CN104858748B - A kind of blade intake and exhaust limit grinding machine people's automated arm - Google Patents

A kind of blade intake and exhaust limit grinding machine people's automated arm Download PDF

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Publication number
CN104858748B
CN104858748B CN201510282253.7A CN201510282253A CN104858748B CN 104858748 B CN104858748 B CN 104858748B CN 201510282253 A CN201510282253 A CN 201510282253A CN 104858748 B CN104858748 B CN 104858748B
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China
Prior art keywords
robot
grinding
blade
intake
dimensional laser
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CN201510282253.7A
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Chinese (zh)
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CN104858748A (en
Inventor
丁汉
赵欢
林阳
赵鑫
李祥飞
谭超
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华中科技大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/06Work supports, e.g. adjustable steadies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00Arrangements for automatic control of a series of individual steps in grinding a workpiece

Abstract

The invention discloses a kind of blade intake and exhaust limit grinding machine people's automated arm, control main frame including base station, six-DOF robot, grinding attachment, positioner, three-dimensional laser measurement apparatus and system, six-DOF robot is arranged on base station;Grinding attachment is used for grinding blade intake and exhaust limit;Positioner is arranged on base station;Three-dimensional laser measurement apparatus is arranged on positioner, and it includes triaxial movement platform and three-dimensional laser measurement apparatus;Three-dimensional laser measurement apparatus it include two three-dimensional laser profile scanner;System controls main frame and is connected with six-DOF robot and three-dimensional laser measurement apparatus, for planning grinding attachment machining path and the mobile route of three-dimensional laser measurement apparatus, and path and instruction is sent to six-DOF robot execution.The present invention is integrated with self adaptation grinding and measurement, it is ensured that the machining accuracy of blade intake and exhaust edge profile.

Description

A kind of blade intake and exhaust limit grinding machine people's automated arm

Technical field

The invention belongs to processing of robots field, more particularly, to a kind of blade intake and exhaust limit grinding Robot automation equips.

Background technology

Blade is that in aero-engine, gas turbine, turbine unit, quantity at most, directly participates in energy The vital part of amount conversion, the machining accuracy on its intake and exhaust limit, surface quality directly determine power and set Standby performance, working performance and usage life-span.Therefore, blade is through finish forge, essence casting, cold rolling or machine After processing, it is both needed to its intake and exhaust limit is carried out grinding, ensures contour accuracy and surface light with this Cleanliness.Currently, the efficient high-precision grinding technique in blade intake and exhaust limit is grasped for improving China's vane manufacturing Level, the development advancing the industries such as aviation, the energy and national defence is significant.

By the retrieval to existing document, it is found to have following prior art: one, Application No. The Chinese patent application of CN201420188053.6 discloses a kind of novel 3P3R for grinding Robot, but this invention is not for blade intake and exhaust limit, and " measuring-operation-processing " is not proposed Integrative solution, it is impossible to solve the key issue during blade grinding;Two, Application No. The Chinese patent application of CN201010603399.4 discloses the industrial robot of a kind of view-based access control model information Grinding system and method, the present invention utilizes video frequency pick-up head to gather workpiece image, utilizes computer identification And position workpiece, come by online planning mechanical paw movement locus from current location to crawl position Control mechanical paw grabbing workpiece, turn then according to pre-set grinding action step controls abrasive band Speed and turning to, and sanding and polishing workpiece, this invention, not for blade intake and exhaust limit, also cannot realize The 3-D scanning of processing part and reconstruction;Three, the Chinese patent of Application No. CN201210456485.6 Application discloses a kind of full-automatic grinding robot, but this system not uses industrial robot, its Work space is extremely limited, it is impossible to realize the grinding to blade intake and exhaust limit;Four, Application No. The Chinese patent application of CN201210567038.8 discloses a kind of robot based on sensor feedback mill Cutting system, this patent lays particular emphasis on based on grinding force, workpiece profile three-dimensional measurement number between emery wheel and workpiece According to and the degree of wear detection of emery wheel adjust grinding wheel speed in real time, but the profile measurement in patent It is not particularly suited for blade intake and exhaust limit to measure.

