WO1997010071A1

WO1997010071A1 - A composite-machining center

Info

Publication number: WO1997010071A1
Application number: PCT/CN1996/000078
Authority: WO
Inventors: Wenyuan Shao
Original assignee: Wenyuan Shao
Priority date: 1995-09-14
Filing date: 1996-09-13
Publication date: 1997-03-20
Also published as: CN1145840A

Abstract

A composite-machining center comprises a turret on which multiple mandrels are provided for either rotary tool or stationary tool holder such as gear shaping, laser processing, electro-discharge machining devices, which are arranged in a tool magazine and exchanged by a robot so as to form a complicated workpiece processing by means of turning, drilling, milling, griding, gear hobbing or shaping, laser processing, induction hardening, electro-discharging etc., after being attached once.

Description

manual

Composite Machining Center Technical Field

The present invention relates to a kind of metal cutting machine tool, especially a kind of composite machining center which can complete most or all of a complex workpiece in one loading and unloading process.

Background technique

The patents US4785525 and EP0500104A2 of TSUGAMI Company disclose the following compound processing machine tools. A headstock and a tailstock are coaxially installed on a slide table. The workpiece spindle and the C-axis control mechanism of the workpiece spindle are housed in the headstock. The table can slide on the guide rail of the bed along the Z direction parallel to the axis of the spindle, a slide seat can slide on the X guide rail perpendicular to the Z direction of the bed, and a sliding column can slide along the Y direction in the slide seat. At the end of the sliding column, there is a rotatable spindle box that can rotate around the B axis parallel to the Y axis, in which a tool spindle whose axis is perpendicular to the B axis is installed, and a device for locking the spindle is installed so that it can be installed in the spindle. turning tool for turning. The rotatable headstock can be locked on the tool post at certain angular intervals or at any angle. In order to process inclined holes, bevels or process gears with hobbing cutters. The machine tool is equipped with a tool changing manipulator and a large-capacity tool magazine, so that any tool in the tool magazine can be installed on the rotating tool spindle for processing, so turning, drilling, milling, tapping, boring, Hobbing and other processing.

The main disadvantages of this invention are: 1. The gear shaper cutter cannot be installed to process the internal gear or the stepped gear. 2. The workpiece cannot be quenched. 3. The turning tool is installed on the rotating tool spindle for turning, and the rigidity is poor. Head to measure the workpiece, the accuracy is low.

Chinese patent application CN 95100746. 7 discloses a kind of small-sized integrated machining center, on the frame-shaped tool rest of this machining center, there is a multi-axis that can turn around the A axis parallel to the X axis (or the B axis parallel to the Y axis). In addition to fixed tool holders and rotating tool spindles, the axle box, frame-shaped tool rest and rotatable multi-axis box are also equipped with various types of processing or working devices, such as gear shaping devices, bevel gear planing devices, lasers, etc. Processing device, high frequency quenching device, loading and unloading manipulator, measuring device, etc. Therefore, in one clamping of the workpiece, in addition to using fixed tools for inner and outer circle turning, plunging, and planing, and rotating tools for milling, drilling, tapping, boring, gear hobbing, shaving, and grinding, it can also shape gears, Planing bevel gears, and quenching, etc., so it has strong composite processing capabilities.

The invention emphasizes not using a turret or an automatic tool changing mechanism plus a tool magazine to change tools, but using a frame-shaped tool holder and a plurality of fixed tools and rotating tools installed upward in a rotatable multi-axis box, using the tool holder relative to the workpiece at X Or the coordinate movement in the Y-axis direction and the rotation of the rotatable multi-axis box to change the tool to simplify the structure and reduce the cost In fact, the shortcoming of this invention is: because the number of cutting tools that can be installed at one time is limited, it is not suitable for processing workpieces with high complexity, nor is it suitable for large-sized workpieces. The tools need to be manually installed, adjusted and maintained, and the gear shaping device and the gear planing device also need to be manually adjusted frequently, which takes a lot of time to stop, and it is impossible to realize all the machining of more complex workpieces in one clamping.

Contents of the invention

The purpose of the present invention is to:

To overcome the shortcomings of the above two patents, a compound machining center is provided, which can perform turning, planing, inserting, milling, boring, drilling, reaming, tapping, grinding, gear hobbing and shaving of workpieces in one clamping , honing and other processing, but also internal and external gear slotting, bevel gear planing, surface hardening, electric discharge forming, etc., all knives and tools can be replaced with the knives and tools in the large-capacity tool magazine. Shaping All adjustments of the device, gear planer, etc. can be done automatically by program control. In this way, the entire processing of workpieces of any complexity can be realized in one clamping.

The technical key that the present invention realizes purpose is:

Turning, milling, drilling, grinding, gear shaping, gear planing, quenching, electric processing, wire cutting are installed on the tool holder that can move relative to the workpiece spindle along the X, Y, and Z axes and its multi-axis box that can rotate around the Β axis. and other types of working devices, and use the movement of the tool holder relative to the workpiece spindle in the X and Y directions and the rotation of the rotatable multi-axis box to realize the automatic replacement of the working devices. Automatic replacement of knives and tools used in all working devices is realized by means of automatic tool change mechanism and tool magazine.

The key technology mentioned above is implemented through the following machine tool structure:

1. The machine tool is equipped with a rotatable multi-axis box that can rotate around the Β axis and can be locked on the tool post at any angle on the tool post that can move in the Χ, Υ, and Ζ directions relative to the workpiece spindle. In addition, some or all of the following working devices are installed on the rotatable multi-axis box and on the tool rest:

Α, fixed tool seat, Β, gear shaping device, C, bevel gear planing device, D, quenching device, which can be a laser emitting device, or an induction hardening coil, or a flame spray gun, Ε, an electric pulse or electrolytic machining device, F, wire cutting device, G, loading and unloading manipulator, 1, others.

The above-mentioned various working devices are arranged along the rotary shaft on each facet parallel to the rotary shaft on the rotatable multi-axis box, so that by means of the movement of the tool post in the X and Y directions relative to the main shaft and the indexing of the rotatable multi-axis box Rotation to realize the replacement of processing types. All working devices, including the rotating tool spindle, are equipped with an automatic loading and unloading mechanism, which can automatically install or unload the installed knives and tools. All the knives and tools that can be used by the above working devices are There are handles and pull studs that match the corresponding working devices, and there are clamping parts or clamping holes that can be clamped by the tool change mechanism.

