CN109365793A

CN109365793A - A kind of automation grinding and polishing process for annular titanium alloy casting

Info

Publication number: CN109365793A
Application number: CN201811241971.XA
Authority: CN
Inventors: 吴超群; 田亮
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2018-10-24
Filing date: 2018-10-24
Publication date: 2019-02-22
Anticipated expiration: 2038-10-24
Also published as: CN109365793B

Abstract

The present invention provides a kind of automation grinding and polishing process for annular titanium alloy casting, which mainly includes pedestal, outer cover, industrial robot, electro spindle, rotary table, positioning fixture, sink, cooling Scrap-removing machine, PLC and display screen.Annular titanium alloy casting is positioned by fixture, is clamped in rotary table surface；It is worked by robotic gripper electro spindle by the mobile grinding and polishing realized to annular titanium alloy casting of certain track, and multiple sensors is cooperated to be adjusted machining path, to adapt to the complex outline and shape difference of part.Therefore this automation polishing system for annular titanium alloy casting has broad application prospects in annular titanium alloy Mechanical processing of casting, and can be improved production efficiency is that enterprise brings considerable benefit.

Description

A kind of automation grinding and polishing process for annular titanium alloy casting

Technical field

The present invention relates to a kind of grinding and polishing processes, and in particular to a kind of automation grinding and polishing work for annular titanium alloy casting Skill.

Background technique

Along with the arrival of made in China 2025, industrial robot using more and more extensive.In aircraft industry very More parts are titanium alloy material, and its blank is mostly to cast to generate.And after the completion of Ti alloy casting, surface will form oxidation Layer, and its radiused surface can have the use that fine cracks is unfavorable for subsequent processing and finished product.Therefore, after the completion of casting, Grinding and polishing titanium alloy surface is needed, the fillet position of grinding and polishing titanium alloy casting is especially needed.And it can be improved using robot grinding and polishing Processing efficiency guarantees machining accuracy, reduces grinding and polishing cost.

In the actual production of current annular titanium alloy casting grinding and polishing, using artificial grinding and polishing, angle is held by a large amount of workers Grinding machine and electric grinding rifle are processed.The grinding and polishing of annular titanium alloy casting is primarily present following three problems: 1. titanium alloy rings The radial dimension of shaped cast part is big, reaches 900mm or more, and general machining center is difficult to 2. annular titanium alloy cast(ing) surface wheel of clamping It is wide complicated, there is a plane, cambered surface, fillet, intersection etc. needs 6 axis lathes to be just able to achieve the processing to its surface.3. titanium alloy ring For shaped cast part as casting, the theoretical value on actual size, external form and drawing is variant, and off-line programing can not be leaned on to complete to adding The setting of work track.And in this system, annular titanium alloy casting is placed using the rotary table of major diameter, every time band when processing Dynamic annular titanium alloy casting goes at position to be processed in robot working range.And Industrial Robot Technology relative maturity, it gathers around There are enough freedom degrees, all posture and position can be reached in a certain range, realize the processing at each position, and can be with Each profile point is recorded by way of manual teaching, is operated more simple compared with machining center.Meanwhile automating the work of grinding and polishing Skill whole can be processed, and grinding and polishing effect is beautiful according to the technological parameter of setting relative to artificial sufficiently stable, unanimously, There is no the entanglement textures that manual grinding and polishing occurs.Therefore, grinding and polishing is carried out to annular titanium alloy casting using automated system, at For certainty.

Summary of the invention

The problem to be solved in the present invention is to provide a kind of in the high speed for being applied to annular titanium alloy casting, efficient, high quality Automation polishing system.

The technical scheme adopted by the invention is that:

A kind of automation grinding and polishing process for annular titanium alloy casting, which is characterized in that including

Step 1: bin gate in opening, by annular titanium alloy casting clamping on fixture；

Step 2: workpiece to be processed dimension compensation step: the circumferential direction and height error generated when to parts fixation to be processed into Row threshold compensation carries out threshold compensation to the error that Dimension Measurement to be processed generates；

Step 3: needing cutter clamping to be used on electro spindle next step processing；

Step 4: leaving inside equipment and close upper bin gate；

Step 5: the part for selecting annular titanium alloy casting to need to process by display screen, including

Workpiece to be processed clears up front and back sides dead head step:

Riser pad facial planes elevation carrection, cutting, corase grinding, half are refined；

Workpiece to be processed polishes step: including circular hole chamber, side circular arc and the bowl-shape intrados to workpiece to be processed Polishing,

The circular hole chamber polishing step of workpiece to be processed:

Electro spindle clamping c-type carbide rotary tool or Type B carbide rotary tool are polished under coolant liquid environment, The diameter of c-type carbide rotary tool or Type B carbide rotary tool is equal, and the tool coordinates of clamping equal length and setting are all It build its cutter top center in；

The side circular arc polishing step of workpiece to be processed:

Cutter material is selected, cooling system is designed, in conjunction with the material pair of used cutter and processing Coolant liquid is selected and is calculated coolant pressure, flow；Then by force control to cutter progress wear-compensating, and according to Feed speed when material to be processed and surface roughness control robot polishing；

The bowl-shape intrados polishing step of workpiece to be processed:

So that robot polish a trace in workpiece surface when mobile by defined path, hereafter often cover primary Path deviates a distance to same direction, to obtain smooth surface；Finally, the surface of every polishing one fixed width, by work Part rotates a bit of radian, so as to remove the oxide layer of entire bowl-type workpiece surface；

Workpiece to be processed polishes the step of inside and outside bowl-shape intrados:

Through rough polishing, half essence is thrown, and essence is thrown, and four steps of polishing complete the throwing to bowl-shape intrados inside and outside annular titanium alloy casting Light；

Step 6: robot drives end-of-arm tooling to be moved near bin gate, is prompted used in worker lower by display screen Cutter clicks the cutter changing completing button on display screen after replacing cutter by worker to confirm that cutter changing is completed；

Step 7: display screen will need the location information processed to be transferred to PLC, by the servo electricity of PLC control rotary table After machine drives rotary table, and then drive annular titanium alloy casting turns to respective angles, electro spindle is opened, waits cutter rotation After going to specified revolving speed, robot drives electro spindle to move along desired trajectory, makes cutter to the corresponding portion of annular titanium alloy casting It is cut position；

Step 8: after processing is completed, electro spindle stalling, robot gribing end-of-arm tooling retreats to point of safes, and rotary table returns Zero annular titanium alloy Mechanical processing of casting process terminates.

In a kind of above-mentioned automation grinding and polishing process method for annular titanium alloy casting, the workpiece to be processed size The circumferential error that compensation process generates when specifically including to parts fixation to be processed carries out threshold compensation and to parts to be processed The circumferential error generated when clamping carries out threshold compensation；

The specific method that the circumferential error that generates when to parts fixation to be processed carries out threshold compensation includes:

Step 1: being needed by installing force snesor in robot end and being installed on the ER collet of end-of-arm tooling electro spindle Cutter to be used, by cutter close to circumferential benchmark, control robot carries out step motion, each stepping △ x for control robot Until power control sensor monitors that cutter encounters circumferential benchmark, record current robot coordinate value x_1, theoretical coordinate value is x_0；

Step 2: calculating circumferential error formula are as follows: θ=180 × (x_1-x_0) ÷ (R × π) are controlled by control system and revolved Revolving worktable is deviated, and the positional shift θ of circumferential benchmark is made.