It addition, the intake and exhaust limit being not particularly suited in above-mentioned technology changing greatly vane curvature is surveyed Amount.

Summary of the invention

For disadvantages described above or the Improvement requirement of prior art, the invention provides a kind of integrated adaptive Blade intake and exhaust limit grinding machine people's automated arm of grinding and three-dimensional measurement;The present invention uses six certainly By the degree artificial performance element of articulated type industrial machine, use the frock mode of positioner clamping blade, with Shi Caiyong triaxial movement platform collocation three-dimensional laser measurement apparatus carries out three coordinate non-contact measurement handss Section, it is possible to solve blade intake and exhaust limit can not to be carried out high-precision grinding in prior art and measurement is asked Topic.

For achieving the above object, it is proposed, according to the invention, provide a kind of blade intake and exhaust limit grinding machine people Automated arm, including base station, six-DOF robot, grinding attachment, positioner, three-dimensional laser Measurement apparatus and system control main frame, and described six-DOF robot, positioner and system control main frame It is installed on base station, it is characterised in that:

Six-DOF robot, is used for clamping grinding attachment and moves and drive grinding attachment operation, its bag Include end wrist;

Grinding attachment, is connected with the end wrist of six-DOF robot, for grinding blade intake and exhaust Limit;

Positioner, is used for clamping blade and band moving vane rotates, and it includes turntable and stand, described turn Platform includes the casing being fixedly mounted on base station and the rotary shaft being arranged in casing, and described stand is fixed Being arranged in casing, described rotary shaft rotates for band moving vane and its rotation centerline is vertically arranged;

Three-dimensional laser measurement apparatus, for carrying out blade intake and exhaust limit after per pass grinding process completes On-line measurement, it includes triaxial movement platform and three-dimensional laser measurement apparatus, and wherein, three-axis moving is put down Platform is arranged on stand, and three-dimensional laser measurement apparatus can be driven to move along three axles, and described three-dimensional laser is surveyed Amount device is for measuring near the side profile at the position on intake and exhaust limit blade, will measure number Main frame is controlled according to sending system to;

System controls main frame, is connected with six-DOF robot and three-dimensional laser measurement apparatus, is used for adopting The collection blade side profile that obtains of three-dimensional laser measurement apparatus measurements by this profile and blade theoretical model Compare, machining path is modified or compensates, and then will update after machining path send out Give six-DOF robot to perform.

Preferably, described grinding attachment includes air-actuated jaw, main shaft, emery wheel and chiller, described Air-actuated jaw is connected with the end wrist of six-DOF robot, and described main shaft is electro spindle, described sand Wheel is arranged on main shaft, and described chiller is for cooling down blade intake and exhaust limit.

Preferably, described positioner also includes vertical position adjustable positioner thimble, positioner top Pin is positioned at the top of rotary shaft, and blade is filled up and down by described positioner thimble for coordinating with turntable Clamping fixed.

Preferably, described six-DOF robot includes robot body and robot controller, described System is controlled main frame and is connected with robot controller and three-dimensional laser measurement apparatus respectively by fieldbus Connect.

In general, by the contemplated above technical scheme of the present invention compared with prior art, it is possible to Obtain following beneficial effect:

1) present invention is integrated with self adaptation grinding and measurement, it is ensured that adding of blade intake and exhaust edge profile Work precision;

2) wheel rebuilding blade intake and exhaust limit measured by the robot grinding equipment of the present invention by three-dimensional laser Profile looks, and then grinding allowance can be calculated accordingly, adjust processing of robots code, thus ensure mill Cut precision;

3) positioner of the present invention can rotate by band moving vane, and three-dimensional laser measurement apparatus can three axles Mobile, therefore, it is possible to be perfectly suitable for the measurement on the intake and exhaust limit that vane curvature changes greatly;