2. The machine tool is equipped with a tool magazine for placing a variety of knives and tools, and an automatic tool change mechanism, which can be used for the tool holder It can service all working devices including the tool spindle on its rotatable multi-axis box, and can replace all the knives or tools on it with the knives or tools in the tool magazine.

3. The gear shaping device is not only equipped with an automatic loading and unloading mechanism for the gear shaping knife, but also equipped with a sliding column position sensor to realize automatic adjustment of all parameters during the gear shaping process.

One of the ways to realize automatic tool exchange is to install a one-hand claw automatic tool change mechanism on the outside of the spindle box. All the knives and tools on the multi-spindle box are exchanged with all the knives and tools in the conveyor belt or tool magazine.

The improvement of the above method is to use a multi-purpose manipulator that can automatically change tools to replace the above-mentioned single-claw tool change mechanism installed outside the spindle box, which can automatically exchange different tool-change claws from the claw library for tool change. , It can also be exchanged for tool changing fingers to carry out cutting tools that cannot be clamped from the outside, and can also be exchanged for tool measuring heads, grinding wheel dressers, camera heads, etc. for workpiece measurement, grinding wheel dressing, tool monitoring and other work.

Due to the slow tool change speed of the single-hand claw tool change mechanism, in order to increase the processing speed, the tool holder, tool spindle and working device for installing commonly used tools should be equipped with 3-4 or more, so the size of the machine tool holder is relatively large. It is suitable for the integration of the tool post and the bed, and the workpiece spindle moves along the Χ, Υ, and Ζ axes, especially the layout of the machine tool where the spindle is vertically downward.

A modification of the above-mentioned automatic tool change system is to replace the single-hand claw tool change mechanism installed on the spindle box with a two-hand claw automatic tool change mechanism, which can move relative to the rotatable multi-axis box in the Y direction In order to serve a variety of multiple working devices mounted on a rotatable multi-axle box. The automatic tool change mechanism can execute the tool change program while cutting, and the tool change time from cutting to cutting can be reduced to less than 2 seconds, which reduces the number of rotating tool spindles, fixed tool holders or other processing devices. , so that the size of the rotatable multi-axis box can be shortened. If the number of each processing device is reduced to only one, the following pattern is formed: using the tool rest equipped with multiple working devices and its rotatable multi-axis box relative to the workpiece spindle along the X-axis, Y-axis movement and rotatable The rotation of the rotary multi-axis box can realize the transformation of different working devices and processing types, and use the double claw quick tool change mechanism to realize the replacement of knives or tools in the same processing type.

As each processing device has only one, and the tool spindle and all processing devices are placed in a plane perpendicular to the B-axis, then the above-mentioned rotatable multi-axis box actually becomes a turret. Using this turret equipped with a tool spindle and a variety of different types of processing devices to replace the headstock with a single tool spindle of the machine tool described in patent US4785525 and EP0500104A2 can further expand the compound processing capacity of the machine tool and further improve performance. .

Figure overview

Figure 1 is a front view and a top view of a compound machining center equipped with a single-hand claw tool change system. Fig. 2 is a left sectional view of the above-mentioned compound machining center.

Figure 3 is a schematic diagram of the use of the above-mentioned compound machining center, where - Figure 3A is the state of turning or planing with an outer turning tool or planer.

Fig. 3B is the state of inner hole plunging or turning with a plunging tool or an inner hole turning tool.

Figure 3C is the state of milling, drilling, boring and tapping with finger-shaped rotary tools.

Figure 3D shows the state of milling with a disc milling cutter.

Figure 3E shows the state of external or internal hole grinding with a large grinding wheel and a small grinding wheel.

Figure 3F shows the machining state of the cam with a small grinding wheel.

Fig. 3G is the state of gear hobbing with a hob cutter installed on the rotating tool spindle.

Figure 3H shows the state of machining multiple gears with a gear shaper cutter installed on the gear shaper head.

Figure 31 shows the state of planing bevel gears with straight-toothed bevel gear planing heads.

Figure 3J shows the state of machining spiral bevel gears with milling cutterhead.

Figure 3K shows the state of gear grinding using the conical grinding wheel generating method.

Figure 3L is the state of thread grinding with profile grinding wheel.

FIG. 3M shows the state where the inner hole of the workpiece is processed by the reflective laser emitting head, and the outer surface of the workpiece is processed by the direct laser emitting head.

Figure 3N is the state of quenching the workpiece by using the induction coil.

Figure 3P is the state of machining the workpiece cavity with the electric machining forming electrode.

Figure 4Q is the state of machining the inner hole spline of the workpiece by using the inner hole wire cutting device.

Figure 3R is the situation where the workpiece surface size is measured by the workpiece measuring head.

Figure 4 is a description of the structure and usage of the multi-purpose manipulator.

Figure 5 is a structural diagram of the gear shaping device.

Fig. 6 is a front view and a right sectional view of a compound machining center using a turret.

Fig. 7A is an internal structure diagram of a turret with various processing devices.

Figure 7B is an installation view of the cutter and tool on the fixed tool holder.

Fig. 7C is a schematic diagram of realizing automatic tool change of all knives or tools on the turret with double grippers.

Fig. 8 is a schematic diagram of the composite processing machine tool described in the patent US4785525 improved by the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

Figures 1 and 2 illustrate the overall layout of a compound machining center. In the figure, the left and right walls (1), (2) are connected by the front and rear components (3), (4) to form a whole bed, and an X direction is respectively laid on the top of the left and right walls. The ball guide rail (5), (6) is equipped with a ball screw (8) driven by the X-axis servo motor (7), and a ball slider and a ball nut are fixed on the bottom of the two ends of the crossbeam (9), so it can be used in the X-axis Slide on the ball guide rail (5) (6) and be supported by the ball screw and the X-axis Servo motor control. The top of the beam is equipped with a Y guide rail (10), a ball screw (11) and a Y-axis servo motor (12), and the slider (13) slides on the guide rail (10) along the Y direction with the ball slider at its bottom Y axis servo motor (12) and ball screw (11) control thereof.