In a kind of above-mentioned automation grinding and polishing process method for annular titanium alloy casting, the workpiece to be processed cleaning Front and back sides dead head step specifically includes:

Step 1: riser pad facial planes elevation carrection, height and position where mobile robot to the measuring device set H0 is highly remained unchanged, and height where measuring and riser pad facial planes being calculated is respectively h1, h2, calculates maximum value h；

Step 2: level maximum value where riser is h, sets cutting surplus as Δ h, opens electro spindle, cooling system System carries out by the linear motion of robot the surplus for being cut to Δ h using cutting sheet to riser；

Step 3: corase grinding carries out layering polishing using rotary file, and machining allowance is Δ a_p, and total depth of cut is Δ h- Δ A_p, cutter diameter d, feed line-spacing are L, and every layer of depth of cut is a_p=d/2- √ ((" d/2) " ^2- (" L/2) " ^2), add The number of plies of work is n=(Δ h- Δ a_p)/a_p, the starting point of the first row of riser and the terminal of the first row is determined, with row Spacing L does course deviation, completes corase grinding processing；

Step 4: half refines, and continues to polish to last remaining Δ a_p, adjustment feed line-spacing is L/6, similarly with row Spacing L/6 does course deviation, once processes the residual volume, completes the cleaning of titanium alloy casting dead head.

In a kind of above-mentioned automation grinding and polishing process method for annular titanium alloy casting, the workpiece to be processed polishing Step specifically includes the circular hole chamber polishing of workpiece to be processed, the side circular arc polishing of workpiece to be processed and workpiece to be processed Bowl-shape intrados polishing,

The circular hole chamber polishing step of workpiece to be processed specifically includes:

Electro spindle and clamping carbide rotary tool are closed, protruding into cutter, circular hole is intracavitary close to bottom plane and to be moved to The face top；

Opening force control sensor obtains bottom plane four direction real-time location coordinates and circular hole chamber by force feedback The four direction real-time location coordinates on inner wall cylindrical surface；

By the corresponding four direction position in bottom plane four direction real-time location coordinates replacement circular hole cavity wall cylindrical surface Coordinate；The corresponding four direction position of four direction real-time location coordinates replacement bottom plane on circular hole cavity wall cylindrical surface is sat Mark；

Electro spindle is opened, coolant liquid carries out helical trajectory polishing bottom plane according to the bottom plane boundary newly formed；

It closes electro spindle and replaces carbide rotary tool, be again turned on electro spindle, coolant liquid, according to the circular hole newly formed Cavity wall cylindrical surface carries out circular path track polishing circular hole cavity wall cylindrical surface；

The side circular arc polishing step of workpiece to be processed specifically includes:

Step 1: selection cutter model selects selection hard alloy according to the radius of corner size of the circular arc of required polishing The model of rotary file；

Step 2: circular arc g0 (x, y, z) being segmented, is divided into N sections；

Step 3: every section of circular arc being divided into tetra- control points A, B, C and D, is being controlled by robot using power control sensor Cutter successively tetra- control points A, B, C and D on arc section obtain the seat at tetra- control points coordinate points A, B, C and D respectively Mark；

Step 4: arc AB an arc equation g1 (x, y, z) is calculated with point A, B and arc section radius R, BC sections of equation g2 of arc (x, y, Z), arc CD sections of equation g3 (x, y, z)；

Step 5: by power control sensor control cutter under the polishing power of setting along equation g1 (x, y, z), g2 (x, y, Z), g3 (x, y, z) polishes；

Step 6: the posture for adjusting robot keeps plane where tool axis and circular arc angle o；

Step 7: selection feed speed requires according to the beat of polishing circular arc and polishing surface quality requirements controls rotary file Feed speed, polish arc section, after arc section of having polished, according to step 3 to step 6 method carry out it is next Arc section polishing, until completing the fillet polishing of entire circular arc；

The bowl-shape intrados polishing step of workpiece to be processed specifically includes；

The bowl-shape intrados of titanium alloy casting is divided into multiple fan-shaped regions according to warp direction by step 1, selects first fan Shape region is as polishing region；

Step 2, adjustment robot location, so that cutter is located at the polishing starting point X0 of first fan-shaped region of workpiece surface At surface；

Step 3, robot start to polish with cutter close to starting point, along the preset path of warp direction in workpiece table Face polish a trace, and returns to starting point X0；

Step 4, robot with cutter from starting point X0 along work inner surface weft direction offset distance Δ X, reach the At right above two paths starting point X1；

Step 5 repeats step 3 the second paths of polishing, and returns at the second paths starting point X1 with cutter；

Step 6 repeats step 4 and step 5, until first fan-shaped region polishing finishes；

Step 7, by the radian of first fan-shaped region of workpiece rotation, polish second fan according to step 2 to step 6 method Shape region；

Step 8 repeats step 7, until completing the technique for grinding of the entire bowl-shape intrados of ring-shaped titanium alloy casting.

In a kind of above-mentioned automation grinding and polishing process method for annular titanium alloy casting, the workpiece to be processed polishing Step specifically includes:

Step 1: rough polishing selects page thousand of small grain size to take turns, the low speed of mainshaft, low feeding speed, big contact force, comes to workpiece It is multiple to return grinding and polishing；

Step 2: half essence is thrown, the wheels of page thousand of granularity, the high speed of mainshaft, middle feeding speed, middle contact force, to workpiece in selection Grinding and polishing is multiple back and forth；

Step 3: essence is thrown, and page thousand of big granularity is selected to take turns, the high speed of mainshaft, high feeding speed, low contact force size, to work Grinding and polishing is multiple back and forth for part；

Step 4: polishing, the abrasive pastes cooperation wool felt wheel of selection superelevation granularity, the high speed of mainshaft, high feeding speed are low Contact force size, to workpiece, grinding and polishing is multiple back and forth.

