WO1999032256A1 - Machine tool for machining elongated workpieces - Google Patents

Machine tool for machining elongated workpieces Download PDF

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Publication number
WO1999032256A1
WO1999032256A1 PCT/CH1997/000479 CH9700479W WO9932256A1 WO 1999032256 A1 WO1999032256 A1 WO 1999032256A1 CH 9700479 W CH9700479 W CH 9700479W WO 9932256 A1 WO9932256 A1 WO 9932256A1
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WO
WIPO (PCT)
Prior art keywords
axis
tool
machine
rotation
guide
Prior art date
Application number
PCT/CH1997/000479
Other languages
German (de)
French (fr)
Inventor
Ralph Liechti
Fritz Lehmann
Original Assignee
Liechti Engineering Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liechti Engineering Ag filed Critical Liechti Engineering Ag
Priority to PCT/CH1997/000479 priority Critical patent/WO1999032256A1/en
Priority to AU39095/99A priority patent/AU3909599A/en
Priority to TW087106881A priority patent/TW443955B/en
Publication of WO1999032256A1 publication Critical patent/WO1999032256A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
    • B23C3/16—Working surfaces curved in two directions
    • B23C3/18—Working surfaces curved in two directions for shaping screw-propellers, turbine blades, or impellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B23Q1/4861—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed parallelly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods

Definitions

  • the invention relates to a machine tool for machining elongated workpieces with at least one clamping device for a workpiece which can be driven about a first axis of rotation and at least one tool spindle which can be driven about a second axis of rotation lying in the tool axis and which runs along a first translation axis parallel to the first axis of rotation and along one of the axes the first axis of rotation is perpendicular and the second axis of rotation is parallel to the second translation axis, wherein the clamping device is displaceable along a third axis of translation perpendicular to the first and second axes of translation and wherein the tool spindle is also pivotable about a pivot axis parallel to the third axis of translation.
  • Numerically controlled machining centers are almost exclusively used today for machining workpieces with complex shaped surfaces, such as turbine blades.
  • the design of such machining centers is based on the idea of enabling the complete machining of different and complicated workpieces in a single clamping.
  • the centers have at least three translational movement axes with a numerical path control, which are usually supplemented by one or two likewise numerically controlled rotation axes.
  • the way in which these axes of motion are assigned to the tool or workpiece determines the design of the machining center, in particular the structure and mutual arrangement of the various stand and table assemblies.
  • the range of parts to be manufactured determines the technical parameters of a machining center, such as the type and number of controlled axes, cutting performance, speed and feed range, and length of travel.
  • Efforts to reduce the manufacturing costs of machining workpieces of the type mentioned above are essentially two-way. Firstly, one tries to reduce the acquisition and operating costs of the corresponding machining centers by simplifying their construction as much as possible and - if this also simplifies is bound - adapted to the workpieces to be processed with it. Second, many efforts to reduce manufacturing costs are aimed at shortening the machining time per workpiece. This can be achieved, in particular, by increasing the speed of the relative movements between the tool and the workpiece during actual machining, but also when advancing and changing the tools. There is a limit to the acceleration that can be achieved, which is significantly influenced by the size of the moving masses.
  • a machine known as a "six-axis tool device" has become known under publication number WO 91/03145, which has two spaced-apart platforms, one of which can carry a tool and the other a workpiece.
  • the two platforms are connected to one another by six elements that can be changed in length, for example hydraulic cylinders or threaded spindles, and can be moved relative to one another. By changing the length of the elements in a controlled manner, one of the platforms can be moved spatially in any area in relation to the other.
  • the document WO 92/17313 entitled “Manipulator” shows a similar machine, in which, however, two platforms, one of which can carry a workpiece, are immovably connected to one another.
  • the six variable-length elements in this case carry the tool and are mounted on the other of the platforms mentioned. By controlling the length of the elements in a controlled manner, the tool can be moved anywhere in an area.
  • a disadvantage of the first of the machines mentioned is that a relatively large mass has to be accelerated with the movable platform, as a result of which the working speed of this machine is limited.
  • Both of the machines mentioned have in common that they have at least six controlled drives and just as many guides for carrying out the relative movements between the tool and the workpiece, which is not only very complex and expensive, but also difficult to master in terms of control technology.
  • a first object of the present invention is to provide a machine tool for machining elongated workpieces which has a structure which is considerably simplified compared to known machines of this type.
  • a second aim is to make such a machine modular so that, in particular, its frame can be assembled easily and quickly according to the required size.
  • the machine according to the invention enables all movements of the tool spindle in a plane determined by the first and second translation axes and the pivoting movement of the tool spindle with a single guide, it is simpler, smaller, lighter and less expensive than machines of the prior art with comparable ones Tasks.
  • the drives of the sliding carriage there is considerably more freedom than in the elements of the prior art which are variable in length.
  • the simplicity of the structural design favors the design of the machine in a modular design.
  • the relatively small moving masses result in improved dynamics of the machine according to the invention compared to known machines.
  • the method defined in claim 8 for operating a machine according to the invention ensures that the point of contact or working point between the tool and the workpiece is practically retained when the tool spindle is pivoted, so that linear corrections only have to be made must be done to a small extent. This saves unnecessarily long readjustments.