(16) is the workpiece spindle box, wherein the workpiece spindle (17) is housed, and its exterior is equipped with Z-direction ball guide rail (18) parallel to the axis, ball screw (19) and Z-axis servo motor (20), ball slide Block (21) is vertically fixed on the front of slide block (13), thereby spindle box (16) can slide up and down along the Z axis and is subject to the control of Z axis servo motor and ball screw (19).

The workpiece spindle (17) is driven by the main motor (23). The main shaft (17) can not only rotate at a high speed with high power to carry out turning processing, but also can carry out precision indexing or synchronous rotation under the control of the C-axis servo system.

The lower end of the workpiece main shaft (17) is equipped with a chuck automatic grabbing device, which is used for automatic chuck replacement. The middle part of the left and right racks is provided with a window (24), and a conveyor belt (25) passes through the space between the window and the front and rear components (3), (4), and is closed to form a loop at the rear of the bed. The power chuck (26) for replacement can be placed on the conveyor belt, the non-power chuck (27), the tool magazine (28), the finished workpiece (29) etc. after processing.

The workpiece spindle can directly pick up the blank from the conveyor belt for processing by using the power chuck it grabs, or unload the processed workpiece to the conveyor belt and send it out. It is also possible to use the chuck turning mechanism (31) to grab the chuck with the workpiece pre-installed on the conveyor belt for processing. (30) is the chuck clamping drive mechanism for realizing the processing of the second end of the workpiece.

Between the inner walls of the left and right walls (1) and (2), a rotatable multi-axis box (32) is installed, the B-axis of which is parallel to the Y-axis, and the rotatable multi-axis box is driven by a B-axis servo mechanism (33) Rotate and be clamped by the clamping mechanism. On the four sides of the rotatable multi-axis box and other parts of the frame, various tools, cutting devices and working devices are installed, such as radially fixed tools, axially fixed tools, rotary tools, large grinding wheel grinding heads, Small grinding wheel grinding head, laser processing device, workpiece measuring device, gear shaping device, bevel gear planing device, etc., and use the movement of the workpiece spindle relative to the tool frame on the X, Y axes and the rotation of the rotatable multi-axis box to realize the tool and Automatic change of processing type.

(35) is a row of axially fixed tool holders, installed on the bed member (3), mainly used to install inner hole turning tools, cobalt heads, reamers, taps, dies, inner hole honing heads, inner hole pressure Light knife, etc., process the inner hole of the workpiece by lathe.

In addition to the general turning process, the internal circular cam can be turned by using the C-X axis interpolation, the curved oil groove can be turned by using the C-X-Z axis interpolation, and the taper thread of the inner hole can be turned by using the C-X-Z axis interpolation , Variable pitch thread, and forklift die.

Slotting cutter can also be installed on the knife seat (35) to slotting endoporus keyway etc., utilizes C axis indexing, can process spline hole or internal gear. (36) is a row of radially fixed tool holders, which are installed on the bed member (3), and are mainly used for installing cylindrical turning tools, knurling knives, calendering knives, cylindrical honing tools, etc. round or end face. They are arranged in a row along the Y axis, and the X direction is the radial feed direction.

In addition to general turning processing, using C-Z axis interpolation, you can turn axial cams, use C-X axis interpolation, you can turn radial cams, or forklift milling cutters, use C-X-Z axis interpolation , It can turn external taper thread, variable pitch thread, and forklift tapping or hob.

A planer can also be installed on the tool seat (36). In addition to general planing, the C-axis indexing can be used to process splines, gears, or workpieces with arbitrary indexing. . Using C-X or X-Y interpolation, any curved surface whose generatrix is parallel to the Z axis can be planed. Use Z—X—Y or Z—X—c interpolation to plan inclined or curved surfaces; if you install a straight-edged toothed planer or a rack-shaped comb and use C—Z—Y interpolation, you can plan oblique or curved surfaces. Machining of word gears by generating method.

(37) is a tool spindle, mainly used for installing end mills, finger milling cutters, disc milling cutters, various types of drills, boring cutters, reamers, thread tapping and other rotary cutters, which are processed in the manner of drilling and milling boring machines.

The tool spindles are mounted against the counterclockwise edge on each land so that the overhang of the workpiece spindle is relatively small as the tools change from parallel to perpendicular to the workpiece axis.

Utilize the B-axis servo mechanism (33) to control the rotation angle of the multi-axis box (32), and all the rotary tools can process the workpiece at any angle.

All the tool spindles are driven by the motor (34) through the transmission system. In the transmission system, or on the motor (34), or at least one tool spindle is equipped with an R-axis code disc for determining the angular position of the rotary tool. The code disc is just equipped with hobbing cutter plus straight, ^P gear: worm gear, spline shaft and so on. ' ⁵ ' ^Ρ '

The signal of the R-axis code disc can also be used to control the motor (34), so as to realize the angle servo control of all rotary tools, thereby facilitating automatic measurement and automatic sharpening of rotary tools.

Medium-diameter grinding wheels can also be mounted on the tool spindle for profile grinding, gear grinding, etc. It is also possible to install gear shaving cutters or honing wheels for gear shaving or honing.

Multiple rotating tools enable this machining center to have all the functions of a 5-coordinates 5-side drilling and milling machining center. In addition, using the second chuck and the function of automatic chuck replacement of the workpiece spindle, this machining center can also process the 6th side;

(38) are two large emery wheel grinding heads. It is mainly used for the grinding of commonly used outer circles and planes. Together with the forming grinding wheel installed in the tool spindle, the machining center not only has the functions of a general cylindrical grinder and a surface grinder, but also uses Β, Ζ, Χ three-axis control to grind multiple cylindrical conical surfaces at one time. -—X interpolation, can grind outer radial cam, use C—Ζ—Υ interpolation, can grind external thread, external taper thread Thread, variable pitch thread, or relief grinding tap, hob, using X, Y, Z, C four-axis control, can grind planes and curved surfaces at various angles. Use the grinding wheel dresser installed at the lower end of the workpiece spindle box to use z_x interpolation to dress the grinding wheel in a straight line, oblique line or curve, so that more complex profiles can be ground. The grinding function of this machining center is equivalent to that of a 5-coordinate grinding center, which can perform 5-side grinding with high position accuracy in one clamping. If the processed end is clamped by the second chuck, the sixth side can be processed.