4) grinding machine people's automated arm in blade intake and exhaust limit can carry out self adaptation mill in grinding process Cut and three-dimensional measurement, it is achieved the processing of practical grinding amount is monitored, machining path is modified or Compensate, compensate Grinding Error, improve surface processing accuracy and surface quality;Self adaptation grinding is based on three Dimension measures the blade intake and exhaust edge profile information obtained, and the cutter path that system controls main frame planning enters Row is revised or is compensated;Three-dimensional measurement is real in the case of three-dimensional laser measurement apparatus and turntable motor link Execute profile scan, precisely obtain intake and exhaust edge profile information;Robot automation's equipment is past by circulation Multiple execution " processing-measure " operation, it is achieved blade intake and exhaust edge profile high accuracy is processed.

Accompanying drawing explanation

Fig. 1 is robot automation's equipment configuration schematic diagram of the present invention;

Fig. 2 is the grinding attachment schematic diagram of the present invention;

Fig. 3 is the positioner schematic diagram of the present invention.

Fig. 4 is the three-dimensional laser measurement apparatus schematic diagram of the present invention.

Detailed description of the invention

In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing And embodiment, the present invention is further elaborated.Should be appreciated that described herein specifically Embodiment only in order to explain the present invention, is not intended to limit the present invention.Additionally, it is disclosed below Just may be used as long as technical characteristic involved in each embodiment of the present invention does not constitutes conflict each other To be mutually combined.

As shown in Figure 1 to 4, a kind of blade intake and exhaust limit grinding machine people's automated arm, for real The self adaptation grinding on the intake and exhaust limit 151 of existing blade 15 and three-dimensional measurement.This automated arm includes six Degree of freedom robot 10, grinding attachment 11, positioner 12, three-dimensional laser measurement apparatus 13 and system Control main frame 14.

Six-DOF robot 10 includes robot body 101 and robot controller 102, robot Body 101 includes end wrist.Grinding attachment 11 includes air-actuated jaw 111, main shaft 112, emery wheel 113 and chiller 114.Positioner 12 includes turntable 121, stand 122 and positioner thimble 123, Turntable 121 includes casing and the rotary shaft being arranged in casing, and rotary shaft is vertically arranged, positioner top The upper-lower position adjustable of pin 123.Three-dimensional laser measurement apparatus 13 includes triaxial movement platform 131 He Three-dimensional laser measurement apparatus 132.System control main frame 14 by fieldbus respectively with robot control Device 102, three-dimensional laser measurement apparatus 132 connect.

Six-DOF robot 10 is fixed on base station 1, is used for clamping grinding attachment 11 at large space In the range of move and drive grinding attachment 11 operation.Each joint shaft motor of robot body 101, turn The single-degree-of-freedom motor of platform 121, triaxial movement platform 131 three axis servomotor motors all and robot Controller 102 is connected and they can realize synchronous interaction.

The main shaft 112 of the grinding attachment 11 end wrist by air-actuated jaw 111 with robot body 101 Portion connects, and for intake and exhaust limit 151 grinding of blade 15, air-actuated jaw 111 is controlled by pneumatic operated valve Robot body 101 gripper spindle 112, main shaft 112 uses electro spindle, and uses direct drive mode Connecting emery wheel 113, chiller 114 uses air cooling mode, carries out the grinding position on blade 15 Follow the tracks of cooling.

Positioner 12 and six-DOF robot 10 are fixed on the same plane of base station 1, during it rotates Heart line is vertically arranged, and is used for clamping blade 15 and band moving vane 15 rotates, it is ensured that emery wheel 113 and leaf The good contact on the intake and exhaust limit 151 of sheet 15.Turntable 121 clamps blade 15, and blade 15 is vertically pacified Dress.Stand 122 is used for placing turntable 121 and three-dimensional laser measurement apparatus 13.Stand 122 upper end has Have to do and adjust up and down and the positioner thimble 123 coaxial with turntable 121, for coordinating with turntable 121 Blade 15 is carried out upper and lower clamping fix.

