Blisk grinding and polishing machining device

Abstract

The utility model relates to the field of machining, in particular to a blisk grinding and polishing machining device which comprises a blisk mounting table and a cooperative mechanical arm, the action output end of the cooperative mechanical arm is connected with a grinding tool, and the grinding tool comprises a conical grinding head and a tool handle connected between the grinding head and the cooperative mechanical arm. A flexible coupler is connected to the cutter handle in series and comprises a coupler sleeve connected with the cooperative mechanical arm through a cutter handle rod, the flexible coupler further comprises a transmission head connected with the grinding head through a cutter head rod, the right end of the transmission head is installed in an inner hole of the coupler sleeve in a guiding mode, and a connecting turned edge is arranged at the left end of the transmission head. An elastic gasket is arranged between the connecting turned edge and the coupler sleeve, a center rod is arranged at the right end of the transmission head, and a plurality of transmission springs distributed in the circumferential direction are arranged between the center rod and the inner wall of the coupler sleeve. The technical problem that in the polishing process of an existing polishing head, reverse acting force borne by the polishing head can act on a cooperative mechanical arm is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of machining, especially to a whole blade disc grinding and polishing processing device. BACKGROUND

[0002] The blade disc comprises a blade disc body, and a plurality of blades are uniformly distributed on the outer periphery of the blade disc body, and the blades have irregular spiral structures.

[0003] The blades are usually machined or finished after casting, and burrs are left on the surface of the blades after machining. Therefore, the burrs need to be ground and polished. Since the blades are irregular, in the traditional technology, the burrs on the surface of the blades are manually ground and polished, which is very labor-intensive and has low grinding and polishing efficiency.

[0004] With the progress of science and technology, collaborative robot arms are increasingly widely used. By inputting a program in advance, the collaborative robot arm can carry a grinding head to adapt to the irregular shape of the blade, thereby completing the mechanical grinding and polishing operation. However, it is found in use that, due to the irregularity of the spiral of the blade, when the grinding head carried by the collaborative robot arm grinds the complex curved surface of the blade, the tool, i.e. the grinding head, may encounter different directions of reaction force. The direction of the reaction force is mainly the rotation direction of the tool and the axial direction of the tool. This reaction force is transmitted to the collaborative robot arm. Since the collaborative robot arm is a precision device, long-term bearing of the reaction force will affect the action output accuracy of the collaborative robot arm. SUMMARY

[0005] The utility model aims to provide a whole blade disc grinding and polishing processing device to solve the technical problem that the reverse reaction force received by the grinding head during the grinding process of the existing grinding head acts on the collaborative robot arm.

[0006] The technical scheme of the utility model is as follows:

[0007] The technical scheme of the whole blade disc grinding and polishing processing device is as follows:

[0008] The whole blade disc grinding and polishing processing device comprises left and right blade mounting tables and a collaborative robot arm. The action output end of the collaborative robot arm is connected with a grinding tool for grinding the blades of the blade disc. The grinding tool comprises a conical grinding head and a tool shank connected between the grinding head and the collaborative robot arm. A flexible coupling is connected in series on the tool shank. The flexible coupling comprises a coupling sleeve connected with the collaborative robot arm through a tool shank rod. The flexible coupling further comprises a transmission head connected with the grinding head through a tool head rod. The right end of the transmission head is guided into the inner hole of the coupling sleeve. A connecting flange is arranged on the left end of the transmission head. An elastic gasket is arranged between the connecting flange and the coupling sleeve. A center rod is arranged on the right end of the transmission head. A plurality of transmission springs distributed in the circumferential direction are arranged between the center rod and the inner wall of the coupling sleeve.

[0009] Further, each transmission spring is distributed radially with the center rod as the center.

[0010] Further, the right end of the center rod is arranged spaced apart from the bottom of the coupling sleeve.

[0011] Further, the inner wall of the coupling sleeve is provided with an outer side hanging ring corresponding to the transmission spring, the outer periphery of the transmission head is provided with an inner side hanging ring corresponding to the transmission spring, the outer end of the transmission spring is hung on the corresponding outer side hanging ring, and the inner end of the transmission spring is hung on the corresponding inner side hanging ring.

[0012] Further, the right end of the coupling sleeve is fixed with a right side end cover through a screw, and the tool handle is fixed on the right side end cover.

[0013] Further, the blade disc mounting table comprises a mounting base, a mounting disc with a rotating axis extending in the up-down direction is rotatably assembled on the mounting base, the blade disc is fixed on the mounting disc through bolts, and the mounting base is provided with a mounting disc driving mechanism for driving the mounting disc to rotate.