  • FIG. 1 shows a front view of an embodiment of the machine according to the invention
  • FIGS. 2 and 3 basic diagrams to illustrate the kinematics of the machine according to FIG. 1,
  • FIGS. 4 to 7 basic sketches of control arm arrangements of further embodiments of the machine according to the invention, each with three control arms and
  • FIGS. 8 to 10 basic sketches of handlebar arrangements of further embodiments of the machine according to the invention, each with four handlebars.
  • the milling machine shown in Figure 1 is especially for the production of
  • Turbine blades designed and contains a machine bed 1, on which an upper support 3 is held by means of supports 2. On the side of this carrier 3 facing the machine bed 1 there is a guide 4 which extends in the direction of the first translation axis X and on which three carriages 5, 6 and 7 are displaceably mounted independently of one another. Each carriage is equipped with a drive, not shown, which moves the carriage along the guide 4 in a controlled manner. Each carriage 5, 6 and 7 contains a joint 8, 9 and 10, with which one end of a link 11, 12 and 13 is connected. Each of the links is connected at its other end by means of a further joint 14, 15 or 16 to a milling unit 17, which includes the tool spindle 18 receiving a tool, for example a milling tool 19, together with its drive.
  • a table 20 is slidably received on a guide 21 in the direction of the third translation axis Y.
  • This table carries a clamping device 22 with which a workpiece 23 is held rotatably about a first axis of rotation A.
  • a tailstock 24 which can be displaced in the direction of the first translation axis X on the table 20.
  • FIG. 2 shows how the tool 19 is moved by the amount z19 in the direction of the second translation axis Z from a starting position shown in solid lines to an end position shown in broken lines.
  • a movement of the tool in the direction of the first translation axis X is achieved in that all three slides 5, 6 and 7 are shifted in the same direction by the same amount.
  • FIG. 3 shows a case in which the axis of the tool spindle, starting from a vertical position about the axis B shown with solid lines, pivots by the angle ⁇ into a position shown with broken lines.
  • the position of the swivel axis can be arbitrarily selected in a certain range by corresponding control of the displacement paths x'5, x'6 and x'7.
  • the position of the pivot axis B is selected such that it lies close to the point of contact of the milling tool 19 on the workpiece 23. This choice has the advantage that the point of contact is approximately preserved when the tool is swiveled, so that only minimal linear corrections have to be made. This saves unnecessarily long readjustments.
  • FIGS. 4 to 10 show, in the form of schematic diagrams, handlebar arrangements of further embodiments of the machine according to the invention, the same parts being provided with the same reference numerals.
  • the embodiments of Figures 4 to 7 are each equipped with three handlebars.
  • the arrangement of the joints on the milling unit 17 is essentially the same as in the embodiment explained with reference to FIGS. 1 to 3.
  • the joints provided on the carriages 5 to 7 are not arranged on an axis parallel to the X axis, but are offset in the Z direction.
  • the handlebar that controls the inclination of the milling unit 17 should in fact have the smallest possible angle with respect to the X axis, whereas the handlebars which cause the milling unit to move in the Z direction have an angle as large as possible with respect to the X axis should.
  • this arrangement has the disadvantage that the guide 4 has to be built longer because of the handlebar 11 which is led out flat.
  • FIG. 5 shows an example in which this disadvantage is eliminated in that the joint 14 for the handlebar 11 on the milling unit 17 is laterally offset with respect to the axis C, so that the handlebar 11 can be arranged relatively flat even without crossing with the handlebar 12 can.
  • the exemplary embodiment according to FIG. 6 illustrates that the joints 15 and 16 of the links 12 and 13 arranged on the milling unit 17 do not have to be spaced apart from one another in the X direction as previously shown, but can lie on the same axis.
  • the carriages 5 and 6 can interfere with one another during their movements on the common guide 4. This can be remedied with an embodiment according to FIG. 7 by providing a further guide 4a parallel to the guide 4 on which one of the slides runs. Thus, the carriages 5 and 6 can cross to move the milling unit 17.
  • FIGS. 8 to 10 show basic sketches of control arm arrangements of further embodiments of the machine according to the invention, each with four control arms.
  • Such handlebar arrangements are statically indefinite, but can be easily controlled with appropriate controls of the drives of the sled.
  • the exemplary embodiment according to FIG. 8 corresponds in principle that shown in FIG. 6, only that it has a further link 11a with an associated slide 5a.
  • the positions of the carriages 5, 5a, 6, and 7 on the guide 4 are interchanged with respect to FIG. 8, so that the links 11 and 12 or 11a and 13 intersect.
  • FIG. 10 shows that embodiments are also conceivable in which two of the joints arranged on the milling unit are located on a common axis, which axes lie on a line parallel to the X axis.
  • the guide 4 is arranged above the first axis of rotation A.
  • the guide could take any other position, for example sideways next to the first axis of rotation A.

Abstract

The inventive machine has at least one workpiece (23) clamping device (22) which can be driven around a first axis of rotation (A), and at least one tool spindle (18) which can be driven around a second axis of rotation (C). Three slides (5, 6, 7) can be moved independently of each other on a slide guide (4) by means of drive mechanisms, and are connected by guide rods (11, 12, 13) to a unit (17) which supports the tool spindle. As the slide is moved along the slide guide, so the workpiece (19) can be moved along an X-axis and a Z-axis, and turned in a certain area. The inventive machine has fewer drive mechanisms and especially slide guides than known machines of the same type and is easy to construct modularly. The masses which are moved in the inventive machine are also less than in known machines and the dynamics of the inventive machine are better as a result.

