair) with slotted nut and the mating screw kinematic pair with nut mentioned output shaft can be the ü hollow to accommodate clamping devices products or for the supply of energy to drive rotation of the cutting tool, or for the supply of cooling lubricant to the cutting tool while the nut is mated with the housing of the rotational kinematic pair on the basis of rolling bearings or sliding bearings and splined sleeve mates with the housing of the rotational kinematic pair on the basis of rolling bearings or sliding bearings, all kinematic pairs mentioned mechatronic module reciprocating linear movements have a common axis. Thus, the device has managed four coordinates in the two mentioned mechatronic modules, whereas for machining complex spatial forms a rotating tool (milling cutter, grinding wheel etc) requires at least five managed coordinates that define the position of the rotation surface (cutting surface of the tool) in the coordinate system of the workpiece. Therefore, the device also includes at least one kinematic pair for which the corresponding actuator is moving the enclosure mentioned module move the drive rotation of the cutting tool relative to the body of the above-mentioned module move the processed product.

Conducted by the applicant's analysis of the prior art, including poiska patent and scientific and technical information sources, has allowed to establish that the applicant is not detected similar, characterized by signs, identical to all the essential features of the claimed invention.

Therefore, the claimed invention meets the requirement of "novelty" under the current law.

Figure 1 presents a schematic view in section of the device for the mechanical machining of complex spatial forms. To ensure the collectability of certain details shown in the drawing, may consist of two or more parts connected together in a detachable or non-detachable manner. This only affects the method of manufacturing a device, but not on its principle of action.

In figure 2, figure 3, figure 4, figure 5 presents the sequence of operation of the mechanism that moves the clamping element for the positioning of the tools companion products on the output shaft of the above-mentioned module move the processed product.

Figure 6 presents a perspective view of the device for the mechanical machining of complex spatial forms.

The device in accordance with a preferred embodiment of the invention (1) comprises a base 6 that is hosting the site for installation of workpiece in the form of a multi-link manipulator with actuators 1, 2, 3, and node for installation of the machining tool in the form of m is agozino manipulator with actuators 4, 5 and the actuator 15 of rotation of the tool 16.

The site for installation of the machining tool contains mechatronic module that transfers the rotational drive of the cutting tool two actuators 4 and 5. Each drive is a synchronous motor winding, for example, 5A, and a rotor in the form of a permanent magnet, for example, 5b of the actuator 5. The rotor of the electric motor 5 is fixed on the nut 18, which is fitted in bearings 20 with the base 6 and the screw kinematic pair with the shaft 17 of the extension movement of the drive rotation of the cutting tool. The rotor of the electric motor 4 is fixed to the spline hub 19 which mates bearings with base 6 and a splined connection with the shaft 17 of the extension movement of the drive rotation of the cutting tool. The shaft 17 has a screw section to mate with the nut 18 and the slotted section to mate with the splined sleeve 19, the said sections are arranged successively on the outer surface of the shaft 17. The shaft 17 may have a cavity (not shown) for placing the means for supplying electricity to the drive rotation of the cutting tool and cooling lubricant to the tool and to be made of pipe. On the curved end of the shaft 17 is mounted actuator 15 of rotation of the cutting tool.

The site for installation of the processed product contains a similar Megatron the module to move the workpiece with two actuators 2 and 3. Each drive is a synchronous motor with a rotor in the form of a permanent magnet. The rotor of the electric motor 2 is fixed on the nut 8, which is mated bearings with housing 12 of module movement of workpiece and screw kinematic pair with the shaft 7 of module movement of workpiece. The rotor of the electric motor 3 is fixed to the spline hub 9, which is fitted in the bearing housing 12 of module movement of workpiece and a splined connection with the shaft 7 of module movement of workpiece. The shaft 7 has a screw section to mate with a nut 8 and a splined section to mate with the splined sleeve 9, the above mentioned sites are located sequentially on the outer surface of the shaft 7. Inside the shaft 7 may have a cavity for placement of an additional drive device clamping of workpiece, however, it is preferable for the clamping of workpiece 11 or means 10 of the satellite is controlled by the movements of the actuators 2 and 3, as a means of supplying energy (liquid, air, electricity) to the actuator device clamping of workpiece restricts the mobility of the node for installation of the processed product.