[0014] The beneficial effects of the technical scheme are as follows: in use, the tool is mounted on the action output end of the collaborative mechanical arm, the collaborative mechanical arm outputs a torque, the tool handle carries the coupling sleeve to rotate, the coupling sleeve rotates with the transmission spring and the transmission head, and the transmission head rotates with the polishing head, so that the polishing and polishing of the blade are completed, the posture of the blade is changed by the collaborative mechanical arm carrying the polishing head, and the polishing and polishing process of the blade is completed. Due to the irregularity of the posture of the blade, the polishing head will be subjected to axial and rotational reaction forces during the polishing process. The axial reaction force is buffered by compressing the elastic gasket; the rotational reaction force is buffered by stretching the transmission spring, so that these reaction forces are not directly transmitted to the collaborative mechanical arm, and the influence on the collaborative mechanical arm is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural schematic view of a specific embodiment of the whole blade disc polishing and polishing processing device in the utility model;

[0016] Figure 2 is Figure 1 a top view;

[0017] Figure 3 is Figure 1 a cooperation schematic view of the polishing head and the blade in the utility model;

[0018] Figure 4 is Figure 1 a structural schematic view of the tool in the utility model;

[0019] Figure 5 is Figure 4 a cooperation schematic view of the transmission spring, the coupling sleeve and the center rod in the utility model;

[0020] Figure 6 is Figure 1 The cooperation schematic view of the middle vane disc mounting table and the vane disc is shown in the figure.

[0021] In the figure: 1, mounting base, 2, vane disc mounting table; 3, bolt; 4, vane disc body; 5, toothed disc; 6, mounting disc driving mechanism; 7, motor shaft gear; 8, mounting disc; 9, vane; 10, polishing head; 11, tool holder; 12, tool head rod; 13, flexible coupling; 14, tool holder rod; 15, action output end of collaborative mechanical arm; 16, collaborative mechanical arm, 17, transmission head; 18, connecting turn-up; 19, elastic gasket; 20, coupling sleeve; 21, center rod; 22, screw; 23, transmission spring; 24, right side end cover; 25, outer hanging ring; 26, inner hanging ring. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the utility model clearer and more understandable, the following will be further described in detail in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and are not used to limit the utility model, that is, the described examples are only a part of the examples of the utility model, but not all the examples. The components of the utility model examples described and shown in the drawings herein can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the examples of the utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but only represents selected examples of the utility model. Based on the examples of the utility model, all other examples obtained by those skilled in the art without making creative efforts belong to the scope of protection of the utility model.

[0024] It should be noted that the relational terms such as "first" and "second" and the like are used only to distinguish one entity or action from another, and do not necessarily require or imply that these entities or actions exist in any such actual relationship or order. Moreover, the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0025] The features and performances of the present application are further described in detail in the following embodiments.

[0026] One specific embodiment of the blade disc grinding and polishing device in the present application is shown in the following: Figures 1-6

[0027] The blade disc mounting table 2 comprises a mounting base 1, and a rotating shaft of the mounting disc 8 is assembled on the mounting base 1 in an up-down direction, and the mounting base 1 is provided with a mounting disc driving mechanism 6 for driving the mounting disc to rotate.

[0028] In the embodiment, the bottom of the mounting disc is provided with a gear disc 5 coaxially arranged with the mounting disc, and the mounting disc driving mechanism 6 comprises a servo motor arranged on the mounting base, and a motor shaft gear 7 engaged with the gear disc 5 is fixed on the motor shaft of the servo motor.

[0029] The blade disc comprises a blade disc body 4, and a plurality of blades 9 are distributed on the outer periphery of the blade disc body 4, and the bottom of the blade disc has a threaded hole for mounting the blade disc in use, and in the embodiment, a bolt through hole corresponding to the threaded hole is formed on the mounting disc, and in use, the blade disc is fixed on the mounting disc by threading a bolt 3 in the bolt through hole and the threaded hole.

[0030] The collaborative robot arm 16 in the embodiment adopts a six-axis industrial collaborative robot arm in the prior art, and a polishing cutter for polishing the blades of the blade disc is connected to the action output end of the collaborative robot arm, the polishing cutter comprises a conical polishing head 10 and a tool shank 11 connected between the polishing head 10 and the collaborative robot arm 16, a flexible coupling 13 is connected in series on the tool shank 11, the flexible coupling 13 comprises a coupling sleeve 20 connected to the collaborative robot arm through a tool shank rod 14, and the tool shank rod 14 is clamped and fixed on the action output end 15 of the collaborative robot arm.

[0031] The flexible coupling further comprises a transmission head 17 connected to the polishing head through a tool head rod 12, the right end of the transmission head 17 is guided into the inner hole of the coupling sleeve 20, the outer diameter of the right end of the transmission head is matched with the inner diameter of the inner hole of the coupling sleeve, and the transmission head can rotate relative to the coupling sleeve. The right end of the transmission head is provided with a center rod 21, a plurality of transmission springs 23 distributed in the circumferential direction are arranged between the center rod 21 and the inner wall of the coupling sleeve, and under the limiting action of the transmission springs 23, the circumferential rotation angle of the transmission head 17 relative to the coupling sleeve 20 is ±2.5°.