The present invention has the advantage that 1, realize automation grinding and polishing operation to annular titanium alloy casting.Use machine People grasps electro spindle and carries out grinding and polishing, and flexible movements can be carried out with the posture, angle, track that various other lathes cannot achieve Movement.And theory analysis can be carried out according to processing request, then by the optimal processing parameter input system obtained, by changing Become the cutting depth of the track of robot, speed and the corresponding modification grinding and polishing of electro spindle revolving speed, feed speed and cutting speed, To realize that optimum process is processed.It can guarantee process stabilizing, processing efficiency when processing, the surface quality processed is much higher than manually Grinding and polishing.Simultaneously because stable processing technology, there is no mutation power, also cutter life are made to get a promotion.Grinding and polishing cost is saved.2, By clamping workpiece on rotary table, rotary table can be gone to specified angle according to the current desired position to be processed by system Degree makes to be in for working position convenient in the range of processing of robots.Can also be stopped tight rotary work after the completion of rotation by gas supply Platform, it is ensured that rotary table during processing will not by cutting force effect and rotate, cause the location of workpiece generate deviation.3, make These are expelled in cooling Scrap-removing machine by the cooling water after the scrap waste material generated when being accepted and processed with sink and use, sink, Cooling Scrap-removing machine can be by outside scrap waste material discharge system, by worker's periodic cleaning, while boosting makes again after cooling water is filtered With.Coolant liquid water pipe arranges that water outlet is directed at tool position along robot, can random device people it is mobile and continue to supply to Working position Cooling water.It is different according to the technique used when processing, it is sometimes desirable to add coolant liquid not need sometimes, it can be by controlling cooling chip removal The switch of the water pump of machine controls it.4, using robot grinding and polishing, for parts profile, relative to drawing, there are gaps Position can carry out manual teaching adjustment, and convenient and efficient, relative to lathe to knife operation, operability is greatly promoted.5, system It is whole to use outer cover, prevent dust and coolant liquid from splashing out outside system or splashing robot side, while the multiple sides of outer cover are provided with window Mouthful, the aesthetics of equipment was not only improved, but also observe inner workings convenient for operator.Display screen is installed to outer cover by cantilever On, it is not only beautiful but also facilitate operation.6, can be added in process by laser range sensor and power control sensor on-line checking The physical location of Ministry of worker position, the titanium alloy casting riser when cutting dead head using a kind of based on industrial robot cut off work Skill；During the grinding process by a kind of circular arc polishing process and technique for reducing the cost of charp tool, one kind is for titanium alloy casting of polishing The two-dimentional error compensating method of circular hole inner cavity, a kind of size compensation method of ring-shaped work pieces robot polishing, casting robot is beaten Mill anchor point online test method is used cooperatively；It is thrown at polish parts surface using a kind of bowl-shape intrados of annular cast Light method and technique, a kind of robot constant force polishing method of apery hand.Thus reduce by clamping error, casting dimension, shape Error, tool dimension error are influenced caused by process, improve processing efficiency and processing quality.

Detailed description of the invention

Fig. 1 is appearance diagram of the invention.

Fig. 2 is schematic diagram of internal structure of the invention.

Fig. 3 is partition schematic diagram of the invention.

Fig. 4 is robot end's tool schematic diagram of the invention.

Fig. 5 a is front clamping schematic diagram of the invention.

Fig. 5 b is reverse side clamping schematic diagram of the invention.

Fig. 6 is overall schematic of the invention.

Fig. 7 is pin assemblies schematic diagram of the invention.

Fig. 8 a is floating V-block assembly schematic view of the front view of the invention.

Fig. 8 b is floating V-block assembly schematic perspective view of the invention.

Fig. 9 is scroll chuck scheme of installation of the invention.

Figure 10 is circumferential compensation principle figure of the invention.

Figure 11 is polishing schematic diagram of the invention.

Figure 12 is polishing track schematic diagram in cylindrical surface of the invention.

The schematic diagram in knife handle direction when Figure 13 is polishing of the invention.

Figure 14 is bowl-shape intrados polishing schematic diagram of the invention.

Specific embodiment

For a better understanding of the present invention, the present invention is made further with reference to the accompanying drawings and detailed description It is bright.

In figure, 1- pedestal, 2- outer cover, 3- step, 4- display screen, 5- robot, 6- electro spindle, 7- cutter, 8- fixture, 9- The cooling Scrap-removing machine of sink, 10- coolant liquid mounting rack, 11-, 12- annular titanium alloy casting, 13- outer cover partition, outside 14- robot Set, the installation of 15- power control sensor, 16- laser range sensor, 17- sensor mount, 18- coolant pipe, 19- electro spindle Flange, 20- rotary table, 21- scroll chuck, 22-A floating V-block assembly, 23- pin assemblies, 24- scroll chuck flange, 25- key seat, pin on the outside of 26-, pin on the inside of 27-, 28- upper cover A, 29 lower covers, 30-V type block, 31- guide post, 32- flange copper sheathing, 33- spring, 34- limited block, 35-V block, 36- flat key, 37-B floating V-block assembly, 38-B type rotary file, the rotation of 39-C type File, 40- circular hole chamber, 41- warp, 42- weft.

One, system structure of the present invention is introduced first.

Appearance diagram as shown in Figure 1, including pedestal 1, outer cover 2, step 3, display screen 4.Outer cover 2 is mounted on pedestal 1 On, it is provided with observation window on multiple faces, observes inner workings for operator.Front is upper bin gate, and pulling open rear worker can be through Step 3, which passes in and out, carries out the operation such as feeding, blanking, tool changing inside outer cover 2.Display screen 4 is mounted on outer cover 2 in the form of suspention, Worker can be interacted by display screen 4 with system, and input needs working position or monitoring device operating condition.

Schematic diagram of internal structure as shown in Figure 2, including pedestal 1, IRB 6700-200/2.60 robot 5, electro spindle 6, Cutter 7, fixture 8, sink 9, cooling Scrap-removing machine 11, annular titanium alloy casting 12.Worker by 12 clamping of annular titanium alloy casting extremely 8 backed off after random equipment of fixture closes the upper bin gate on outer cover 2, and the position that input needs to process and starting device, then PLC can be controlled Fixture 8 rotates, and annular titanium alloy casting 12 is gone to scheduled angle in order to process operation, by fixture after the completion of rotation 8 rotary table aerodynamic brake supplies to lock table top.Then, PLC is indirectly fixed to according to the technique of prior typing, control The electro spindle 6 of 5 end of IRB 6700-200/2.60 robot is rotated with certain revolving speed, and electro spindle 6 starts to rotate and reach pre- After determining revolving speed, IRB 6700-200/2.60 robot 5 grasps electro spindle 6 and is moved by the track of setting, makes cutter 7 to titanium It is cut at the position to be processed of alloy annular casting 12.Electro spindle 6 is that IP67 or higher polishing is dedicated using degree of protection Electro spindle.After processing is completed by a certain range of position to be processed, if needing to process there are also other part, IRB 6700- 200/2.60 robot 5 retreats to home, and PLC unclamps the rotary table aerodynamic brake of fixture 8, fixture 8 gone to next A angle, to carry out the processing of next part.The scrap waste material generated during processing and the coolant liquid used will be fallen into The surface of rotary table 7 is fallen into after rinsing in the sink 9 of 8 lower section of fixture.Sink 9 is provided with material spilling hole, these scrap are given up In material and coolant drain to cooling Scrap-removing machine 11.Scrap waste material can be constantly delivered to outside equipment by cooling Scrap-removing machine 11, by Operator is unified to collect cleaning, while being filtered to used cooling water, for reusing.