Description

Werkzeugmaschine zum Bearbeiten von länglichen Werkstücken Machine tool for machining elongated workpieces
Die Erfindung betrifft eine Werkzeugmaschine zum Bearbeiten von länglichen Werkstücken mit mindestens einer um eine erste Rotationsachse antreibbaren Spannvorrichtung für ein Werkstück und mindestens einer um eine zweite, in der Werkzeugachse liegende Rotationsachse antreibbare Werkzeugspindel, welche entlang einer zur ersten Rotationsachse parallelen ersten Translationsachse und entlang einer zur ersten Rotationsachse rechtwinkligen und zur zweiten Rotationsachse parallelen zweiten Translationsachse verschiebbar ist, wobei die Spannvorrichtung entlang einer zur ersten und zweiten Translationsachse rechtwinkligen dritten Translationsachse verschiebbar ist und wobei ferner die Werkzeugspindel um eine zur dritten Translationsachse parallele Schwenkachse schwenkbar ist.The invention relates to a machine tool for machining elongated workpieces with at least one clamping device for a workpiece which can be driven about a first axis of rotation and at least one tool spindle which can be driven about a second axis of rotation lying in the tool axis and which runs along a first translation axis parallel to the first axis of rotation and along one of the axes the first axis of rotation is perpendicular and the second axis of rotation is parallel to the second translation axis, wherein the clamping device is displaceable along a third axis of translation perpendicular to the first and second axes of translation and wherein the tool spindle is also pivotable about a pivot axis parallel to the third axis of translation.
Zur spanabhebenden Bearbeitung von Werkstücken mit komplex geformten Oberflächen, wie beispielsweise Turbinenschaufeln, werden heute fast ausschliesslich numerisch gesteuerte Bearbeitungszentren verwendet. Die Konzeption solcher Bearbeitungszentren beruht auf dem Gedanken, die komplette Bearbeitung unterschiedlicher und komplizierter Werkstücke in einer einzigen Aufspannung zu ermöglichen. Die Zentren verfügen dazu über mindestens drei translatorische Bewegungsachsen mit einer numerischen Bahn- Steuerung, die meist durch eine oder zwei ebenfalls numerisch gesteuerte Rotationsachsen ergänzt sind. Die Art der Zuordnung dieser Bewegungsachsen zum Werkzeug oder Werkstück bestimmt die Bauform des Bearbeitungszentrums, insbesondere den Aufbau und die gegenseitige Anordnung der verschiedenen Ständer- und Tischbaugruppen. Das zu fertigende Teilespektrum bestimmt die technischen Kenngrössen eines Bearbeitungszentrums wie Art und Anzahl der gesteuerten Achsen, Schnittleistung, Drehzahl- und Vorschubbereich sowie Länge der Verfahrwege.Numerically controlled machining centers are almost exclusively used today for machining workpieces with complex shaped surfaces, such as turbine blades. The design of such machining centers is based on the idea of enabling the complete machining of different and complicated workpieces in a single clamping. For this purpose, the centers have at least three translational movement axes with a numerical path control, which are usually supplemented by one or two likewise numerically controlled rotation axes. The way in which these axes of motion are assigned to the tool or workpiece determines the design of the machining center, in particular the structure and mutual arrangement of the various stand and table assemblies. The range of parts to be manufactured determines the technical parameters of a machining center, such as the type and number of controlled axes, cutting performance, speed and feed range, and length of travel.
Die Bemühungen zur Reduktion der Fertigungskosten beim Bearbeiten von Werkstücken der oben genannten Art zielen im wesentlichen in zwei Richtungen. Erstens versucht man, die Anschaffungs- und Betriebskosten der entsprechenden Bearbeitungszentren zu reduzieren, indem man deren Aufbau möglichst vereinfacht und - sofern dies ebenfalls mit einer Vereinfachung ver- bunden ist - den damit zu bearbeitenden Werkstücken anpasst. Zweitens zielen viele Bemühungen zur Reduktion der Fertigungskosten auf eine Verkürzung der Bearbeitungszeit pro Werkstück. Dies kann insbesondere durch Erhöhen der Geschwindigkeit der Relativbewegungen zwischen Werkzeug und Werkstück beim eigentlichen Bearbeiten, aber auch beim Zustellen und beim Wechseln der Werkzeuge erreicht werden. Eine Grenze liegt bei der erreichbaren Beschleunigung, die massgeblich durch die Grosse der bewegten Massen beeinflusst wird.Efforts to reduce the manufacturing costs of machining workpieces of the type mentioned above are essentially two-way. Firstly, one tries to reduce the acquisition and operating costs of the corresponding machining centers by simplifying their construction as much as possible and - if this also simplifies is bound - adapted to the workpieces to be processed with it. Second, many efforts to reduce manufacturing costs are aimed at shortening the machining time per workpiece. This can be achieved, in particular, by increasing the speed of the relative movements between the tool and the workpiece during actual machining, but also when advancing and changing the tools. There is a limit to the acceleration that can be achieved, which is significantly influenced by the size of the moving masses.