[0032] The left end of the transmission head is provided with a connecting flange 18, and the elastic gasket 19 is arranged between the connecting flange 18 and the coupling sleeve 20.

[0033] ​In the embodiment, the transmission springs 23 are distributed radially around the center rod 21, that is, the axis of each transmission spring extends along the radial direction of the center rod.

[0034] The inner wall of the coupling sleeve is provided with an outer hanging ring 25 corresponding to the transmission spring, the outer periphery of the transmission head is provided with an inner hanging ring 26 corresponding to the transmission spring, the outer end of the transmission spring 23 is hung on the corresponding outer hanging ring 25, and the inner end of the transmission spring is hung on the corresponding inner hanging ring 26.

[0035] The right end of the coupling sleeve is fixed with a right end cover 24 through a screw 22, the shank rod 14 is fixed on the right end cover 24, and the right end of the center rod 21 is arranged at intervals between the right end cover 24.

[0036] The assembly process of the flexible coupling is as follows: the right end cover is removed, at this time the right end of the coupling sleeve is open, the transmission head is assembled into the coupling sleeve from left to right, then the transmission spring is connected between the outer hanging ring and the inner hanging ring through the open position of the right end of the coupling sleeve, the axial position and the circumferential position of the transmission head relative to the coupling sleeve are limited through the transmission spring, then the right end cover is fixed on the right end of the coupling sleeve, and the assembly of the flexible coupling is completed.

[0037] The posture and position of the polishing head are adjusted through the cooperative mechanical arm, polishing of one blade is completed, the installation disc carries the blade disc to rotate by a certain angle, and polishing of the next blade can be completed. The torque of the shank rod is transmitted to the transmission head 17 through the transmission springs 23.

[0038] When the polishing head generates axial vibration, the connecting turn can compress the elastic gasket to move axially, and the reset of the connecting turn after movement is realized through the elastic gasket. Of course, the connecting turn can also move to the left relative to the elastic gasket, and the reset of the connecting turn after movement is realized through the transmission spring. Of course, when the polishing head generates circumferential reverse vibration, the circumferential vibration is realized through the circumferential rotation of the transmission head relative to the coupling sleeve to realize buffering, and the force is avoided to be transmitted to the cooperative mechanical arm as a whole, and the influence on the cooperative mechanical arm is reduced.

[0039] The above is only a preferred embodiment of the utility model, and does not limit the utility model, the protection scope of the utility model patent is subject to the claims, and equivalent structural changes made according to the contents of the specification and drawings of the utility model should also be included in the protection scope of the utility model.

Claims

1. A grinding and polishing device for blisk, comprising a left and right arranged blisk mounting table and a cooperative mechanical arm, an action output end of the cooperative mechanical arm is connected with a grinding tool for grinding blades of the blisk, characterized in that: The polishing tool comprises a conical polishing head and a tool handle connected between the polishing head and a cooperating mechanical arm, a flexible coupling is connected in series on the tool handle, the flexible coupling comprises a coupling sleeve connected with the cooperating mechanical arm through a tool handle rod, the flexible coupling further comprises a transmission head connected with the polishing head through a tool head rod, a right end of the transmission head is guided into a inner hole of the coupling sleeve, a left end of the transmission head is provided with a connecting flange, an elastic washer is arranged between the connecting flange and the coupling sleeve, a center rod is arranged at the right end of the transmission head, a plurality of transmission springs are arranged between the center rod and an inner wall of the coupling sleeve in a circumferential direction.

2. The integral blade disk polishing and grinding processing device according to claim 1, characterized in that: Each transmission spring is distributed radially with the center rod as the center.

3. The integral blade disk polishing and grinding processing device according to claim 2, characterized in that: The right end of the center rod is arranged spaced apart from the bottom of the coupling sleeve.

4. The integral blade disk polishing and grinding device of claim 1, wherein: The inner wall of the coupling sleeve is provided with an outer side hanging ring corresponding to the transmission spring, the outer periphery of the transmission head is provided with an inner side hanging ring corresponding to the transmission spring, the outer end of the transmission spring is hung on the corresponding outer side hanging ring, and the inner end of the transmission spring is hung on the corresponding inner side hanging ring.

5. The integral blade disk polishing and grinding device of claim 1, wherein: The right end of the coupling sleeve is fixed with a right side end cover through a screw, and the tool handle is fixed on the right side end cover.

6. The integral blade disk polishing and grinding device according to any one of claims 1-5, characterized in that: The blade disc mounting table comprises a mounting base, a mounting disc with a rotating axis extending in an up-down direction is rotatably arranged on the mounting base, the blade disc is fixed on the mounting disc through bolts, and the mounting base is provided with a mounting disc driving mechanism for driving the mounting disc to rotate.

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