Partition schematic diagram as shown in Figure 3, including outer cover 2, IRB 6700-200/2.60 robot 5, outer cover partition 13, Robot housing 14.Outer cover partition 13 is mounted on outer cover 2, and equipment inner space is divided into two parts.It is provided with a scale thereon Very little hole guarantees the space in 5 process of IRB 6700-200/2.60 robot enough.14 material of robot housing For waterproof cloth, it is provided with hole among it and is equipped with rubber band, IRB 6700-200/2.60 robot 5 passes through on robot housing 14 Hole, rubber band collapses the hole and binds round on the arm of IRB 6700-200/2.60 robot 5.Outside robot housing 14 Along being bolted on partition 13, outer cover 2, outer cover partition 13 and robot housing 14 are used cooperatively, and can produce cutting The cutting fluid of raw metallic dust and spillage is limited in 12 place side of annular titanium alloy casting, avoids polluting.As shown in Figure 4 Robot end's tool schematic diagram, including electro spindle 6, cutter 7, power control sensor 15, laser range sensor 16, sensor Mounting rack 17, coolant pipe 18, electro spindle ring flange 19, coolant pipe mounting rack 10.Power control sensor 15 is mounted on IRB In 5 end flange of 6700-200/2.60 robot, electro spindle ring flange 19 is mounted on the other side of power control sensor 15, with Power suffered by the object of side connection can be detected by power control sensor 15.Electro spindle 6 is mounted on sensor mount 17 On electro spindle ring flange, laser range sensor 16 is mounted on sensor mount 17, and coolant pipe 18 passes through coolant pipe Mounting rack 10 is mounted on electro spindle ring flange 19.In use, electro spindle 6, which is controlled band cutter 7 by PLC, reaches desired speed, End-of-arm tooling can be driven to reach designated position with IRB 6700-200/2.60 robot 5 before cutting, be directed at laser sensor 16 Portion faces to be processed measure range data, and on this basis, and high-speed and high-efficiency riser cutting side is used when cutting dead head Method, during the grinding process using a kind of online test method of casting robot polishing anchor point；Power can be passed through in cutting Control sensor obtains cutting force data in real time, and on this basis, reduces by clamping error, casting dimension, form error, cutter Scale error is influenced caused by process, improves processing efficiency and processing quality.

Reverse side clamping schematic diagram shown in front clamping schematic diagram as shown in Figure 5 a and Fig. 5 b mainly includes rotary work Platform 1, scroll chuck 2 and scroll chuck flange 5, floating V-block assembly 3 and 19, pin assemblies 4, annular titanium alloy casting 18.Three-jaw Chuck 2 is mounted on rotary table 1 by scroll chuck flange 5, floating V-block assembly 3 and 19, and pin assemblies 4 pass through T slot Bolts and nuts are mounted on rotary table 1, and 18 clamping of annular titanium alloy casting is on fixture.

Overall schematic as shown in FIG. 6 can indicate three pin assemblies 4, A floating V-block assembly 3, B floating V-block group Part, scroll chuck 2 are arranged on rotary table 1.Three pin assemblies 4 are directly installed on rotation work by T slot bolt and nut In the T-slot for making platform 1, A floating V-block assembly 3 and B floating V-block assembly 19 then first pass through flat key 17 and are located in rotary work On in the T slot of platform 1, guarantee the relative position of two floating V-block assemblies and rotary table 1, then with T slot bolt and nut lock Tightly.Scroll chuck 2 is mounted on rotary table 1 through scroll chuck flange 5, keeps same by location hole and boss between three Heart relationship, and pass through T slot bolt and nut check.

Pin assemblies schematic diagram as shown in Figure 7, there are three pin assemblies 4 altogether for this fixture, and each pin assemblies 4 are by an outside Pin 7, an inside pin 8 and a key seat 6 form.It is provided with the bolt hole for being mounted on rotary table 1 on key seat 6, uses It is mounted on rotary table 1 in by pin assemblies 4.Also open that there are two fine thread holes for installing outside pin 7 and interior on pin block 6 Side pin 8.When two pins are installed it may be noted that after pin is packed into key seat 6, need to beat amesdial measurement and 1 surface of rotary table away from From, guarantee three outside pins 7 with three on the inside of pins 8 top it is equal relative to the surface difference of rotary table 1.Adjust height After degree, tightens nut and fix.

The floating V-block assembly schematic diagram as shown in Fig. 8 a and 8b, two floating V-block assemblies 3 and 19 are roughly the same, only 11 height of V-block of the two is different, and each floating V-block assembly 3 includes two upper covers 9, two lower covers 10, a V-block 11, two guide posts 12, two flange copper sheathings 13, two springs 14, a limited block 15, a V block 16, a flat key 17.Guide post 12 is mounted on V block 16 and is lockked in end with nut.14 sets of spring on 12 outside of guide post, V-block 11 For mounting hole for mounting flange copper sheathing 13, flange copper sheathing 13 and guide post 12 are clearance fit there are two opening, and are covered in guide post 12 On, it can be slided along guide post 12.Limited block 15 is mounted on V block 16, is limited on V-block 11, and the downlink of V-block 11 is limited Journey.Lower cover 10 is mounted on V-block 11, is moved up and down with V-block 11, and upper cover 9 is mounted on 12 end of guide post, not with V-block 11 move up and down.Upper cover 9 and lower cover 10 are hollow, closed at one end cylindrical body, and the internal orifice dimension of upper cover 9 is greater than lower cover 10 Outer diameter.As V-block 11 moves upwards, final lower cover 10 can push up upper cover 9, continue to move up V-block 11 can not, from And limit the up stroke of V-block 11.Meanwhile in the stroke of V-block 11, the bottom of upper cover 9 is consistently higher than lower cover 19 most Upper end forms labyrinth, water and scrap is avoided to enter the position of flange copper sheathing 13, influences flange copper sheathing 13 in guide post 12 just Often sliding.The side that V block 16 is contacted with rotary table 1 is provided with flat key slot, refills after being packed into flat key 17 in rotary table 1 T-slot on, guarantee that the direction of floating V-block assembly 3 faces the center of circle of rotary table 1.Clamping annular titanium alloy casting When 18, by 18 gravity of annular titanium alloy casting, V-block 11 is depressed, but guarantees V-block 11 and titanium alloy by spring 14 Pressure between annular cast 18, it is ensured that centering locating effect of the V-block 11 to oval structure on annular titanium alloy casting 18.

Scroll chuck scheme of installation as shown in Figure 9, including rotary table 1, scroll chuck 2, scroll chuck flange 5.2 end face of scroll chuck is provided with seam allowance, cooperates with the circular bosses of 5 upper surface of scroll chuck flange, guarantees scroll chuck 2 and three-jaw Chuck flange 5 is coaxial.1 center of rotary table is provided with location hole, cooperates with the lower surface circular bosses of scroll chuck flange 5 Guarantee coaxial between rotary table 1 and scroll chuck flange 5.So far, rotary table 1 is realized coaxial with scroll chuck 2. It is fixed between three by bolt and nut.

This system is mainly created and is a little embodied in:

1, electro spindle is mounted on six shaft flange disks of industrial robot, and electro spindle end is equipped with cutter, can be by robot Fixed track movement is done in drive.The revolving speed of electro spindle can control frequency converter by PLC and be adjusted, and the movement velocity of robot can also be with It adjusts, it is possible thereby to meet the needs to technological parameter needed for different processing technologys.2, the fixture peace of annular titanium alloy casting After the completion of the surface of rotary table, annular titanium alloy casting clamping, rotary table is driven by servo motor, works as machine When people is worked into a certain position of annular titanium alloy casting, signal can be issued to PLC, annular titanium alloy casting be gone to be processed Position is in the specified angle in robot working range, following process convenient to carry out.3, bowl is installed below rotary table Type sink, process generation scrap waste material and processing used in cooling water can all concentrate on bottom of gullet and through bottom of gullet Opening flow into cooling Scrap-removing machine.Scrap waste material persistently can be discharged for cooling Scrap-removing machine, and make again after cooling water is filtered With.The water pipe of cooling water arranges that cooling water spout is located at electro spindle nearby and is directed at tool nose position along robot arm, PLC opens or closes cooling water by controlling the switch of cooling Scrap-removing machine water pump, meets different process to the needs of cooling water.4, Display screen is mainly used for the real-time condition of monitoring system work, can check current working position by display screen, currently process work Skill parameter, the information such as machined time and machined number of packages.Operating mode can be selected for operator simultaneously, specify processing department Position etc..5, outer cover is splashed out for waterproof, dirt.Bin gate is provided on outer cover, the openable upper bin gate of staff carries out feeding under Expect operation.Travel switch is housed, system not will start when upper bin gate is not turned off on upper bin gate.Upper bin gate is opened when system works Emergency stop can be triggered.It is equipped with partition in outer cover, robot and rotary table are isolated in two regions, are provided with hole on partition, foot Enough robot arms stretch out and carry out the processing of required range.Robot waterproof casings, random device people are cased on robot arm Movement, the edge of housing is fixed on robot partition, plays the role of that water, dirt is prevented to be splashed into robot side.6, on electro spindle Mountable a variety of cutters.Electro spindle can realize cutting function when installing grinding wheel, can realize processing when installing rotary file and bistrique Function can realize polishing function when installing flap disc and wool felt, and the processing for being suitable for annular titanium alloy casting different parts needs It asks.Meanwhile having installed power control sensor and laser range sensor additional in robot, it is based on when cutting dead head using one kind The titanium alloy casting riser excision technique of industrial robot；During the grinding process by a kind of circular arc polishing side for reducing the cost of charp tool Method and technique, a kind of two-dimentional error compensating method for titanium alloy casting circular hole inner cavity of polishing, a kind of ring-shaped work pieces robot The size compensation method of polishing, casting robot polishing anchor point online test method are used cooperatively；In polish parts table A kind of bowl-shape intrados polishing method of annular cast and technique, a kind of robot constant force polishing method of apery hand are used when face.

It two, is the concrete operation method of above system structure below.

Front clamping schematic diagram as shown in Figure 5 a when the clamping of front, upward by 12 upper surface of annular titanium alloy casting, moves It moves above fixture, the inner hole of annular titanium alloy casting 12 is substantially aligned with to the center of scroll chuck 21, then by titanium alloy Annular cast 12 rotates to its most thick oval structure the V-groove position for being substantially aligned with A floating V-block assembly 22 around the center of circle It sets, then slowly falls annular titanium alloy casting 12.After falling, three outside pins 26 are not contacted with annular titanium alloy casting 12, and three A inside pin 27 is contacted with the endless belt-shaped end face in 12 lower surface of annular titanium alloy casting, and three point contacts constitute plane, limits titanium The linear DOF of 12 short transverse of alloy annular casting and two rotary freedoms.The oval structure of annular titanium alloy casting 12 It is caught in an A floating V-block assembly 22 and depresses its V-block 30, A floating V-type realizes that the centering to oval structure is fixed fastly Position, and since A floating V-block assembly 22 can float up and down, therefore without limitation on the freedom of 12 short transverse of annular titanium alloy casting It spends and the V-block assembly of B floating at this time 37 is not contacted with annular titanium alloy casting, thus limit the circumferential direction of annular titanium alloy casting 12 Rotary freedom.After placement, scroll chuck 21 is unscrewed, its clamping jaw is made to strut the inner circle for withstanding annular titanium alloy casting 12 Hole, limits the horizontal direction linear DOF of annular titanium alloy casting 12, and provides clamping force.So far, annular titanium alloy casting 12 are positioned and are stepped up completely.

When reverse side clamping, three inside pins 27 are not contacted with annular titanium alloy casting, and three outside pins 26 connect with titanium alloy Touching, A floating V-block assembly 22 are not contacted with annular titanium alloy casting 12, B floating V-block assembly 37 and annular titanium alloy casting 12 contacts, it is identical when clamping principle is with front clamping.

If you need to rotate annular titanium alloy casting 12, its rotation of the Serve Motor Control built in control rotary table 20 can be passed through Turn, makes it that annular titanium alloy casting 12 be driven to turn to specified angle.

If you need to remove annular titanium alloy casting 12, scroll chuck 21 only need to be screwed up, makes its jaws close, then by titanium alloy ring Shaped cast part 12 is moved upward, and in the V-groove for leaving floating V-block assembly 3 or 19, that is, can move freely.

The better embodiment of workpiece to be processed dimension compensation step used in the present invention the following steps are included:

Step 1: clamping being carried out by inner ring datum level of the scroll chuck to ring-shaped work pieces when carrying out clamping to part, is led to It crosses scroll chuck to position the central axes of part, realizes the centering of part；

The circumferential error generated when step 2, to parts fixation to be processed carries out threshold compensation, as shown in figure 4, robot is last End installation force sensor, force snesor acquire the polishing pressure of robot end-of-arm tooling and controllable the big of pressure of polishing It is small, cutter is installed on the ER collet of end-of-arm tooling electro spindle, leans on robot by 0.05mm/ amount of feeding control cutter The circumferential datum level of nearly part, the collected polishing pressure value meeting of force snesor when the circumferential datum level of tool contact to part Risen by 0, sensor detects after the rising edge of power i.e. stopping robot motion, and current tool coordinate point is recorded and transmitted To control system, the circumferential error amount of part is calculated by being compared with theoretical value for control system, and passes through control rotation Revolving worktable dead-center position compensates, and rotates circumferential datum level to theoretical position.It is as shown in Figure 10 to implement principle, makes With cutter from gradually being fed at x0 to side, until force snesor detects that cutter encounters part, current location x1 is recorded, Since ring-shaped work pieces is relatively large in diameter, and parts fixation error is smaller, so the value of (x_1-x_0) is approximately equal to the arc of circumferential offset It is long, then the circumferential error after parts fixation can be calculated by formula θ=180 × (x_1-x_0) ÷ (R × π), then pass through control System control rotary table compensates the circumferential clamping error of corresponding angle value compensation ring-shaped work pieces when rotated；

The height error generated when step 3, to parts fixation to be processed carries out threshold compensation, is carrying out upper surface polishing When, since the molten error of parts fixation error and part itself will lead to the size of the upper surface of part, there are deviations, so It needs to treat polishing position before polishing to measure and compensate scale error.Compensation method is as follows: machine as shown in Figure 4 People's end-of-arm tooling is equipped with laser distance sensor in robot end's tool installation electro spindle other side, for measuring part The distance between upper surface and sensor are to determine the height error at part upper surface position to be polished, then by measurement result Altimetric compensation value is calculated by control system, feedback and control robot enables cutter just to arrive in the coordinate that amendment is cut a little Up to part upper surface, so that it will not get to or excessively polish part, to reach the dimension compensation to part upper surface；

The cleaning technology of annular titanium alloy casting head of casting used in the present invention, specific processing step are as follows

Step 1: it is first that annular titanium alloy casting is clamping on fixture, CBN cutting sheet is loaded onto electro spindle end, is cut The granularity of pitch cutting is 60, concentration 100%, and hardness is M grades, diameter 150mm, and internal diameter is that 25.4mm abrasive material width is 5mm, thick Degree is 1mm

Step 2: mobile robot, adjustment robot pose open laser distance sensor and measure riser to posture is measured Three points of place plane cause plane error where riser larger since casting consistency is poor, are looked for by range sensor Normal direction to plane feeds back to robot, is consistent so as to adjust the posture of cutting sheet and the normal direction of plane, to adapt to error It is cut, to guarantee the consistency of riser height after cutting.