Unter der Veröffentlichungsnummer WO 91/03145 ist eine als "sechsachsige Werkzeugvorrichtung" bezeichnete Maschine bekanntgeworden, die zwei voneinander beabstandete Plattformen aufweist, von denen eine ein Werkzeug und die andere ein Werkstück tragen kann. Die beiden Plattformen sind durch sechs längenveränderliche Elemente, beispielsweise Hydraulikzylinder oder Gewindespindeln, miteinander verbunden und relativ zueinan- der bewegbar. Durch gesteuerte Änderung der Länge der Elemente ist eine der Plattformen in Bezug auf die andere in einem Bereich beliebig räumlich bewegbar.A machine, known as a "six-axis tool device", has become known under publication number WO 91/03145, which has two spaced-apart platforms, one of which can carry a tool and the other a workpiece. The two platforms are connected to one another by six elements that can be changed in length, for example hydraulic cylinders or threaded spindles, and can be moved relative to one another. By changing the length of the elements in a controlled manner, one of the platforms can be moved spatially in any area in relation to the other.
Das Dokument WO 92/17313 mit dem Titel "Manipulator" zeigt eine ähnliche Maschine, bei der jedoch zwei Plattformen, von denen wiederum eine ein Werkstück tragen kann, unbeweglich miteinander verbunden sind. Die sechs längenveränderlichen Elemente tragen in diesem Fall das Werkzeug und sind an der anderen der genannten Plattformen gelagert. Durch gesteuerte Änderung der Länge der Elemente ist das Werkzeug in einem Bereich beliebig räumlich bewegbar.The document WO 92/17313 entitled "Manipulator" shows a similar machine, in which, however, two platforms, one of which can carry a workpiece, are immovably connected to one another. The six variable-length elements in this case carry the tool and are mounted on the other of the platforms mentioned. By controlling the length of the elements in a controlled manner, the tool can be moved anywhere in an area.
Ein Nachteil der ersten der genannten Maschinen besteht darin, dass mit der beweglichen Plattform eine relativ grosse Masse beschleunigt werden muss, wodurch die Arbeitsgeschwindigkeit dieser Maschine begrenzt ist. Beiden der genannten Maschinen ist gemeinsam, dass sie allein zum Durchführen der Relativbewegungen zwischen Werkzeug und Werkstück min- destens sechs gesteuerte Antriebe und ebenso viele Führungen aufweisen, was nicht nur sehr aufwendig und teuer, sondern auch steuerungstechnisch schwierig zu bewältigen ist. Ein erstes Ziel der vorliegenden Erfindung besteht in der Schaffung einer Werkzeugmaschine zum Bearbeiten von länglichen Werkstücken, die einen gegenüber bekannten derartigen Maschinen erheblich vereinfachten Aufbau aufweist. Ein zweites Ziel besteht darin, eine solche Maschine modular zu gestalten, so dass insbesondere deren Gestell einfach und rasch entsprechend der erforderlichen Grosse zusammengestellt werden kann. Ein weiteres Ziel der Erfindung besteht darin, eine Maschine der eingangs genannten Art vorzuschlagen, bei der die bewegten Massen gegenüber dem vorbekannten Stand der Technik gering sind. Noch ein Ziel der Erfindung besteht darin, eine Werkzeugmaschine vorzuschlagen, bei der auf längenveränderliche Elemente zum Bewegen des Werkzeuges verzichtet werden kann. Schliesslich ist es auch ein Ziel der Erfindung, eine derartige Maschine mit einer gegenüber dem vorbekannten Stand der Technik reduzierten Anzahl von Antriebskomponenten und insbesondere Führungen zu entwickeln.A disadvantage of the first of the machines mentioned is that a relatively large mass has to be accelerated with the movable platform, as a result of which the working speed of this machine is limited. Both of the machines mentioned have in common that they have at least six controlled drives and just as many guides for carrying out the relative movements between the tool and the workpiece, which is not only very complex and expensive, but also difficult to master in terms of control technology. A first object of the present invention is to provide a machine tool for machining elongated workpieces which has a structure which is considerably simplified compared to known machines of this type. A second aim is to make such a machine modular so that, in particular, its frame can be assembled easily and quickly according to the required size. Another object of the invention is to propose a machine of the type mentioned at the outset, in which the moving masses are small compared to the prior art. Another object of the invention is to propose a machine tool in which length-variable elements for moving the tool can be dispensed with. Finally, it is also an object of the invention to develop such a machine with a reduced number of drive components and, in particular, guides, compared to the prior art.
Diese Ziele werden durch eine Werkzeugmaschine der eingangs genannten Art erreicht, welche die im kennzeichnenden Teil des Patentanspruchs 1 angegebenen Merkmale aufweist.These goals are achieved by a machine tool of the type mentioned, which has the features specified in the characterizing part of patent claim 1.
Dadurch, dass die erfindungsgemässe Maschine sämtliche Bewegungen der Werkzeugspindel in einer durch die erste und zweite Translati- onsachse bestimmten Ebene und die Schwenkbewegung der Werkzeugspindel mit einer einzigen Führung ermöglicht, ist sie einfacher, kleiner, leichter und kostengünstiger als Maschinen des Standes der Technik mit vergleichbaren Aufgaben. Bei der Ausgestaltung der Antriebe der verschiebbaren Schlitten besteht wesentlich mehr Freiheit als bei den längenveränderlichen Elementen des Standes der Technik. Die Einfachheit des konstruktiven Aufbaus begünstigt eine Gestaltung der Maschine in modularer Bauweise. Die relativ geringen bewegten Massen haben eine gegenüber bekannten Maschinen verbesserte Dynamik der erfindungsgemässen Maschine zur Folge.Because the machine according to the invention enables all movements of the tool spindle in a plane determined by the first and second translation axes and the pivoting movement of the tool spindle with a single guide, it is simpler, smaller, lighter and less expensive than machines of the prior art with comparable ones Tasks. In the design of the drives of the sliding carriage, there is considerably more freedom than in the elements of the prior art which are variable in length. The simplicity of the structural design favors the design of the machine in a modular design. The relatively small moving masses result in improved dynamics of the machine according to the invention compared to known machines.