Three-dimensional laser measurement apparatus 13 for after per pass grinding process to blade 15 near intake and exhaust limit The side at the position of 151 carries out three-dimensional measurement.Triaxial movement platform 131 base is fixed with stand 122, Can realize cartesian space Three Degree Of Freedom to move, three-dimensional laser measurement apparatus 132 is fixed on three-axis moving On the module (Z axis) that platform 131 is vertical, for blade 15 near the position on intake and exhaust limit 151 Side carry out profile measurement.Triaxial movement platform 131 can drive three-dimensional laser measurement apparatus 132 along X Axle, Y-axis and Z axis move.

System controls main frame 14 and is connected with robot controller 102 and three-dimensional laser measurement apparatus 13. On the one hand it is used for planning that grinding attachment machining path sending opens to robot body 101 and positioner 12 Dynamic execution, on the other hand is used for planning the intake and exhaust limit 151 multi-shaft interlocked instruction of profile measurement and being sent to Positioner 12 and three-dimensional laser measurement apparatus 13 start execution.

In order to verify intake and exhaust limit 151 grinding machine of blade 15 that the embodiment of the present invention provides further People's automated arm can realize self adaptation grinding and the three-dimensional measurement on the intake and exhaust limit 151 of blade 15, Efficiency and the precision of intake and exhaust limit 151 grinding of blade 15 can be substantially improved, below in conjunction with attached The embodiment of the present invention is elaborated by figure:

First, equipment is installed: at the base station 1 that center, place erection space is enough, by six degree of freedom machine Device people 10 is placed horizontally on base station 1 by fork truck and solid by the corresponding installation site on base station 1 Fixed, robot controller 102 is placed on installs center 1~about 2m, grinding away from robot body 101 Device 11 is arranged on robot body 101 end wrist (i.e. end effector), by air-actuated jaw In 111 grooves being fixed on robot body 101 end wrist, control robot body by pneumatic operated valve 101 gripper spindles 112;Main shaft uses electro spindle, and uses electro spindle direct drive mode to connect emery wheel 113;Chiller 114 uses air cooling mode, is tracked grinding position cooling down (air-actuated jaw 111, pneumatic operated valve, electro spindle 112 and chiller 114 are all connected with robot controller 102), Stand 122 is fixed in the corresponding riding position of base station 1 and (is positioned at robot Y-axis, two centre-to-centre spacing For 1.5m), turntable 121 motor is connected with robot controller 102, and turntable 121 is placed in platform The corresponding riding position (turntable 121 is centrally located at immediately below positioner thimble 123) of frame 122, three Axle motion platform 131 base is fixed with stand 122, and three-dimensional laser measurement apparatus 132 is fixed on three axles The module of motion platform 131 vertical direction, system control main frame 14 by fieldbus respectively with machine People's controller 102, three-dimensional laser measurement apparatus 13 connect, and must guarantee that fieldbus is at six degree of freedom machine The public operating area of device people 10, positioner 12 and three-dimensional laser measurement apparatus 13 will not be done Relate to, need to guarantee that six-DOF robot 10 (robot operation arm 101 therein) can cover institute simultaneously Possible public machining area.

Secondly, equipment debugging: before self adaptation grinding and three-dimensional measurement start, need six degree of freedom machine Device people 10 debugs, and makes robot absolute precision reach job requirement (i.e. desired locations and actual bit Deviation between putting is within operation permissible range), turntable 121 rotating shaft center is perpendicular to stand 122 Datum level and guarantee turntable 121 are coaxial with positioner thimble 123, regulate three-dimensional laser measurement apparatus 132 Scanning result is made to produce a desired effect.