Step 3: opening coolant liquid, since titanium alloy belongs to difficult-to-machine material, it is big to there is grinding force in process, mill Temperature height is cut, grinding wheel adherency is serious, be easy to cause scorch and residual stress big, so needing dedicated with polishing titanium alloy Environmental Protection Cutting Fluid, ingredient are tricarboxylic acid salt 2%, triethanolamine 12%, glycerol 3%, organosilicon 0.2%, oleic acid 3%, benzene And triazole derivatives 0.3%, remaining is water；The two-tube jet stream of high pressure is used in bruting process, pressure 0.7Mpa, flow is low In 10L/min；Coolant pipe is mounted on electro spindle, is moved with the movement of electro spindle, and the injection direction of coolant liquid will be with Cutting sheet incision direction is tangent, is directed at the two sides of dead head, is conducive to coolant liquid in cutting process in this way and enters in dead head Portion is to reach better cooling effect.

Step 4: the surplus for being cut to 1mm is carried out by the linear motion of robot to riser using resin CBN cutting sheet, Cutting initial stage and later period contact arc length are shorter, and the smaller grinding temperature of suffered grinding force is low, feeding speed can accelerate be 0.2mm/s, longer in cutting mid-term contact arc length, suffered grinding force is larger, and grinding temperature is high, and feeding speed needs are reduced to 0.1mm/s, speed of mainshaft 6000r/min.

Step 5: the cutting sheet of electro spindle end is changed to the hard alloy ball-type rotary file that diameter is 16mm

Step 6: corase grinding carries out layering polishing using rotary file, total depth of cut is after cutting to only surplus 1mm 0.9mm, point three layers of feeding, then each depth of cut is 0.3mm, feeding speed 3mm/s, line-spacing 3mm, and the speed of mainshaft is 10000r/min；

Step 7: half refines, and using diameter is the hard alloy ball-type rotary file of 16mm to last 0.1mm, due to half fine grinding Surface roughness requirements are higher, so it is 0.5mm, feeding speed 5mm/s that line space value is smaller, the speed of mainshaft is 10000r/min；

Step 1-7 is repeated until all dead heads clear up completion, the then cleaning of entire annular titanium alloy casting head of casting It completes.

The plane after dead head cutting polishing is observed after the completion of above step, surface is without burn, undesirable root height It is concordant with bottom plane, it uses roughmeter to measure surface roughness as 0.4um, meets processing technology requirement.

Circular hole chamber polishing process used in the present invention the following steps are included:

Polishing schematic diagram as shown in figure 11, polish 40 bottom plane of circular hole chamber when, using Type B rotary file 38, do not opening In the state of opening electro spindle 6, Type B rotary file 38 is driven to move to the bottom plane of circular hole chamber 40 from robot, opening force control passes Sensor 15, power control sensor 15 provides signal after contact, and robot reads the coordinate of the point automatically, right in the upper lower-left of the plane Four orientation obtain the coordinate of point A, B, C, D respectively；Then robot continues to drive cylinder of the Type B rotary file 38 to circular hole chamber 40 Face movement, opening force control sensor 15, power control sensor 15 provides signal after contact, and robot reads the coordinate of the point automatically, The coordinate of point E, F, G, H is obtained respectively in right four orientation in upper lower-left on the cylindrical surface, then is calculated and adjusted by program, coordinate side To as shown in Figure 12, by E, F, G, the X value of H point replaces with A, B, C respectively, and the X value of D point, by the Y of A point, Z value is replaced respectively For the Y of E point, Z value, by the Y of B point, Z value replaces with the Y of F point respectively, and Z value, by the Y of C point, Z value replaces with the Y of G point, Z respectively Value, by the Y of D point, Z value replaces with the Y of H point respectively, Z value, such A, B, the Y of C, D point, and Z-direction just obtains accurate compensation, E, F, The X-direction of G, H point also obtains accurate compensation.First process the bottom plane of circular hole chamber 40, the diameter of the Type B rotary file 38 used for The revolving speed of 10mm, electro spindle 6 are 8000r/min, coolant rate 10L/min, and according to current A, B, C, D point coordinate is formed Circular trace polish the plane, then move towards the A, B, C of center of circle direction offset 5mm, the offset point of D point, A, B, the seat of C, D point It marks constant, then walks the circular path for deviating 5mm again, polished until by entire plane.After the completion of polishing for the first time, by A, B, The X-coordinate value of C, D point increases 0.1mm and presses offset path polishing again, polishes four times altogether, desired cut amount 0.3mm.So far, complete The polishing of pairs of 40 bottom plane of circular hole chamber.

Polishing track schematic diagram in cylindrical surface as shown in figure 12, tool changing clamping c-type rotary file 39, the c-type rotary file 39 of use Diameter be also 10mm, the tool coordinates of tool coordinates Type B rotary file 38 are identical, and the revolving speed of electro spindle 6 is 8000r/min, Coolant rate is 10L/min, and then with current E, F, G, the arc track that H point is formed is polished.Polishing is completed primary Afterwards, the coordinate of E, F, G, H point is deviated into 0.1mm to the direction far from the center of circle respectively, and new with new E, F, G, H point Coordinate generation Polishing track polish, so in triplicate, amount to polishing four times, desired cut amount 0.3mm.So far, it completes to circular hole The polishing on cylindrical surface around chamber.

Such as Figure 13, circular arc polishing process used in the present invention the following steps are included:

Step 1: the carbide rotary tool type of suitable size is selected according to the radius of corner size of required polishing circular arc Number, for example, radius of corner be 8mm long circular arc polished using D12 model carbide rotary tool；

Step 2: arc section to be polished being segmented, every 60 ° are individually polished for one section, and work is made after the completion of polishing Make platform and rotates 60 ° of next arc sections of polishing；

Step 3: being higher than circle of the position to be polished to circular arc using power control sensor control cutter in 0 ° of position of arc section The stepping of heart direction, until detect tool contact to the inscribed cylinder side of circular arc, then make cutter vertical direction (circular arc or The axial direction of person's inscribed cylinder 44) to fillet stepping to be polished, until detecting fillet of the cutter in vertical direction close to circular arc, remember Current coordinate point A is recorded successively in 20 °, 40 °, 60 ° of repetition steps 2, obtains coordinate points B, C, D respectively；

Step 4: circular arc polishing path being planned again with tetra- coordinate points of A, B, C, D and arc section radius, is made Practical polishing path is more accurate；

Step 5: calculating optimal coolant rate and coolant pressure when polishing titanium alloy, (coolant liquid sprays pressure 0.5-0.9Mpa, flow are not less than 10L/min), and pass through the throttle valve for adjusting cooling system and overflow valve to the stream of coolant liquid Amount and pressure are adjusted, and the flow direction of coolant liquid is then adjusted by adjusting ring pipe, there is front and back when Tool in Cutting Coolant liquid is sprayed onto；Cutting temperature can be reduced by coolant liquid in polishing, take away chip, prevent titanium alloy from burning, reduced The rate of wear of the cutter in polishing；

Step 6: for control cutter in polishing, polishing power is 15~20N in the component size of circular arc centripetal direction, downward The component size in direction (i.e. arc axis towards fillet direction) is 15~20N, makes carbide rotary tool always and wait polish Circular arc be affixed, can avoid cutter and tremble, reduce tool wear, and can still pass through control force control after cutter mild wear The output pressure of sensor continues to process to compensate tool wear, and it is traditional in such a way that absolute orbit is polished then without Method carries out real-time cutter compensation；As shown in Figure IV, the posture for adjusting robot makes tool axis and circular arc place plane in 15 ° Angle makes cutter polish always with maximum gauge cutting edge, improves cutter life and grinding efficiency；Control cutter edge is beaten Path polishing is ground, feed speed is 3~5mm/s.