Durch das im Anspruch 8 definierte Verfahren zum Betrieb einer er- findungsgemässen Maschine wird erreicht, dass der Berührungspunkt oder Arbeitspunkt zwischen Werkzeug und Werkstück beim Verschwenken der Werkzeugspindel praktisch erhalten bleibt, so dass Linearkorrekturen nur noch in einem geringen Umfang erfolgen müssen. Dies spart unnötig lange Nachstellbewegungen.The method defined in claim 8 for operating a machine according to the invention ensures that the point of contact or working point between the tool and the workpiece is practically retained when the tool spindle is pivoted, so that linear corrections only have to be made must be done to a small extent. This saves unnecessarily long readjustments.
Anhand von Figuren ist die Erfindung im folgenden näher beschrieben. Es zeigen:The invention is described in more detail below with reference to figures. Show it:
Figur 1 Eine Frontansicht einer Ausführungsart der erfindungsgemässen Maschine,FIG. 1 shows a front view of an embodiment of the machine according to the invention,
Figuren 2 und 3 Prinzipskizzen zur Veranschaulichung der Kinematik der Maschine gemäss Figur 1 ,FIGS. 2 and 3 basic diagrams to illustrate the kinematics of the machine according to FIG. 1,
Figuren 4 bis 7 Prinzipskizzen von Lenkeranordnungen weiterer Ausführungs- arten der erfindungsgemässen Maschine mit jeweils drei Lenkern undFIGS. 4 to 7 basic sketches of control arm arrangements of further embodiments of the machine according to the invention, each with three control arms and
Figuren 8 bis 10 Prinzipskizzen von Lenkeranordnungen weiterer Ausführungsarten der erfindungsgemässen Maschine mit jeweils vier Lenkern.FIGS. 8 to 10 basic sketches of handlebar arrangements of further embodiments of the machine according to the invention, each with four handlebars.
Die in Figur 1 gezeigte Fräsmaschine ist speziell zum Herstellen vonThe milling machine shown in Figure 1 is especially for the production of
Turbinenschaufeln konzipiert und enthält ein Maschinenbett 1 , auf dem mittels Stützen 2 ein oberer Träger 3 gehalten ist. An der dem Maschinenbett 1 zugewandten Seite dieses Trägers 3 befindet sich eine sich in Richtung der ersten Translationsachse X erstreckende Führung 4, auf welcher drei Schlitten 5, 6 und 7 unabhängig voneinander verschiebbar gelagert sind. Jeder Schlitten ist mit einem nicht dargestellten Antrieb ausgestattet, der den Schlitten gesteuert längs der Führung 4 bewegt. Jeder Schlitten 5, 6 und 7 enthält je ein Gelenk 8, 9 und 10, mit denen je ein Ende eines Lenkers 11 , 12 und 13 verbunden ist. Jeder der Lenker ist an seinem anderen Ende mittels eines weiteren Gelenkes 14, 15 bzw. 16 mit einer Fräseinheit 17 verbunden, welche die ein Werkzeug, beispielsweise ein Fräswerkzeug 19, aufnehmende Werkzeugspindel 18 mitsamt ihrem Antrieb umfasst. Auf dem Maschinenbett 1 ist ein Tisch 20 auf einer Führung 21 in Richtung der dritten Translationsachse Y verschiebbar aufgenommen. Dieser Tisch trägt eine Spannvorrichtung 22, mit welcher ein Werk- stück 23 um eine erste Rotationsachse A drehbar gehalten ist. Zur Stützung des Werkstückes ist zudem ein in Richtung der ersten Translationsachse X auf dem Tisch 20 verschiebbarer Reitstock 24 vorhanden.Turbine blades designed and contains a machine bed 1, on which an upper support 3 is held by means of supports 2. On the side of this carrier 3 facing the machine bed 1 there is a guide 4 which extends in the direction of the first translation axis X and on which three carriages 5, 6 and 7 are displaceably mounted independently of one another. Each carriage is equipped with a drive, not shown, which moves the carriage along the guide 4 in a controlled manner. Each carriage 5, 6 and 7 contains a joint 8, 9 and 10, with which one end of a link 11, 12 and 13 is connected. Each of the links is connected at its other end by means of a further joint 14, 15 or 16 to a milling unit 17, which includes the tool spindle 18 receiving a tool, for example a milling tool 19, together with its drive. On the machine bed 1, a table 20 is slidably received on a guide 21 in the direction of the third translation axis Y. This table carries a clamping device 22 with which a workpiece 23 is held rotatably about a first axis of rotation A. For support of the workpiece there is also a tailstock 24 which can be displaced in the direction of the first translation axis X on the table 20.