The main shaft of the large grinding wheel grinding head is also equipped with an automatic tool loading mechanism to realize the automatic replacement of the large grinding wheel. In order to enable the manipulator to grab the large grinding wheel, the outer fixed disc of the grinding wheel should be formed with a clamping part or a clamping hole.

(39) are two high-speed small emery wheel grinding heads.

In addition to the functions of the general internal grinding machine, the use of Α, Ζ, Χ three-axis control can grind multiple coaxial cylindrical conical surfaces at one time, and use C_X interpolation to grind inner radial cams. Use C-Y-Z interpolation , can grind internal thread, internal taper thread, variable pitch thread, or relief grinding die, using X, Y, Z, C four-axis control, can grind the plane, curved surface, and surface in the hole or groove at various angles Carry out planetary grinding of coordinate holes and grinding of coordinate curves.

For automatic changing of the small grinding wheel, the small grinding wheel shall be mounted on an exchangeable tool holder which is the same as or smaller than the tool holder of the exchangeable rotary tool. The main shaft of the small grinding wheel grinding head is also equipped with an automatic knife loading mechanism.

(40) is a laser emitting head, which is mainly used for laser quenching, and can also be used for drilling, cutting, engraving, marking and other purposes. The laser beam is generated by a laser (41), and is led to the laser emitting head through a mirror group or an optical fiber to focus and emit.

Replace different laser emitting heads and change the characteristics and power of the laser beam, and use X, Y, Z, A, C five-axis control to perform quenching, welding, drilling, cutting, engraving, marking, Engraving and other processing.

In order to automatically replace the laser emitting head, the laser emitting head should be formed with a handle similar to the knife, but the handle is shorter, the nail is thicker, and a through hole is formed in the center to allow the laser beam to pass through. Its mounting seat is also equipped with an automatic knife loading mechanism, but the diameter of its pull rod and the push rod of the release cylinder are relatively large, and a through hole is formed therein for the passage of the laser beam.

Low-cost composite machining centers can also use flame spray heads instead of laser emitters. In addition to the flame nozzle, the flame nozzle also has an electronic ignition device, and the gas and oxygen are controlled by the electromagnetic valve through the pipeline. In this way, the state of the flame and its ignition and extinction can be controlled by the program. The spray head is also equipped with coolant nozzles to quench the heated surfaces. Using X, Y, Z, A, C five-axis control, not only can quench various surfaces of the workpiece, but also perform curve cutting and welding.

(42) is a gear shaping head, which can automatically adjust the cutting stroke, speed, starting and ending position of the gear shaping cutter, etc. by program control, and can automatically change the gear shaping cutter, so that different parameters on a workpiece can be completed at one time. processing of several tooth surfaces.

(43) is a bevel gear planer head, which can automatically adjust the tooth angle, planer cutting stroke and starting position by program control, and can automatically change tools. In this way, all the work during and before processing can be completely controlled and completed by the computer. Enables rapid automatic machining of one-piece spur bevel gears.

(44) is a workpiece measuring head, because it is installed on the rotatable multi-box, the workpiece can be measured at different angles. In order to reduce the impact of the rotation error of the multi-axis box on the measurement accuracy, the Y direction is used as the measurement direction.

Figure 3 illustrates various processing states that can be performed by the above-mentioned compound machining center.

Figure 3 A illustrates the state of turning or planing with an external turning tool or planer.

Fig. 3B illustrates the state of internal hole plunging or turning using a plunging tool or an internal hole turning tool.

Figure 3C illustrates the state of milling, drilling, boring, and tapping with finger-shaped rotary tools.

Figure 3D illustrates the state of milling with a disc milling cutter.

Figure 3E illustrates the state of external or internal hole grinding with large and small grinding wheels.

Figure 3F illustrates the machining state of the cam with a small grinding wheel.

Fig. 3G illustrates the state of hobbing a gear with a hob cutter mounted on a rotating tool spindle.

Figure 3H illustrates the state of machining multiple gears with a gear shaping cutter installed on the gear shaping head.

Figure 21 illustrates the state of planing bevel gears with straight bevel gear planing head.

Figure 3J illustrates the state of machining a spiral bevel gear with a milling cutterhead.

Figure 3K illustrates the state of gear grinding using the conical wheel generating method.

Figure 3L illustrates the state of thread grinding with a profile grinding wheel.

3M illustrates the state of processing the inner hole of the workpiece with the reflective laser emitting head (40) and processing the outer surface of the workpiece with the direct laser emitting head (45).

Fig. 3N illustrates the state that utilizes induction coil (46) to quench the workpiece.

Fig. 3P illustrates the state of utilizing the electromachining forming electrode (47) to process the workpiece cavity.

Figure 3Q illustrates the state of utilizing the inner hole wire cutting device (48) to process the inner hole spline of the workpiece.

Fig. 3R illustrates the situation of measuring the surface size of a workpiece with a workpiece measuring head.

In order to realize the automatic tool change of multiple working devices, except the small tool magazine (28) placed on the conveyor belt, a large-capacity tool magazine (49) is also configured on the machine tool, and an automatic replacement tool is installed on the front side of the spindle box. The manipulator (50) of the tool, this manipulator is except that different tool changing claws (51) can be automatically installed for automatic tool changing, and multiple tools such as a tool measuring head, a grinding wheel dresser, and a camera can also be installed to work. Small knife storehouse (28) is mainly used in contacting with the tool management system of workshop.

Among Fig. 4, manipulator (50) is installed on the front side of main shaft box (16) by the guide rail that is parallel to Z axis, and moves up and down by servomotor (52) and ball screw (53) control, (54) is clamp tightening mechanism for eliminating The gap between the above guide rails is used to ensure the accuracy of workpiece measurement or dressing of grinding wheels. The lower end of the manipulator is equipped with a tool automatic grasping mechanism, which is composed of a grasping element (55), a pull rod (56), a disc spring group (57), and a release cylinder (58). Using this automatic grasping mechanism, the manipulator Different tools can be used to work, such as different tool changing claws (51), tool changing fingers (59), tool measuring head (60), grinding wheel dresser (61), camera (62) etc.