Finally, self adaptation grinding and three-dimensional measurement: grinding for the first time: system controls main frame 14 according to turning The position of platform 121, passes through kinematic transform by the position under the global coordinate system of turntable 121 fixture place Being transformed under robot base mark system, system controls main frame 14 and provides robot body 101 end simultaneously (under robot coordinate system, the most non-specified otherwise is robot basis coordinates in the relevant position of executor The lower coordinate of system), coordinate figure (i.e. blade 15 leaf of clamp end is calculated according to the size shape of fixture Root coordinate), coding control robot body 101 clamps blade 15 and is disposed vertically turntable 121 On accurate location, positioner thimble 123 in the vertical direction can be finely tuned up and down and be made positioner 12 right Blade 15 Set and Positioning.Robot body 101 end effector is moved and carries out outside working region Operation installed by grinding attachment 11, and the air-actuated jaw 111 with chiller 114 is arranged on robot On body 101 end wrist, control robot body 101 by pneumatic operated valve and clamp by electro spindle 112 (air-actuated jaw 111, electro spindle 112 and chiller 114 are all and machine for the emery wheel 113 that directly drives People's controller 102 connects), preparation completes.It follows that enter according to existing blade 15 model The programming of row grinding, according to blade 15 profile and the feature on intake and exhaust limit 151 and profile Information planning cutter path, is converted to cutter path under robot coordinate system by kinematic transform Coordinate figure also generates robot grinding machining code (in first time grinding by system control main frame 14 Cheng Zhong, robot body 101 and the linkage of turntable 121 single-rotation axis are to realize the complexity to blade 15 The grinding in face), system controls main frame 14 and the processing of robots code of generation is sent to robot control Device 102, robot controller 102 is simultaneously to robot body 101, grinding attachment 11 and displacement Machine 12 sends instruction, starts grinding (the now each joint shaft of robot body 101 and turntable 121 Motor linkage), when first time, grinding terminates, and robot code performs to terminate, robot controller 102 Control grinding attachment 11 stop and robot is turned to non-active area, now robot controller 102 The system that returned to by grinding Stop message controls main frame 14, and system controls main frame 14 and receives signal, from Dynamic operation self adaptation grinding program, self adaptation grinding starts.

Entering the self adaptation grinding stage, system controller 14 is according to the intake and exhaust limit of existing blade 15 151 contour shapes generate the intake and exhaust limit 151 multi-shaft interlocked instruction of measuring three-dimensional profile, and by three-dimensional measurement Robot instruction's code is sent to robot controller 102, and robot controller 102 starts to perform three-dimensional Measuring, robot controller 102 controls triaxial movement platform 131 and prolongs X-axis from initial position and move to The arc position of turntable 121 fixture stops, and robot controller 102 controls turntable 121 and rotates 180 °, Three-dimensional laser measurement apparatus 132 is opened, now robot controller 102 control stand 121 motor with Triaxial movement platform 131 controls the servomotor linkage of YZ direction motion, three-dimensional laser measurement apparatus 132 start to scan at leaf margin from blade 15 blade root according to intake and exhaust limit 151 shape of blade 15.

For the position, intake and exhaust limit 151 that Curvature varying is less, the Y-axis of triaxial movement platform 131 is quiet Only, at this moment by Z axis and the linkage of stand 121 single-degree-of-freedom rotary shaft of triaxial movement platform 131 Complete the measurement on intake and exhaust limit 151.

And for the bigger position, intake and exhaust limit 151 of Curvature varying, only move and rotate can not for Z axis Realize complete scan, at this moment need horizontal (the namely Y of triaxial movement platform 131 along blade 15 Axle) simultaneously athleticism ensure to scan the intake and exhaust limit 151 of blade 15 in three-dimensional laser measurement apparatus 132 During do not interfere, at this moment robot controller 102 according to system control main frame 14 send Three-dimensional measurement scanning pattern robot code instructs, to stand 121 single-degree-of-freedom rotary shaft and three axles Two motor shafts controlling Y and Z-direction motion in motion platform 131 are controlled realizing three simultaneously Axle links, and completes the three-dimensional measurement to complex-curved profile.