Im folgenden wird anhand der Figuren 2 und 3 die Kinematik der oben beschriebenen Maschine erläutert. Figur 2 zeigt, wie eine Bewegung des Werkzeuges 19 um den Betrag z19 in Richtung der zweiten Translationsachse Z von einer mit ausgezogenen Linien dargestellten Ausgangslage in eine mit unterbrochenen Linien dargestellte Endlage bewerkstelligt wird. Dazu werden die beiden Schlitten 6 und 7 um den gleichen Betrag x6 = x7 aufeinander zu bewegt, wodurch sich die Fräseinheit 17 um den gewünschten Betrag z19 nach unten verschiebt. Damit sich dabei die Fräseinheit nicht neigt, sondern nur parallel verschoben wird, muss der Schlitten 5 um den Betrag x5 nach rechts verschoben werden. Eine Bewegung des Werkzeuges in Richtung der ersten Translationsachse X wird erzielt, indem alle drei Schlitten 5, 6 und 7 um den selben Betrag in die selbe Richtung verlagert werden. In Figur 3 ist ein Fall dargestellt, in dem die Achse der Werkzeugspindel ausgehend von einer mit durchgehenden Linien dargestellten vertikalen Lage um die Achse B eine Schwenkbewegung um den Winkel α in eine mit unterbrochenen Linien dargestellte Lage ausführt. Die Lage der Schwenkachse ist dabei durch entsprechende Steuerung der Verschiebewege x'5, x'6 und x'7 in einem gewissen Be- reich beliebig wählbar. Im vorliegenden Fall ist die Lage der Schwenkachse B so gewählt, dass diese nahe beim Berührungspunkt des Fräswerkzeuges 19 am Werkstück 23 liegt. Diese Wahl hat den Vorteil, dass der Berührungspunkt beim Schwenken des Werkzeuges ungefähr erhalten bleibt, so dass nur minimale Linearkorrekturen vorgenommen werden müssen. Dies spart unnötig lan- ge Nachstellbewegungen. Es versteht sich von selbst, dass sämtliche Kombinationen der eben geschilderten Bewegungen möglich sind, so dass das Werkzeug durch entsprechende Steuerung der Antriebe der Schlitten 5, 6 und 7 - in einem gewissen Rahmen - beliebig in der durch die erste und zweite Translationsachse definierten Ebene X-Z bewegt und geschwenkt werden kann.The kinematics of the machine described above is explained below with reference to FIGS. 2 and 3. FIG. 2 shows how the tool 19 is moved by the amount z19 in the direction of the second translation axis Z from a starting position shown in solid lines to an end position shown in broken lines. For this purpose, the two carriages 6 and 7 are moved towards each other by the same amount x6 = x7, as a result of which the milling unit 17 moves downward by the desired amount z19. So that the milling unit does not tilt, but is only shifted in parallel, the slide 5 must be shifted to the right by the amount x5. A movement of the tool in the direction of the first translation axis X is achieved in that all three slides 5, 6 and 7 are shifted in the same direction by the same amount. FIG. 3 shows a case in which the axis of the tool spindle, starting from a vertical position about the axis B shown with solid lines, pivots by the angle α into a position shown with broken lines. The position of the swivel axis can be arbitrarily selected in a certain range by corresponding control of the displacement paths x'5, x'6 and x'7. In the present case, the position of the pivot axis B is selected such that it lies close to the point of contact of the milling tool 19 on the workpiece 23. This choice has the advantage that the point of contact is approximately preserved when the tool is swiveled, so that only minimal linear corrections have to be made. This saves unnecessarily long readjustments. It goes without saying that all combinations of the movements just described are possible, so that the tool by controlling the drives of the carriages 5, 6 and 7 appropriately - to a certain extent - in the plane XZ defined by the first and second translation axes can be moved and pivoted.
Die Figuren 4 bis 10 zeigen in Form von Prinzipskizzen Lenkeranordnungen weiterer Ausführungsarten der erfindungsgemässen Maschine, wobei gleiche Teile mit gleichen Bezugszeichen versehen sind. Die Ausführungsarten der Figuren 4 bis 7 sind jeweils mit drei Lenkern ausgestattet. Bei der Ausführungsart gemäss Figur 4 ist die Anordnung der Gelenke an der Fräseinheit 17 im wesentlichen gleich wie bei der anhand der Figuren 1 bis 3 erläuterten Ausführungsart. Im Unterschied zur letztgenannten Ausführungsart sind aber die an den Schlitten 5 bis 7 vorgesehenen Gelenke nicht auf einer zur X- Achse parallelen Achse angeordnet, sondern in Z-Richtung gegeneinander versetzt.FIGS. 4 to 10 show, in the form of schematic diagrams, handlebar arrangements of further embodiments of the machine according to the invention, the same parts being provided with the same reference numerals. The embodiments of Figures 4 to 7 are each equipped with three handlebars. In the 4, the arrangement of the joints on the milling unit 17 is essentially the same as in the embodiment explained with reference to FIGS. 1 to 3. In contrast to the last-mentioned embodiment, the joints provided on the carriages 5 to 7 are not arranged on an axis parallel to the X axis, but are offset in the Z direction.