The difference with the general knife grabbing mechanism is: the piston center of the pull rod (56) and the oil cylinder (58) is shaped on a through hole, and the push rod (64) of an oil cylinder (63) passes therethrough for controlling the tool changing claw (51 ) opening and closing. The tool change claw (51) has the handle (65) with the same external dimensions as other changeable tools, but a pre-compressed disk spring (66) is housed therein, and the elastic force of (66) makes the left and right hands move through the pull rod (67). Claw (68) synchronous action clamps handle of a knife. And when oil cylinder (63) action, oil cylinder push rod (64) pushes down pull bar (67), compresses spring (66), and makes left and right pawls open synchronously, decontrols the cutter that is grasped.

Tool changing finger (59) is mainly used in grabbing the cutter that can't clamp from the outside, and it is made of handle, overcoat (69), steel ball (70), push rod (71), spring (72) etc., Normally, the push rod is retracted to the upper end under the action of the spring (73), and the steel ball retracts into the overcoat. At this time, the fingers can freely enter and exit the clamping hole on the cutter. When the oil cylinder (63) moves, the oil cylinder push rod ( ⁶⁴ ) Push rod (71) is pushed down, and the distribution diameter of steel ball (70) is made bigger, and snaps into the groove in the cutter holder hole, makes finger firmly grasp the cutter that is grasped. The cross-section of the overcoat (69) is rectangular or otherwise non-circular to prevent rotation of the grasped tool. Unscrew the nut (74) to change the overcoats of different sizes and sections. Overcoat (69) and steel ball (70) also can replace with a spring expansion sleeve (75), and when push rod (71) moved downwards, spring expansion sleeve (75) will expand and clamp the tool that is grasped.

The measurement signal of the measuring head (60) and the video signal of the camera (62) can be connected with the machine tool control system through the electrical signal interface with the manipulator (50), or through the built-in infrared or high frequency transmitting device. The latter two will be easier and more reliable.

The spare tools that can be grasped by the manipulator (50) are placed on a tool storehouse (76) tail-up, for preventing the tail of the spare tools from dusting, a cover (77) is usually placed on the tool storehouse (76). When the tools need to be replaced, the manipulator (50) will touch the push rod (78), and this rod will open the cover (77) around the shaft (81) through the shift fork (79) and the eccentric pin (80). But as long as the manipulator leaves, a spring (82) just covers the lid (77) on the tool storehouse again.

(83) is the measuring head calibration block, which can be fixed at any position of the tool frame, and it has 5 datum surfaces, which can correct the installation error of the measuring head and the error caused by the deformation of the measuring rod in the three directions of Χ, Υ, and Ζ. For spherical contacts, the five reference planes are planes and are perpendicular to the Χ, Υ, and Ζ axes respectively. For cubic contacts, the 5 datums are spherical.

The lower right corner of Fig. 4 illustrates the different working states of the manipulator (50), from left to right: 1, the manipulator starts from Change the tool changing claw in the tool storehouse (76), 2, the manipulator is changing the tool, 3, measure the tool with the tool measuring head (60), 4, dress the emery wheel with the emery wheel dresser (61).

Figure 5 is a structural diagram of the automatic gear shaping head. The indexing turntable (141) of gear shaping head is installed in the casing (140) by bearing (142) (143), and (141) is driven by S axis servomechanism (146) to rotate by worm gear (144) worm (145). The lower end of the spool (147) is equipped with a ball spline sleeve (148) which can be pre-tightened, and is engaged with the ball spline (149) in the center of the sub-turntable to realize the gapless transmission in the circumferential direction. The upper end of the spool (147) is connected to the shell The step hole in the body (140) center and the guide sleeve (150) form a two-way right cylinder, and the sealing of the upper and lower oil chambers is realized by the sealing ring (151) (152) (153). Oil enters the lower oil chamber to realize working cutting, oil enters the upper oil chamber to realize the return stroke, and the cross-sectional area of the upper oil chamber is smaller than that of the lower oil chamber to realize the fast return stroke. The spool position is detected by a Q-axis linear position sensor (155) extending into the spool hole by being contained on the center line of the back cover (154). Gear shaper cutter (156) is fixed in the money hole of slide column center by replaceable knife bar (157). The pull stud at the end of the knife bar is caught and tightened by an automatic knife loading mechanism in the slide column. When a tool change is required, the slide column should be moved backwards to the final position beyond the working stroke so that the center of the rear cover (154) A push rod (158) pushes the pull rod (159), compresses the disk spring (160), and pushes out the knife rod (157) and releases it. During tool change, pass into compressed air in the joint (166) to blow off the tool positioning surface.

In order to realize the movement of the knife, the housing (140) is installed in a certain fixed member on the rotatable multi-axis box (32) or the bed by the bearing (161X162) eccentrically installed on the shell body, and the short-stroke oil cylinder (163) and (164) pushes the housing (140) to reciprocate and swing, and due to the eccentricity of the axis of the gear shaping cutter to the swing axis of the housing, the movement of the gear shaping cutter is formed. Allow knife range to be adjusted by screw rod (165). Oil cylinder (164) also can replace with spring.

When working, the generative motion of the gear shaper cutter and the workpiece is realized by S-C axis linkage. The end position, cutting stroke, and cutting speed of the gear shaper cutter relative to the workpiece cutting motion are all controlled by the Q-axis hydraulic servo system composed of the spool oil cylinder and the Q-axis position sensor. The radial feed of the gear shaper cutter relative to the workpiece is controlled by the X axis. In addition, by using X-Q axis interpolation, crown-shaped teeth can be processed; by C-Q interpolation or S-Q interpolation, helical gears can be processed; by S-X-C axis interpolation, non-circular gears can be processed; Adjust the angle of the rotatable multi-axis box to process small bevel angle bevel gears; use the Z-direction movement of the workpiece headstock to process extra-long gears.

Utilize the action of the sliding column moving to the rearmost end and the ejector rod (158), and use the tool changing manipulator to realize the automatic tool changing of the gear shaping cutter, so that the processing of multiple different tooth surfaces or internal and external tooth surfaces can be completed in one clamping .

The difference from existing gear shaping machine tools is that all adjustments before gear shaping, such as changing the tool, adjusting the roll ratio, adjusting the helix angle of the gear shaping, adjusting the cutting stroke, cutting end point, cutting speed, and tool setting, etc. are unnecessary. Manual operation, but the software controls the Q, C, S, X and other axes to complete automatically. And can process multiple different tooth surfaces on one workpiece.