Such as Figure 14, bowl-shape intrados polishing process used in the present invention the following steps are included:

1, the robot system of the bowl-shape intrados polishing of annular cast is built and is finished；

2, bowl-type titanium alloy casting inner surface is divided into multiple fan-shaped regions according to 41 direction of warp, selects first sector Region is as polishing region；

2, electro spindle 6 is opened, the design of pressure of the power control sensor 15 of robot 5 is 15N by revolving speed 3000r/min；

3,5 position of robot is adjusted, so that cutter 7 is located at beating for annular titanium alloy casting first, 12 surface fan-shaped region It grinds right above starting point X0 at 3mm；Robot 2 exists with cutter 7 close to starting point, and along the preset path in 41 direction of warp 8 surface of workpiece polish a trace, and returns to starting point X0；Robot 2 is with cutter 7 from starting point X0 along work inner surface 42 direction offset distance Δ X of weft is reached right above the second paths starting point X1 at 3mm；To the same side after every polishing To deviating small short distance 0.5mm, until total drift amount X reaches the 1/72 of entire bowl-type perimeter, it that is to say and complete first sector The polishing in region；Electro spindle 6 is lifted to top home by robot 2, is rotated rotary table and is made annular titanium alloy The bowl-shape intrados of casting rotates 5 °；

4 repetitive processes 3, until beating the complete bowl-shape intrados of annular titanium alloy casting.

The bowl-shape intrados method of polishing used in the present invention includes the following steps

1, the bowl-shape intrados polishing system of annular titanium alloy casting is built first and is finished；

2, the polishing locus of the bowl-shape intrados of annular titanium alloy casting is programmed and is imported into six-joint robot, opened Power control sensor, carries out constant force polishing by the way of power-position control, and the size of power is that variable can be thick according to workpiece surface Rugosity and polished amount are set, and the direction of power remains and keeps one with the normal direction of the bowl-shape intrados of annular titanium alloy casting It causes；

3, rough polishing: granularity is 80 on the ER chuck replacing of extension rod end, the wheels of page thousand that diameter is 40mm, the speed of mainshaft For 6000r/min, feeding speed 15mm/s, contact force size is 16N, back and forth grinding and polishing 10 times；

4, half essence is thrown, and granularity is 240 on the ER chuck replacing of extension rod end, the wheels of page thousand that diameter is 40mm, main shaft Revolving speed is 8000r/min, and feeding speed 20mm/s, contact force size is 12N, back and forth grinding and polishing 10 times；

5, essence is thrown, and granularity is 400 on the ER chuck replacing of extension rod end, and the wheels of page thousand that diameter is 40mm, main shaft turns Speed is 8000r/min, and feeding speed 25mm/s, contact force size is 8N, back and forth grinding and polishing 10 times；

6, polishing, the abrasive pastes cooperation diameter that granularity is 1000 on the ER chuck replacing of extension rod end is 40mm wool Felt wheel, speed of mainshaft 8000r/min, feeding speed 25mm/s, contact force size are 8N, back and forth grinding and polishing 10 times.

Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.

Although be used more herein 1- pedestal, 2- outer cover, 3- step, 4- display screen, 5- robot, 6- electro spindle, 7- cutter, 8- fixture, 9- sink, 10- coolant liquid mounting rack, 11- cooling Scrap-removing machine, 12- annular titanium alloy casting, 13- outer cover Partition, 14- robot housing, 15- power control sensor, 16- laser range sensor, 17- sensor mount, 18- coolant liquid Pipe, 19- electro spindle mounting flange, 20- rotary table, 21- scroll chuck, 22-A floating V-block assembly, 23- pin assemblies, 24- scroll chuck flange, 25- key seat, the outside 26- pin, the inside 27- pin, 28- upper cover A, 29 lower covers, 30-V type block, 31- guiding Column, 32- flange copper sheathing, 33- spring, 34- limited block, 35-V block, 36- flat key, 37-B floating V-block assembly, the rotation of 38-B type Turn file, 39-C type rotary file, 40- circular hole chamber, 41- warp, 42- weft.Equal terms, but be not precluded using other terms can It can property.The use of these items is only for be more convenient to describe and explain essence of the invention；It is construed as any one The additional limitation of kind is disagreed with spirit of that invention.

Claims

1. a kind of automation grinding and polishing process for annular titanium alloy casting, which is characterized in that including

Step 2: workpiece to be processed dimension compensation step: the circumferential direction and height error generated when to parts fixation to be processed carries out threshold Value complement is repaid；

Step 4: leaving inside equipment and close upper bin gate；

Workpiece to be processed clears up front and back sides dead head step:

Workpiece to be processed polishing step:

Polishing including circular hole chamber, side circular arc and bowl-shape intrados to workpiece to be processed,

The circular hole chamber polishing step of workpiece to be processed:

Electro spindle clamping c-type carbide rotary tool or Type B carbide rotary tool are polished under coolant liquid environment, c-type The diameter of carbide rotary tool or Type B carbide rotary tool is equal, and the tool coordinates of clamping equal length and setting are all built At its cutter top center；

The side circular arc polishing step of workpiece to be processed:

Cutter material is selected, cooling system is designed, in conjunction with used cutter and the material of processing to cooling Liquid is selected and is calculated coolant pressure, flow；Then wear-compensating is carried out to cutter by force control, and according to be added Feed speed when material and surface roughness control the robot polishing of work

The bowl-shape intrados polishing step of workpiece to be processed:

So that robot polish a trace in workpiece surface when mobile by defined path, a road is hereafter often covered Diameter deviates a distance to same direction, to obtain smooth surface；Finally, the surface of every polishing one fixed width, by workpiece A bit of radian is rotated, so as to remove the oxide layer of entire bowl-type workpiece surface；

The step of workpiece to be processed polishes:

Through rough polishing, half essence is thrown, and essence is thrown, and four steps of polishing complete the polishing to the bowl-shape intrados of annular titanium alloy casting；

Step 6: robot drives end-of-arm tooling to be moved near bin gate, prompts lower knife used of worker by display screen Tool clicks the cutter changing completing button on display screen after replacing cutter by worker to confirm that cutter changing is completed；

Step 7: display screen will need the location information processed to be transferred to PLC, by the servo motor band of PLC control rotary table Dynamic rotary table, and then after driving annular titanium alloy casting to turn to respective angles, electro spindle is opened, cutter is waited to rotate to After specified revolving speed, robot drives electro spindle to move along desired trajectory, make cutter to the corresponding site of annular titanium alloy casting into Row cutting；

Step 8: after processing is completed, electro spindle stalling, robot gribing end-of-arm tooling retreats to point of safes, and rotary table returns to zero titanium Alloy annular Mechanical processing of casting process terminates.