Der Grund, weshalb sich bei den bisher beschriebenen Ausführungsarten zwei Lenker kreuzen, besteht in der Optimierung der durch die Lenker übertragenen Kräfte. Derjenige Lenker, der die Neigung der Fräseinheit 17 steuert, sollte nämlich gegenüber der X-Achse einen möglichst kleinen Winkel einnehmen, wogegen die Lenker, welche die Bewegung der Fräseinheit in der Z-Richtung bewirken, einen möglichst grossen Winkel gegenüber der X-Achse aufweisen sollten. Diese Anordnung hat aber der Nachteil, dass wegen des flach nach aussen geführten Lenkers 11 die Führung 4 länger gebaut werden muss. Figur 5 zeigt ein Beispiel, bei dem dieser Nachteil dadurch behoben ist, dass das Gelenk 14 für den Lenker 11 an der Fräseinheit 17 gegenüber der Achse C seitlich versetzt ist, so dass der Lenker 11 auch ohne Überkreuzung mit dem Lenker 12 relativ flach angeordnet sein kann. Dadurch ist es möglich, die Führung 4 etwas kürzer auszubilden, als bei den vorangehend beschriebe- nen Beispielen. Das Ausführungsbeispiel gemäss Figur 6 veranschaulicht, dass die an der Fräseinheit 17 angeordneten Gelenke 15 und 16 der Lenker 12 und 13 nicht wie bisher dargestellt in X-Richtung voneinander beabstandet sein müssen, sondern auf der gleichen Achse liegen können. Bei allen der bisher beschriebenen Ausführungsarten besteht der Nachteil, dass die Schlitten 5 und 6 sich bei ihren Bewegungen auf der gemeinsamen Führung 4 gegenseitig behindern können. Dem kann mit einer Ausführungsart gemäss Figur 7 abgeholfen werden, indem dort eine weitere, zur Führung 4 parallele Führung 4a vorgesehen ist, auf der einer der Schlitten läuft. So können sich zum Bewegen der Fräseinheit 17 die Schlitten 5 und 6 kreuzen.The reason why two links cross in the embodiments described so far is to optimize the forces transmitted by the links. The handlebar that controls the inclination of the milling unit 17 should in fact have the smallest possible angle with respect to the X axis, whereas the handlebars which cause the milling unit to move in the Z direction have an angle as large as possible with respect to the X axis should. However, this arrangement has the disadvantage that the guide 4 has to be built longer because of the handlebar 11 which is led out flat. FIG. 5 shows an example in which this disadvantage is eliminated in that the joint 14 for the handlebar 11 on the milling unit 17 is laterally offset with respect to the axis C, so that the handlebar 11 can be arranged relatively flat even without crossing with the handlebar 12 can. This makes it possible to make the guide 4 a little shorter than in the examples described above. The exemplary embodiment according to FIG. 6 illustrates that the joints 15 and 16 of the links 12 and 13 arranged on the milling unit 17 do not have to be spaced apart from one another in the X direction as previously shown, but can lie on the same axis. In all of the previously described embodiments, there is the disadvantage that the carriages 5 and 6 can interfere with one another during their movements on the common guide 4. This can be remedied with an embodiment according to FIG. 7 by providing a further guide 4a parallel to the guide 4 on which one of the slides runs. Thus, the carriages 5 and 6 can cross to move the milling unit 17.
Die Figuren 8 bis 10 zeigen Prinzipskizzen von Lenkeranordnungen weiterer Ausführungsarten der erfindungsgemässen Maschine mit jeweils vier Lenkern. Derartige Lenkeranordnungen sind zwar statisch unbestimmt, lassen sich aber mit entsprechenden Steuerungen der Antriebe der Schlitten ohne weiteres beherrschen. Das Ausführungsbeispiel gemäss Figur 8 entspricht prinzipiell dem in Figur 6 gezeigten, nur dass es einen weiteren Lenker 11a mit zugeordnetem Schlitten 5a aufweist. Bei dem in Figur 9 dargestellten Beispiel sind die Positionen der Schlitten 5, 5a, 6, und 7 auf der Führung 4 gegenüber Figur 8 vertauscht, so dass sich die Lenker 11 und 12 beziehungsweise 11a und 13 kreuzen. Schliesslich zeigt Figur 10, dass auch Ausführungsarten denkbar sind, bei denen sich jeweils zwei der an der Fräseinheit angeordneten Gelenke auf einer gemeinsamen Achse befinden, welche Achsen auf einer zur X-Achse parallelen Linie liegen.FIGS. 8 to 10 show basic sketches of control arm arrangements of further embodiments of the machine according to the invention, each with four control arms. Such handlebar arrangements are statically indefinite, but can be easily controlled with appropriate controls of the drives of the sled. The exemplary embodiment according to FIG. 8 corresponds in principle that shown in FIG. 6, only that it has a further link 11a with an associated slide 5a. In the example shown in FIG. 9, the positions of the carriages 5, 5a, 6, and 7 on the guide 4 are interchanged with respect to FIG. 8, so that the links 11 and 12 or 11a and 13 intersect. Finally, FIG. 10 shows that embodiments are also conceivable in which two of the joints arranged on the milling unit are located on a common axis, which axes lie on a line parallel to the X axis.
Bei den oben beschriebenen Ausführungsbeispielen, insbesondere bei demjenigen gemäss Figur 1 , ist die Führung 4 oberhalb der ersten Rotationsachse A angeordnet. Eine solche Konfiguration ist aber nicht zwingend. Vielmehr könnte die Führung eine beliebige andere Position, beispielsweise seitwärts neben der ersten Rotationsachse A, einnehmen. In the exemplary embodiments described above, in particular in the embodiment according to FIG. 1, the guide 4 is arranged above the first axis of rotation A. However, such a configuration is not mandatory. Rather, the guide could take any other position, for example sideways next to the first axis of rotation A.