Fig. 6 is the second embodiment, which differs from the first embodiment shown in Figs. 1 and 2 in that a fixed The two-hand claw tool change mechanism on the bed replaces the single-hand claw tool change manipulator installed on the headstock. The rotatable multi-axis box is shorter and can move along the Y-axis relative to the bed, so the different axes on the rotatable multi-axis box All working devices in the position can be changed by the two-hand grasp tool change mechanism.

Among Fig. 6, horizontal X guide rail (171) is equipped with on the vertical bed (170), and X leads screw (173) and X axis servo motor. X moves and is controlled by the X-axis servo motor. (175) is the workpiece spindle box, wherein the workpiece spindle (176) is housed, and the mechanism for automatically grabbing the chuck and driving the chuck to clamp the workpiece is equipped with at the (176) lower end, with Realize automatic chuck replacement. (177) is chuck. (178) is a workpiece. (179) is the motor that drives the workpiece main shaft. A C-axis control system is also installed in the spindle box to precisely index the spindle. There is a Z guide rail parallel to the axis of the spindle outside the workpiece spindle box, and a guide rail perpendicular to the X-axis guide rail in front of the cross slider (174) can be installed. The surface slides up and down along the Z-axis and is controlled by the Z-axis servo motor (180) and the Z-direction screw (181). The middle part of the bed is formed with a through-hole guide rail perpendicular to the X-axis and Z-axis, and a sliding column (185) Therein, it slides in the Y direction without gap, and is controlled by the Y-axis servo motor (186) and the Y-axis screw (187). The axle box can rotate arbitrarily around the B axis parallel to the Y axis on the sliding column, and is equipped with a mechanism that can not only separate the rotatable multi-axis box at a certain angle, but also lock it on the sliding column at any angle. Except that the rotating tool main shaft (190) is housed on the rotary multi-axis box, various working devices installed on the rotary multi-axis box (32) among Fig. Tool seat (189) and others, but only one is installed for every kind of working device, make this rotatable multi-axis box axially shorter. A power laser (194) is installed at the rear of the bed, and the laser beam emitted by it is guided to the laser emitting head (192) through an optical fiber or an optical path formed by a series of reflectors (193) to process the workpiece. A chain tool magazine (197) is equipped with on the right side of the rotatable multi-axle box, and a double-claw tool changing mechanism (195) (196) is used for the cutter and the tool magazine on the rotatable multi-axle box (188) working device A certain tool on (197) is quickly exchanged. There is a conveyor belt (198) on the left side of the bed, which is used to store and transfer workpiece blanks, finished workpieces, empty or clamped chucks with workpieces, etc. (199) is a chuck turning mechanism, is used for turning over 180 degrees of the chuck on the conveyor belt, handing over the workpiece spindle to grab, or turning 180 degrees of the chuck unloaded on the workpiece spindle and putting it on the conveyor belt to send out, (184) It is a chuck clamping driving mechanism, which is used to realize the processing of the second end of the workpiece.

As selecting the most commonly used person to stay in the work equipment on the above-mentioned rotatable multi-axis box (188), and these work equipment are all arranged in a plane perpendicular to the B axis, then the above-mentioned rotatable multi-axis box actually becomes As a turret, the structure is lighter and smaller, so that it is suitable for replacing the tool spindle box of the machine tool described in the Japanese TSUGAMI patent US4785525 and EP0500104A2 that can rotate around the B axis.

Figure 7A illustrates the internal structure of the turret.

The turret (200) has a regular quadrangular prism shape, the rotating tool spindle (201), the fixed tool seat (202), and the insertion The three tooth devices (203) are installed on the three facets of the quadrangular prism at intervals of 90 degrees, and are located in the same plane perpendicular to the B-axis of the turret axis of rotation.

The spindle motor (205) is directly installed on the tool spindle (201), and (206) is a water cooling tank for cooling the motor spindle. The code disc (207) is installed at the rear end of the motor spindle, and is used to realize the equal ratio synchronous operation of the workpiece spindle to the tool spindle , in order to hob gears with a hobbing cutter. The main shaft (201) is equipped with an automatic loading and unloading mechanism consisting of a knife grabbing element (208), a pull rod (209), and a butterfly spring group (210). There is also a knife unloading mechanism behind the main shaft Oil cylinder (211).

The direct drive of the spindle motor reduces the vibration and loss of precision caused by gear transmission. Therefore, in addition to installing various rotating tools on the tool spindle, grinding wheels of different diameters can also be installed for precision grinding.

A similar knife loading and unloading mechanism is housed in the fixed knife seat (202), and a knife unloading oil cylinder (213) is also arranged at its rear end, but the pull rod (214) is thicker, and the inner hole is also larger, so as to place the laser channel (215). Press the same The reason is that the shank of the laser emitting head or other cutters or tools installed on the tool seat is relatively short, and the diameter of the pull stud is also relatively large. There is an insulating layer (216) between the tool seat and the turret body (200), and there is a cable Connect the tool seat with the power supply to provide current to the electric processing device. A fluid channel (217) is formed in the taper hole of the tool seat to provide gas or working fluid to the tool or tool during work.

Some forming cutters require higher installation accuracy such as the rack-shaped planer cutter (220). The bottom surface of the knife clamping part is also shaped on a mouse tooth plate. When the knife handle of (220) is tightened by the loading and unloading knife mechanism, a pair of mouse tooth plates are tightly engaged to ensure that the knife has high positioning accuracy and rigidity. Locating key is also housed on the mouse tooth plate (218), and the common cutting tool such as (221) with keyway location is installed with just.

Figure 7B shows the cutters and tools that can be installed on the fixed tool holder. (221) is an inner hole turning tool, and (222) is a workpiece measuring head, which is connected with the machine tool control system by an interface (223). (223) can be an electric plug joint, also can be an inductive coupling device. (224) is an electromachining electrode, and the working fluid spray hole on the electrode communicates with the fluid channel in the cutter seat (202). (230) is a reflective laser emitting head for processing the surface of the inner hole of the workpiece. It can also be replaced with a direct laser emitting head to process the outer surface of the workpiece.