2. a kind of automation grinding and polishing process method for annular titanium alloy casting according to claim 1, feature exist In the circumferential error that the workpiece to be processed dimension compensation step generates when specifically including to parts fixation to be processed carries out threshold value The height error that compensation and to parts fixation to be processed when generate carries out threshold compensation；

Step 1: needing to make by installing force snesor in robot end and installing on the ER collet of end-of-arm tooling electro spindle Cutter controls robot for cutter and moves to circumferential benchmark attachment, and opening force control sensor and the direction for setting power are vertical In datum level, cutter close to circumferential benchmark, slides when force snesor detects that power reaches setting value along datum level automatically, sliding Length is L and to read terminal point coordinate (x_1, y_1, z_1), and wherein x is circumferential benchmark direction, y be in horizontal plane perpendicular to Circumferential reference direction, robot ending coordinates value when cutter encounters circumferential benchmark when z is vertical direction, i.e. actual measurement；It is circumferential Benchmark theoretical coordinate value is x_0, i.e., robot ending coordinates value when theoretical case bottom tool encounters circumferential benchmark；

Step 2: calculating circumferential error formula are as follows: θ=180 × (x_1-x_0) ÷ (R × π), i.e., circumferential compensation threshold θ, and week To central angle error amount；Rotary table is controlled by control system to be deviated, and the positional shift θ, R zero of circumferential benchmark is made Part circumferential direction benchmark position is with a distance from the center of circle；

The specific method that the height error that generates when to parts fixation to be processed carries out threshold compensation includes:

Adjustment robot pose is elevation carrection posture, and the laser for irradiating laser distance sensor is perpendicular to be processed flat Face measures part upper surface at a distance from sensor by the laser distance sensor on end-of-arm tooling before being polished h₁, and by measurement feedback to control system, with gauged distance value h₀It carries out that height error △ h=h is calculated₁-h₀, i.e., Altimetric compensation threshold value △ h controls robot and deviates △ h in short transverse in polishing.

3. a kind of automation grinding and polishing process method for annular titanium alloy casting according to claim 1, feature exist In the workpiece to be processed cleaning front and back sides dead head step specifically includes:

Step 1: riser pad facial planes elevation carrection, height and position h0 where mobile robot to the measuring device set are high Degree remains unchanged, and height where measuring and riser pad facial planes being calculated is respectively h1, h2, calculates maximum value h；

Step 2: level maximum value where riser is h, sets cutting surplus as Δ h, opens electro spindle, cooling system is adopted The surplus for being cut to Δ h is carried out by the linear motion of robot to riser with cutting sheet；

Step 3: corase grinding carries out layering polishing using rotary file, and machining allowance is Δ a_p, and total depth of cut is Δ h- Δ a_p, Cutter diameter is d, and feed line-spacing is L, and every layer of depth of cut is a_p=d/2- √ ((" d/2) " ^2- (" L/2) " ^2), processing The number of plies is n=(Δ h- Δ a_p)/a_p, the starting point of the first row of riser and the terminal of the first row is determined, with line space L Course deviation is done, corase grinding processing is completed；

Step 4: half refines, and continues to polish to last remaining Δ a_p, adjustment feed line-spacing is L/6, similarly with line space L/6 does course deviation, once processes the residual volume, completes the cleaning of titanium alloy casting dead head.

4. a kind of automation grinding and polishing process method for annular titanium alloy casting according to claim 1, feature exist In the workpiece to be processed polishing step specifically includes the side circular arc of the circular hole chamber polishing of workpiece to be processed, workpiece to be processed The polishing of the bowl-shape intrados of polishing and workpiece to be processed,

Electro spindle and clamping carbide rotary tool are closed, protruding into cutter, circular hole is intracavitary close to bottom plane and to move to the face Top；

Opening force control sensor obtains bottom plane four direction real-time location coordinates and circular hole cavity wall by force feedback The four direction real-time location coordinates on cylindrical surface；

By the corresponding four direction position coordinates in bottom plane four direction real-time location coordinates replacement circular hole cavity wall cylindrical surface； By the corresponding four direction position coordinates of four direction real-time location coordinates replacement bottom plane on circular hole cavity wall cylindrical surface；

It closes electro spindle and replaces carbide rotary tool, be again turned on electro spindle, coolant liquid is intracavitary according to the circular hole newly formed Wall cylindrical surface carries out circular path track polishing circular hole cavity wall cylindrical surface；

Step 1: selection cutter model selects selection hard alloy rotation according to the radius of corner size of the circular arc of required polishing The model of file；

Step 3: every section of circular arc being divided into tetra- control points A, B, C and D, cutter is controlled using power control sensor by robot Successively tetra- control points A, B, C and D on arc section obtain the coordinate at tetra- control points coordinate points A, B, C and D respectively；

Step 4: arc AB an arc equation g1 (x, y, z) is calculated with point A, B and arc section radius R, BC sections of equation g2 (x, y, z) of arc, CD sections of equation g3 (x, y, z) of arc；

Step 5: cutter is controlled under the polishing power of setting along equation g1 (x, y, z), g2 (x, y, z), g3 by power control sensor (x, y, z) polishes；

Step 7: selection feed speed, according to polishing circular arc beat require and polishing surface quality requirements control rotary file into It to speed, polishes arc section, after arc section of having polished, carries out next circular arc according to step 3 to step 6 method Section polishing, until completing the fillet polishing of entire circular arc；

Bowl-type titanium alloy casting inner surface is divided into multiple fan-shaped regions according to warp direction by step 1, selects first fan section Domain is as polishing region；

Step 2, adjustment robot location so that cutter be located at the polishing starting point X0 of first fan-shaped region of workpiece surface just on At side；

Step 3, robot start to polish with cutter close to starting point, beat along the preset path of warp direction in workpiece surface A trace is ground, and returns to starting point X0；

Step 4, robot are with cutter from starting point X0 along work inner surface weft direction offset distance Δ X, arrival Article 2 At right above the starting point X1 of path；

Step 7, by the radian of first fan-shaped region of workpiece rotation, polish second fan section according to step 2 to step 6 method Domain；

Step 8 repeats step 7, until completing the oxide layer polishing of entire bowl-type titanium alloy casting inner surface.

5. a kind of automation grinding and polishing process method for annular titanium alloy casting according to claim 1, feature exist In the workpiece to be processed polishing step specifically includes:

Step 1: rough polishing selects page thousand of small grain size to take turns, the low speed of mainshaft, low feeding speed, and big contact force grinds workpiece back and forth It throws multiple；

Step 2: half essence is thrown, the wheels of page thousand of granularity in selection, the high speed of mainshaft, middle feeding speed, middle contact force, back and forth to workpiece Grinding and polishing is multiple；

Step 3: essence is thrown, and page thousand of big granularity is selected to take turns, the high speed of mainshaft, high feeding speed, low contact force size,

To workpiece, grinding and polishing is multiple back and forth；

Step 4: polishing selects the abrasive pastes of superelevation granularity to cooperate wool felt wheel, the high speed of mainshaft, high feeding speed, low contact Power size, to workpiece, grinding and polishing is multiple back and forth.