After three-dimensional measurement terminates, triaxial movement platform 131 is put in order in situ by robot controller 102, And control stand 121 and invert 180 °, three-dimensional laser measurement apparatus 132 is by anti-for blade 15 outline data Feeding system controls main frame 14, and system controls main frame 14 by blade 15 profile obtained by three-dimensional measurement Data are transformed into basis coordinates system of robot from scanner coordinate system by kinematic transform, and with existing The cad model of blade 15 carry out point cloud matching, according to setting the accuracy of form and position, system controls main frame 14 calculate profile errors lays equal stress on the grinding path, intake and exhaust limit 151 of new planning blade 15, and will repair Robot grinding machining code just or after compensation is sent to robot controller 102.Robot controls After device 102 receives code, control robot body 101 clamps grinding attachment 11 to be carried out further Grinding.Move in circles above " processing-measure " operation, until profile errors controls at expectation model Within enclosing.Finally, robot controller 102 performs to shut down playback instruction, and whole work flow terminates.

As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention, Not in order to limit the present invention, all made within the spirit and principles in the present invention any amendment, etc. With replacement and improvement etc., should be included within the scope of the present invention.

Claims (4)

1. one kind uses blade intake and exhaust limit grinding machine people's automated arm to measure blade intake and exhaust limit Method, it is characterised in that: described automated arm includes base station, six-DOF robot, grinding dress Put, positioner, three-dimensional laser measurement apparatus and system control main frame, described six-DOF robot, Positioner and system control main frame and are installed on base station, and six-DOF robot is used for clamping grinding Device moves and drives grinding attachment operation, and it includes end wrist;
Grinding attachment, is connected with the end wrist of six-DOF robot, for grinding blade intake and exhaust Limit;
Positioner, is used for clamping blade and band moving vane rotates, and it includes turntable and stand, described turn Platform includes the casing being fixedly mounted on base station and the rotary shaft being arranged in casing, and described stand is fixed Being arranged in casing, described rotary shaft rotates for band moving vane and its rotation centerline is vertically arranged;
Three-dimensional laser measurement apparatus, for carrying out blade intake and exhaust limit after per pass grinding process completes On-line measurement, it includes triaxial movement platform and three-dimensional laser measurement apparatus, and wherein, three-axis moving is put down Platform is arranged on stand, and three-dimensional laser measurement apparatus can be driven to move along three axles, and described three-dimensional laser is surveyed Amount device is for measuring near the side profile at the position on intake and exhaust limit blade, will measure number Main frame is controlled according to sending system to;
System controls main frame, is connected with six-DOF robot and three-dimensional laser measurement apparatus, is used for adopting The collection blade side profile that obtains of three-dimensional laser measurement apparatus measurements by this profile and blade theoretical model Compare, machining path is modified or compensates, and then will update after machining path send out Give six-DOF robot to perform;
It is characterized in that: the method comprises the following steps:
1) grinding for the first time: system controls the main frame position according to turntable, by the turntable clamper place overall situation Position under coordinate system is transformed under basis coordinates system of robot by kinematic transform, and system controls main frame Provide the relevant position under robot coordinate system of robot body end effector, according to turning simultaneously The size shape of platform fixture calculates the coordinate figure i.e. blade root coordinate of turntable clamper end, controls machine Device human body clamps the accurate location that blade is disposed vertically on turntable, and positioner thimble is at vertical direction On can finely tune up and down, so that positioner is to blade Set and Positioning;Robot body end effector is moved Move and carry out grinding attachment installation operation outside working region, the air-actuated jaw with chiller is pacified It is contained on robot body end wrist, controls robot body clamping by pneumatic operated valve straight by electro spindle Connect the emery wheel of driving;Then the programming of grinding is carried out according to existing leaf model, according to Blade profile and the feature on intake and exhaust limit and profile information plan cutter path, are passed through by cutter path Kinematic transform is converted to the coordinate figure under robot coordinate system and controls main frame generation machine by system People's grinding code, system controls main frame and the processing of robots code of generation is sent to robot control Device processed, robot controller sends instruction to robot body, grinding attachment and positioner simultaneously, Starting grinding, when first time, grinding terminates, and robot code performs to terminate, robot controller Controlling grinding attachment stop and robot is turned to non-active area, now robot controller is by grinding Stop message returns to system and controls main frame, and system controls main frame and receives signal, automatically runs adaptive Answer grinding program;