For pre-clamping of workpiece 11 or means 10 of the satellite managed to peremeshany the mi actuators 2 and 3 used a threaded hole 7a of the shaft 7, screwed on the shank of workpiece 11 or shank means of the satellite 10 and the spring washer 7d attached to the shaft 7. For clamping the exact clamping of workpiece 11 or means 10 of the satellite is controlled by the movements of the actuators 2 and 3 is used (figure 1, figure 2) gear 12A in the region of the end face of the housing 12, at least one roller or bolt 14 with a gear head and a conical surface on the end of the corresponding conical hole 10A in the processed product or companion flange 7b of the shaft 7 with the screw hole corresponding to the bolt 14, and the emphasis 7C.

To protect the surfaces of kinematic pairs from getting shavings and dust to the flange 7b and the body 12 of the module movement of workpiece can be attached sliding the protective cover 13.

The site for the installation of workpiece further comprises the actuator 1 and the kinematic pair formed by the coupling of the housing 12 of the module moving workpiece with the base 6 with the use of bearings. In the preferred embodiment, this rotational actuator and the rotational kinematic pair, because it allows you to get greater speed of movement of workpiece 11 with the same kinetic energy module movement of workpiece and the same distribution the AI masses in this module. However, based on design considerations can be applied also to the translational drive and linear guide, as well as an additional drive can be included in the site for installation of drive rotation of the cutting tool in addition or instead of the actuator 1. Drives 2 and 3, the body 12 of the module movement of workpiece positioned relative to the axis of rotational kinematic pair the actuator 1 so that together to be statically balanced by the forces of gravity. In this case, statically unbalanced will only shaft 7 together with a processed product 11, the tool 10 of the satellite and the protective cover 13 as a result of their variable radial position relative to the axis of the rotational kinematic pair of actuator 1.

Each drive device can be equipped with a motion sensor can also be installed sensors displacement of the shaft 7 or 17 on the housing corresponding mechatronic module opposite the corresponding object manipulation (processed product or the drive rotation of the cutting tool).

The bearings used in the rotational bearing device, such as 20, may be as rolling bearings and plain bearings depending on the requirements of the rotational support on the positioning accuracy, wear the durability, speed of movement and the power load.

The device in accordance with the invention may further comprise a store 22 (6) to accommodate workpieces 21 and processed products that can be installed directly in the shop or in the appropriate tools 10 installed in the store. The blank magazine and processed products may also be used for placement of funds editing and sharpening of cutting tools. The blank magazine and processed products has the drive discrete or continuous movements and positions 22A to accommodate blanks and processed products.

The device in accordance with a preferred embodiment of the invention operates as follows. Mechatronic module movement of workpiece provides it managed to move on two independent coordinates: translational movement along the axis module axis of the shaft 7) is carried out at a constant value of the angle of rotation of the actuator 3 by rotation of the nut 8 from the actuator 2 and the rotational movement around the axis of the module by turning the nut 8 from the actuator 2 and the slotted sleeve 9 from the actuator 3 at the same angle. The third axis of the unit setting of workpiece is the angle of rotation of the actuator 1.

Mechatronic module move the actuator rotation cutting the instrument performs a controlled movement of the actuator via two independent coordinates: translational movement along the axis module axis of the shaft 17) is carried out at a constant value of the angle of rotation of the drive 4 by rotation of the nut 18 from the actuator 5 and the rotational movement around the axis of the module by turning the nut 18 from the actuator 5 and a splined sleeve 19 from the actuator 4 at the same angle.

Thus, the whole device has five independent managed coordinates that allows 5-axis milling, grinding or polishing rotary cutting tool 16 depending on the type of cutting tool. For the specified orientation, specified by two independent angular coordinate axis of the tool relative to the workpiece and the specified position of the center of the cutting tool relative to the part defined by three independent linear coordinates, five drivers coordinates are calculated by solving the inverse problem of the position of the device, the solution is determined by the kinematic scheme and geometric parameters of the device.