Claims

Patentansprüche claims
1. Werkzeugmaschine zum Bearbeiten von länglichen Werkstücken (23) mit mindestens einer um eine erste Rotationsachse (A) antreibbaren Spannvorrichtung (22) für ein Werkstück und mindestens einer um eine zweite, in der Werkzeugachse liegende Rotationsachse (C) antreibbaren Werkzeugspindel (18), welche entlang einer zur ersten Rotationsachse (A) parallelen ersten Translationsachse (X) und entlang einer zur ersten Rotationsachse (A) rechtwinkligen und zur zweiten Rotationsachse (C) parallelen zweiten Translationsachse (Z) verschiebbar ist, wobei die Spannvorrichtung entlang einer zur ersten (X) und zweiten (Z) Translationsachse rechtwinkligen dritten Translationsachse (Y) verschiebbar ist und wobei ferner die Werkzeugspindel (18) um eine zur dritten Translationsachse (Y) parallele Schwenkachse (B) schwenkbar ist, dadurch gekennzeichnet, dass im Abstand von der ersten Rotationsachse (A) eine in Richtung der ersten Translationsachse (X) verlaufende Führung (4) angeordnet ist, entlang welcher Schlitten (5, 6, 7) unabhängig voneinander verschiebbar sind, dass jeder der Schlitten (5, 6, 7) mittels eines Gelenkes (8, 9, 10) mit einem Ende eines Lenkers (11 , 12, 13) verbunden ist und das andere Ende jedes Lenkers mittels eines Gelenkes (14, 15, 16) mit einer die Werkzeugspindel tragenden Einheit (17) verbunden ist.1. machine tool for machining elongated workpieces (23) with at least one clamping device (22) which can be driven about a first axis of rotation (A) for a workpiece and at least one tool spindle (18) which can be driven about a second axis of rotation (C) lying in the tool axis, which is displaceable along a first translation axis (X) parallel to the first axis of rotation (A) and along a second translation axis (Z) perpendicular to the first axis of rotation (A) and parallel to the second axis of rotation (C), the tensioning device being displaceable along a first (X ) and the second (Z) translation axis of the right-angled third translation axis (Y) and wherein the tool spindle (18) can also be pivoted about a pivot axis (B) parallel to the third translation axis (Y), characterized in that at a distance from the first axis of rotation ( A) a guide (4) running in the direction of the first translation axis (X) is arranged along w Elche carriage (5, 6, 7) are independently displaceable that each of the carriage (5, 6, 7) is connected to one end of a link (11, 12, 13) by means of a joint (8, 9, 10) and the other end of each link is connected to a unit (17) carrying the tool spindle by means of a joint (14, 15, 16).
2. Werkzeugmaschine nach Anspruch 1 , dadurch gekennzeichnet, dass sie drei Lenker (11 , 12, 13) aufweist.2. Machine tool according to claim 1, characterized in that it has three links (11, 12, 13).
3. Werkzeugmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die an der die Werkzeugspindel tragenden Einheit (17) angeordneten Gelenke (14, 15, 16) voneinander beabstandet sind.3. Machine tool according to one of the preceding claims, characterized in that the joints (14, 15, 16) arranged on the unit carrying the tool spindle (17) are spaced apart.
4. Werkzeugmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass sie vier Lenker (11 , 11a, 12, 13) aufweist.4. Machine tool according to one of the preceding claims, characterized in that it has four links (11, 11a, 12, 13).
5. Werkzeugmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass zwei der an der die Werkzeugspindel tragenden Einheit (17) angeordneten Gelenke auf einer gemeinsamen Achse angeordnet sind. 5. Machine tool according to one of the preceding claims, characterized in that two of the joints arranged on the unit carrying the tool spindle (17) are arranged on a common axis.
6. Werkzeugmaschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass sie eine zur Führung (4) parallele weitere Führung (4a), auf der mindestens einer der Schlitten angeordnet ist.6. Machine tool according to one of the preceding claims, characterized in that it has a further guide (4a) parallel to the guide (4), on which at least one of the slides is arranged.
7. Maschine nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass sie einen durch Stützen (2) im Abstand über einem Maschinenbett (1) gehaltenen Träger (3) aufweist, an dem sich die in Richtung der ersten Translationsachse (X) verlaufende Führung (4) befindet, dass auf dem Maschinenbett ein in Richtung der dritten Translationsachse (Y) verschiebbarer Tisch (20) gelagert ist und dass sich auf dem Tisch die Spannvorrichtung (22) für ein Werkstück (23) befindet.7. Machine according to one of the preceding claims, characterized in that it has a support (3) held by supports (2) at a distance above a machine bed (1), on which the guide (X) extending in the direction of the first translation axis (X) 4) there is a table (20) which can be displaced in the direction of the third translation axis (Y) and that the clamping device (22) for a workpiece (23) is located on the machine bed.
8. Verfahren zum Betrieb einer Maschine nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die drei Schlitten (5, 6, 7) derart gesteuert bewegt werden, dass die Werkzeugspindel (18) um eine Schwenkachse (B) geschwenkt wird, die sich im Berührungspunkt des Werk- zeuges mit dem Werkstück befindet. 8. The method for operating a machine according to one of the preceding claims, characterized in that the three carriages (5, 6, 7) are moved in a controlled manner such that the tool spindle (18) is pivoted about a pivot axis (B) which is in the Point of contact of the tool with the workpiece.
PCT/CH1997/000479 1997-12-22 1997-12-22 Machine tool for machining elongated workpieces WO1999032256A1 (en)

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TW087106881A TW443955B (en) 1997-12-22 1998-05-04 Machine tool for machining elongated workpieces

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