The gear shaping device (203) is similar to that described in Figure 5. The difference is: a precision indexing helical gear (242) is connected with the sliding column (241) by the ball spline (240), and the spur gear on the servo motor (243)

(244) meshes with helical gear (242) by two double-link gears (245) simultaneously, wherein one double-link gear

(245) has an axial loading mechanism (246), to realize the backlash transmission from the motor (243) to the indexing helical gear (242).

Figure 7C shows that in order to realize the automatic tool change of all the tools or tools on the turret with the double-claw manipulator, the axes of the tools or tools installed in the three working devices should be in the same direction as the same circle around the B axis. At the same time, the vertical distance from the clamping part of the tool or tool installed in the three working devices to the B axis should be equal when changing the tool, that is, A1 = A2 = A3.

Fig. 8 is the third embodiment of the present invention. This figure is very similar to the accompanying drawing 1 of the patent US4785525 specification, and the difference is that the latter's rotatable spindle box installed at the end of the B-axis is replaced by a turret equipped with various working devices as shown in Figure 7. The improvement enables this compound processing machine tool to further have the capabilities of internal gear or stepped gear shaping, quenching before grinding, electric machining, etc., and makes turning processing have better rigidity, and workpiece measurement has higher accuracy. (250) is a bed among the figure, and (251) is a slide table, and it can slide on the Z guide rail on the top of the bed. (252) is the headstock, (253) is the workpiece main shaft, and (254) is the tailstock, and the top and workpiece main shaft coaxial that it is installed. (255) is the X guide rail of bed rear portion, (256) is the sliding seat that can move on the X guide rail, (257) is a slide post, and it can be along the Y direction that is all vertical to X guide rail and Z guide rail Slide in slide seat (256) hole. (258) is a turret. (259) is a two-hand claw tool changing mechanism. (260) is a chain tool magazine.

The turret used in this embodiment can move relative to the automatic tool change mechanism along the Y axis, so the working devices on it can also be placed in several planes perpendicular to the B axis that are relatively close to each other, that is, all the working devices are installed The axis of the cutter or tool should be tangent to the same short cylinder rotating around the B axis in the same direction.

The composite machining center shown in Figure 6 is the best embodiment of the present invention.

Industrial applicability

The advantages of the present invention are: turning, planing, inserting, milling, boring, drilling, reaming, tapping, grinding, gear hobbing, shaving, honing, gear shaping, gear planing, quenching, All cutting tools and tools can be automatically installed, adjusted or replaced for EDM, wire cutting, measurement, etc., and all processing parameters can be controlled by programs, so as to realize automatic processing of multi-variety single pieces or small and medium-sized batches of arbitrary complexity. Such a machine tool is equivalent to an FMS, thus greatly reducing the cost of the automatic manufacturing system.

Claims

claims

1. A method that can complete turning, milling, drilling, tapping, grinding, gear hobbing, gear shaping, quenching, electrical machining, wire cutting and other processing of a workpiece in one clamping. The Z-axis moves relative to the workpiece spindle and the multi-axis box that can rotate around the Β-axis is equipped with various types of working devices such as turning, milling, drilling, grinding and shaping, gear planing, quenching, electrical processing, and wire cutting. It is characterized in that the automatic replacement of the working device is realized by the movement of the tool rest relative to the workpiece spindle in the X and Y directions and the rotation of the rotatable multi-axis box, and the automatic tool loading and unloading mechanism is installed on all the working devices and the automatic tool change mechanism is used. And the tool magazine to realize the automatic replacement of the knives and tools used in each working device.

2. A kind of composite machining center implementing the method described in claim 1, is equipped with the headstock of the workpiece main shaft that can rotate at a high speed and can be used as the workpiece spindle of precision indexing rotation for clamping the workpiece by the bed, the tool seat is installed and the tool rest of the working device, making the tool rest relative to the headstock along the Z-axis parallel to the centerline of the workpiece spindle, and the guide rail pair and servo control that are perpendicular to the Z-axis and mutually perpendicular to the X-axis and Y-axis movement The mechanism is composed of a rotatable spindle box on the tool rest, the rotary axis of the rotatable spindle box is the B-axis parallel to the Y-axis, and the tool spindle whose axis is perpendicular to the B-axis is installed therein. The rotatable spindle The box is driven to rotate by the indexing servo mechanism, and the locking mechanism can be locked on the tool rest at a certain angle interval or at any angle. It is characterized in that: the rotatable headstock and the tool rest are also equipped with Various, at least one of the following working devices: Α, fixed tool holder, Β, gear shaping device, C, bevel gear planing device, D, quenching device, Ε, electric pulse or electrolytic machining device, F, wire cutting device , G, loading and unloading manipulator, Η, other.

All the above-mentioned working devices, including the tool spindle, are equipped with an automatic knife loading and unloading mechanism, which can automatically install or unload the installed knives and tools. All the knives and tools that can be installed by the above-mentioned working devices have handles that match the working devices. part and pull stud, and has a clamping part or clamping hole that can be clamped by the tool change mechanism.

The machine tool is also equipped with a tool magazine for placing a variety of cutting tools and tools, and an automatic tool change mechanism, which can serve all working devices including the tool spindle on the tool post and its rotatable spindle box, and can put Loading of knives or tools and changing of knives or tools in the tool magazine.

3. The compound machining center according to claim 2, characterized in that: said rotatable headstock is parallel to each facet of the rotatable shaft, and there are multiple types arranged along the rotatable axis, and there is at least one for each working device, so that Form an axially longer rotatable multi-axis box (32), which contains at least one row of tool spindles, and at least one row of fixed tool seats on (32) or on the tool rest. The automatic tool change mechanism is a The outer side of the workpiece spindle box, and can be controlled by a servo mechanism to move a single-hand claw tool changing manipulator along the axis of the workpiece spindle.

^4. The compound machining center according to claim 2 or 3, characterized in that: the single-handed claw tool changing manipulator is replaced by a double-handed claw automatic tool changing mechanism, and the double-handed claw tool changing mechanism can rotate relative to the multi-axis The case moves in the Y direction so as to serve a variety of multiple working devices mounted on the rotatable multi-axis case (32) or (188).