2) the self adaptation grinding stage is entered: system controls the main frame intake and exhaust cincture according to existing blade Profile shape generates the multi-shaft interlocked instruction of measuring three-dimensional profile of intake and exhaust limit, and three-dimensional measurement machine people is referred to Making code be sent to robot controller, robot controller starts to perform three-dimensional measurement, robot control Device processed controls triaxial movement platform and prolongs X-axis from initial position and move to the arc position of turntable clamper and stop Only, robot controller controls turntable and rotates 180 °, and three-dimensional laser measurement apparatus is opened, now machine People's controller controls gantry motor and the servomotor connection of control YZ direction motion in triaxial movement platform Dynamic, three-dimensional laser measurement apparatus starts at leaf margin from blade root according to the intake and exhaust limit shape of blade Scanning;
For the intake and exhaust edge position that Curvature varying is less, during scanning, the Y-axis of triaxial movement platform is static, At this moment intake and exhaust limit is completed by the Z axis of triaxial movement platform and the linkage of stand single-degree-of-freedom rotary shaft Measurement;
For the intake and exhaust edge position that Curvature varying is bigger, during scanning, three-dimensional laser measurement apparatus is along Y Axle and Z axis move, and the rotary shaft of positioner rotates, and at this moment robot controller controls main according to system The three-dimensional measurement scanning pattern robot code instruction that machine sends, to the rotary shaft of stand single-degree-of-freedom with And two motor shafts controlling Y and Z-direction motion in triaxial movement platform are controlled realizing simultaneously Three-shaft linkage, completes the three-dimensional measurement to complex-curved profile;
3), after three-dimensional measurement terminates, triaxial movement platform is put in order in situ by robot controller, and controls Stand inverts 180 °, and blade profile data feedback is controlled main frame to system by three-dimensional laser measurement apparatus, System is controlled main frame and the blade profile data obtained by three-dimensional measurement is swashed from three-dimensional by kinematic transform Optical measurement instrument coordinate system is transformed under basis coordinates system of robot, and with the cad model of existing blade Carrying out point cloud matching, according to setting the accuracy of form and position, system controls Framework computing profile errors and again advises Draw blade grinding path, intake and exhaust limit, and will revise or compensate after robot grinding processing Code is sent to robot controller;After robot controller receives code, control robot body Clamping grinding attachment carries out further grinding;
4) move in circles above " processing-measure " operation, until profile errors control expected range with In.
A kind of employing blade intake and exhaust limit grinding machine people the most according to claim 1 disguises automatically The standby method measuring blade intake and exhaust limit, it is characterised in that: described grinding attachment include air-actuated jaw, Main shaft, emery wheel and chiller, described air-actuated jaw is connected with the end wrist of six-DOF robot, Described main shaft is electro spindle, and described emery wheel is arranged on main shaft, and described chiller is for entering blade Aerofluxus limit cools down.
A kind of employing blade intake and exhaust limit grinding machine people the most according to claim 1 disguises automatically The standby method measuring blade intake and exhaust limit, it is characterised in that: described positioner also includes that vertical position can The positioner thimble adjusted, positioner thimble is positioned at the top of rotary shaft, and described positioner thimble is used for With turntable cooperation, blade is carried out upper and lower clamping to fix.
A kind of employing blade intake and exhaust limit grinding machine people the most according to claim 1 disguises automatically The standby method measuring blade intake and exhaust limit, it is characterised in that: described six-DOF robot includes machine Human body and robot controller, described system control main frame by fieldbus respectively with robot control Device processed and three-dimensional laser measurement apparatus connect.
CN201510282253.7A 2015-05-28 2015-05-28 A kind of blade intake and exhaust limit grinding machine people's automated arm CN104858748B (en)

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