In addition, the site installation of workpiece can carry out the transport operation replacement of processed products on the workpiece 21 from the magazine 22 (6) by turning the extension movement of workpiece 90° towards the store, unloading the processed product in a store managed by the movements of the actuators 2 and 3, rotation of the shop to align the axis of the shank of the next workpiece with the axis of the module, screwing the threaded hole is ment 7a on the shank of the next workpiece to its pre-fixing force of friction, created by the force of the spring washer 7d (figure 1, figure 2), the translational movement of the workpiece, the actuator 2 to the closest to the axis of the drive 1 position, in this position the gear head bolt 14 is engaged with a ring gear 12A (3) and rotates around the axis of the bolt is controlled by the rotary movement of the shaft 7 relative to the ring gear 12A until it engages a conical surface on the end of the corresponding bolt holes 10A of the workpiece or tool companion of the workpiece (figure 4), then (5) axial movement of the shaft 7 bolt with serrated head disengages from ring gear 12A and the workpiece may be manageable to navigate the site installation of workpiece. Unloading the processed product in the store is in the reverse order with respect to the loading of the workpiece. The bolt 14 with the gear head is fixed against accidental rotation stop 7C in its one end position and the flange 7b in the other extreme position.

The invention should not be construed as limited to only the embodiment described above, but may be various modifications and combinations. For example, the arrangement of the slot and screw kinematic pairs mechatronic modules in relation to objects of manipulation may change or instead of the bolt 14 with the gear head and uncatego crown 12A can be applied friction transmission. Additionally, there are various options for supplying electricity to the actuator through a flexible wiring components or rotating contact device. Instead of the screw holes 7a and shank can alternatively be used threaded end of the shaft element 7 and the corresponding threaded hole means of the satellite. The device may also contain a tool of numerical control, and funds control.

1. Device for the mechanical machining of complex spatial forms containing the base and placed on the site to install the machining tool with rotational drive of the tool and the site for installation of workpiece in the form of a multi-link manipulator, containing the drive rotational movement of workpiece, the driving and the driven links pivotally connected together and drives them move, characterized in that it has two mechatronic modules reciprocating linear movement module movement of workpiece and extension movement of the drive rotation of the cutting tool, each of which consists of a housing, which is fixed to the stators of the two synchronous motors, slotted bushings with fixed thereto one rotor synchronous motor, nuts zakreplena is on the other rotor of the synchronous motor and the output shaft, mating translational kinematic pair in the form of a splined connection with slotted nut and screw kinematic pair with the nut, and the output shaft is made hollow to accommodate the clamping devices of the product or means of supplying energy to the drive rotation of the cutting tool or tools, the supply of cooling lubricant to the cutting tool while the nut and slotted bushing associated with the housing of the rotational kinematic pair in the form of rolling bearings or sliding bearings, and all kinematic pairs each mechatronic module reciprocating linear movements have a common axis, and the device is equipped with at least one kinematic pair with the corresponding actuator to move the module housing move the drive rotation of the cutting tool relative to the module housing movement of workpiece.

2. The device according to claim 1, characterized in that the output shaft extension movement of workpiece has a threaded hole and the spring element on the end for positioning and clamping the shank of workpiece or tool companion of workpiece or editing tools or sharpening of cutting tools.

3. The device according to claim 2, characterized in that it further comprises a store for workpieces and tools of the rights and and sharpening of cutting tools, installed in the vehicle of the satellite, having a shank with a thread mating with said screw hole of the output shaft extension movement of workpiece entering the site for installation of the workpiece, which is made with the possibility of an operation of loading a workpiece or editing tools, and sharpening of the cutting tool of the mentioned shop by screwing the shank into the threaded hole of the output shaft and the unload operation to store the processed products or editing tools, and sharpening of the cutting tool by screwing the shank of the screw holes.

4. The device according to claim 2, characterized in that it further comprises a clamping element, which is driven from a gear or friction transmission mechanism, which is formed in contact with at least one roller located on the output shaft of the extension movement of workpiece, with the annular surface in the area of the end of the body mentioned module in the end position of the output shaft, and mentioned gear are accommodated within the sliding protective cover with actuation by rotation of the output shaft of the module move the workpiece relative to its body.

5. The device according to claim 4, characterized in that the above paragraph is redatory mechanism comprises a gear transmission, formed by the pair of internal ring gear of the module body movement of workpiece and gear heads at least one bolt screwed into the end flange of the output shaft extension movement of workpiece opposite end of the output shaft, and the clamping bolt has a conical surface on the end, put forward from the end of the output shaft into the corresponding hole means of a satellite lock and incoming back in the end of the output shaft to provide screwing of the shank means of the satellite from the threaded holes of the output shaft or screwing it into the threaded hole of the output shaft.