5. The compound machining center according to claim 2, characterized in that: said rotatable multi-axis box is a turret, on which there is only one working device, and the axes of knives or tools installed in all working devices Tangent to a short cylinder rotating around the B-axis in the same direction, the vertical distances from the clamping parts of the tools or tools installed in all working devices to the B-axis are equal during tool change, and the automatic tool change mechanism is a double-claw tool change mechanism.

6. The compound machining center according to claim 1 or 3, characterized in that: said single-hand claw tool changing manipulator (50) is equipped with grabbing element (55), pull rod (56), disc spring group (57), the release oil cylinder (58) forms an automatic tool grabbing mechanism and a tool changing claw drive mechanism, and the latter is an oil cylinder (244), which can automatically grab different tool changing claws: tool changing, fingers or other tools to work, ' ,'

The tool changing jaw (51) has a handle (65) with the same external dimensions as other changeable tools, and the pre-compression is housed in (65) and can be continuously compressed by the push rod (64) of the oil cylinder (63). Disc spring (66), the elastic force of (66) makes left and right pawl (68) close synchronously by pull bar (67).

7. The composite machining center according to claims 2, 3 and 6, characterized in that: the tool changing finger that can be automatically grasped by the manipulator (50) consists of a handle, a jacket (69), a steel ball (70) , push rod (71), spring (72) etc. constitute, and the cross-section of overcoat (69) is rectangle or other noncircular. Overcoat (69) and steel ball (70) also can replace with a spring expansion cover (75).

8. The compound machining center according to claims 2, 3 and 6, characterized in that: said manipulator (50) can also automatically grab one of the following tools for work: A, tool measuring head, B, grinding wheel dressing device, C, camera.

9. The composite machining center according to claim 2-5, characterized in that: the gear shaping device is equipped with a double-acting oil cylinder or a linear motor that drives the reciprocating movement of the spool, and is equipped with a linear position sensor (155) , it is contained in back cover (154) center and stretches in the spool (147) rear end hole.

10. The compound machining center according to claim 2-5, characterized in that: the mechanism for automatically unloading the knife in the gear shaping device is installed in the center of the rear cover and extends into the rear end hole of the sliding column (147) One unloading knife ejector pin (158).

11. The composite machining center according to claim 2, characterized in that: a fixed tool holder (202) capable of installing multiple cutters and tools is equipped with one of the following attachments: Α, on the upper end surface of the tool holder Be shaped on mouse tooth dish, and positioning key is housed on the breach of mouse tooth dish, B, a laser channel (215) leading to laser (194) passes in the hole of loading and unloading knife mechanism pull bar (214). C, an insulating layer (216) used to insulate the tool holder from the turret body, and a cable connecting the tool holder to the power supply, D, an electrical signal interface (227), Ε, used to install the cutter, tool A fluid channel (217) for supplying fluid, F, any combination of the above items.

12. The compound machining center according to claim 2, characterized in that: said quenching device is one of the following: A, a laser emitting device, which consists of a power laser (41), a laser channel (215), a replaceable laser Emitting head (40) or (45) is made of, Β, induction hardening device, and it is made of high frequency or intermediate frequency power supply, cable and changeable induction hardening coil (46), C, flame heating device, changeable flame In addition to the flame nozzle, the nozzle is also equipped with an electronic ignition device and an electromagnetic gas valve to control the flow of gas and oxygen. The state of the flame, ignition, and extinguishment can be controlled by the program. Quenching the heated surface.

13. The machine tool or machining center according to claim 2 or any one of the following, characterized in that: the spindle box that can move on the bed along the Z, X, and Y directions is vertically downward, controlled by the C axis, and equipped with Workpiece spindle with chuck gripping and driving mechanism, a closed conveyor belt passing through the headstock activity area, equipped with a chuck turning mechanism, and a rotary tool on the bed and the rotatable multi-axis box that can rotate around the Β axis in between Spindle, gear shaping device, bevel gear planing device, grinding device, laser quenching or processing device, electric machining electrode, wire cutting device, measuring device, etc. Part or all of various working devices, all working devices have automatic loading and unloading knife mechanisms , All tools and tools have interchangeable handles, and the spindle box is equipped with a manipulator that can automatically change tools. It can automatically install tools such as tool changing claws, tool measuring heads, grinding wheel dressers, cameras, etc., and is equipped with a tool library. , Gear shaping device and bevel gear planing device can automatically adjust and change tools.

14. The machine tool or machining center according to claim 2 or any one of the following, characterized in that: the workpiece spindle box with the spindle vertically downward slides along the Z direction on the cross slide through the guide rail, and the cross slide can be placed on the vertical bed The X guide rail on the upper part of the body slides on the guide rail, and a sliding column slides along the Y axis in the through hole in the middle of the bed. In addition to the tool spindle, the rotatable multi-axis box is equipped with various other working devices, such as gear shaping devices, laser processing devices, etc. All working devices are equipped with automatic knife loading and unloading mechanisms. The axes are all tangent to a short cylinder revolving around the Β axis in the same direction, so that the tool or tool can be changed from the chain tool magazine by means of the same double-jaw automatic tool changer. A closed conveyor belt passes through one end of the X stroke of the workpiece spindle , vertically downward, with C-axis control, the workpiece spindle equipped with chuck grabbing and driving mechanism can grab empty or pre-loaded workpiece chucks from the conveyor belt through the chuck turning mechanism, or directly from the conveyor belt Pick up the workpiece blank.

^5. The machine tool or machining center according to claim 2 or any one of the following, characterized in that: a The headstock and tailstock are coaxially installed on the slide table, and the workpiece spindle and the C-axis control mechanism of the workpiece spindle are installed in the headstock. The slide table can slide along the z direction parallel to the spindle axis on the guide rail of the bed. The sliding seat can slide on the X guide rail perpendicular to the Z direction of the bed, a sliding column can slide in the Y direction in the sliding seat, and a turret can rotate around the B axis parallel to the Y axis at the outer end of the sliding column. And it can be locked on the sliding column at any angle. In addition to the tool spindle, there are many other working devices in the turret, such as gear shaping devices, laser processing devices, etc. All working devices are equipped with automatic tool loading mechanisms. The axes of the tools or tools are all tangent to the same circle around the B-axis in the same direction, so that the tools or tools can be changed from the chain tool magazine by means of a double-claw automatic tool change mechanism.