CN113427368A

CN113427368A - Intelligent grinding and polishing system with automatically replaced tool for complex curved surface robot and control method

Info

Publication number: CN113427368A
Application number: CN202110804102.9A
Authority: CN
Inventors: 冀世军; 李晓雅; 赵继; 涂梦倩; 贺秋伟; 代汉达
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2021-09-24

Abstract

The invention discloses an intelligent grinding and polishing system and a control method of a complex curved surface robot with an automatic tool replacement function, wherein the intelligent grinding and polishing system of the complex curved surface robot comprises a grinding and polishing tool storage library module, a clamp module, a grinding and polishing tool system module, a grinding and polishing robot module and a bottom plate, the clamp module is fixed on the bottom plate, the grinding and polishing robot module is fixed on the bottom plate and positioned on the side of the clamp module, the free end of the grinding and polishing robot module is provided with the grinding and polishing tool system module, the grinding and polishing tool storage library module is fixed on the bottom plate and positioned behind the grinding and polishing robot module, and the grinding and polishing tool storage library module; the invention realizes automatic tool replacing system and intelligent grinding and polishing of complex curved surfaces, is specially used for post-milling treatment, and meets the technical requirements of precision machining of complex curved surfaces such as blades, leaf discs and the like of the current aero-engine.

Description

Intelligent grinding and polishing system with automatically replaced tool for complex curved surface robot and control method

Technical Field

The invention belongs to the field of machine manufacturing, and particularly relates to an intelligent grinding and polishing system with an automatically replaced tool for a complex curved surface robot and a control method.

Background

With the continuous strengthening of the strength in the fields of machinery manufacturing and the like in China, the requirements of blades and blisks of aero-engines, ship propellers, automobile molds and the like are vigorous. The quality requirement is continuously improved, and the automatic measurement and milling post-treatment process of the parts with complex structures becomes more and more important. Errors in processing and manufacturing and unreasonable structural design can reduce the working efficiency of the machine, cause the whole machine set to collapse, bring about great economic loss and cause irrecoverable situations. The design, manufacturing level and manufacturing quality of the complex curved surface directly affect the performance, efficiency and reliability of the whole machine.

The prior field of the prior use of robot grinding and polishing systems at home and abroad is bathroom enterprises and hardware industry. The various complex blade robot grinding and polishing processes are only in the engineering verification stage, and the large-scale industrial application is not formed. The intelligent robot grinding and polishing system capable of automatically replacing tools is developed, so that the traditional inherent manual processing mode can be separated, the production efficiency and safety are improved, meanwhile, the development of grinding and polishing is greatly accelerated, and certain social benefits and economic benefits are achieved.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides an intelligent grinding and polishing system and a control method of a robot with a complex curved surface, wherein tools are automatically replaced, the intelligent grinding and polishing system is specially used for milling post-treatment, and the technical requirements of precision machining of complex curved surfaces of blades, leaf discs and the like of current aircraft engines are met.

The purpose of the invention is realized by a technical scheme, which is combined with the accompanying drawings:

an intelligent grinding and polishing system of a complex curved surface robot with an automatic tool replacement function comprises a grinding and polishing tool storage library module 1, a clamp module 2, a grinding and polishing tool system module 3, a grinding and polishing robot module 4 and a bottom plate 5, wherein the clamp module 2 is fixed on the bottom plate 5, the grinding and polishing robot module 4 is fixed on the bottom plate 5 and is positioned on the side of the clamp module 2, the grinding and polishing tool system module 3 is installed at the free end of the grinding and polishing robot module 4, the grinding and polishing tool storage library module 1 is fixed on the bottom plate 5 and is positioned behind the grinding and polishing robot module 4, and the grinding and polishing tool storage library module 1;

the grinding and polishing tool system module 3 comprises a supporting plate 301, an abrasive belt 302, a tension wheel 303, a driving wheel 304, a wheel changing mechanism 312, a swing cylinder 319, a driving motor 320 and a driving contact flange 321; the tension wheel 303 is hinged on the supporting plate 301 through a crankshaft, the driving wheel 304 is hinged on the supporting plate 301, and the abrasive belt 302 surrounds the tension wheel 303, the driving wheel 304 and the wheel changing mechanism 312; the swing cylinder 319 and the driving motor 320 are respectively fixed on the supporting plate 301, the tensioning wheel 303 is driven by the swing cylinder 319 to rotate, and the driving wheel 304 is driven by the driving motor 320 to rotate; an active contact flange 321 is fixed on the support plate 301 for connecting the polishing robot module 4.

Preferably, the grinding and polishing tool system module 3 further comprises an idler wheel i 307 and an idler wheel ii 313, and the abrasive belt 302 sequentially surrounds the tension wheel 303, the driving wheel 304, the idler wheel i 307, the wheel changing mechanism 312 and the idler wheel ii 313; the working surface of the supporting plate 301 is provided with a plurality of positioning holes and a groove.

Further, the wheel changing mechanism 312 includes a turntable mechanism and a movable disk module; the movable disk module is connected with the supporting plate 301 in a sliding mode, the turntable mechanism is fixed on the movable disk module, and the movable disk module is used for driving the turntable mechanism to move linearly along the supporting plate 301 and limit the position of the turntable mechanism; the turntable mechanism comprises a support 311, a wheel changing motor 317 and four contact wheels with different diameters, the four contact wheels are respectively hinged at four ends of the support 311, and the abrasive belt 302 surrounds three contact wheels near the outer side; the bracket 311 is hinged on the movable disk module, the wheel changing motor 317 is fixed on the movable disk module, and the bracket 311 is driven by the wheel changing motor 317 to rotate around the y axis. The wheel changing motor 317 drives the turntable mechanism to realize rotary motion around the y axis, so that automatic wheel changing is realized to adapt to different curvatures on a complex curved surface.

Further, the moving disk module comprises a rack 305, a gear 306, a moving plate 308, a locking stud 316 and a gear transmission motor 318, wherein the rack 305 is slidably connected with the supporting plate 301; the moving plate 308 is fixed on a rack 305, the rack 305 is meshed with a gear 306, the gear 306 is hinged on the support plate 301 through a shaft, a gear transmission motor 318 is fixed on the support plate 301, and a locking stud 316 is connected to the side face of the support plate 301; the gear 306 is driven by a gear transmission motor 318 to rotate, so that the moving plate 308 and the support plate 301 are connected in a sliding mode along the x axis and can be limited through a locking stud 316; the turntable mechanism is fixed to the moving plate 308.

Further, the grinding and polishing tool storage module 1 comprises a tool storage frame body 103 and a tool seat 104; the tool library frame body 103 comprises a plurality of laminates and frame bodies, a plurality of cutter seats 104 are arranged above the laminates, and the cutter seats 104 are used for placing the grinding and polishing tool system module 3;

preferably, the grinding and polishing tool storage library module 1 further comprises a rolling door 101 and a protective cover 102, the rolling door 101 is slidably connected to one surface of the tool library frame body 103 facing the grinding and polishing robot module 4, and the protective cover 102 is fixedly connected to the remaining five surfaces of the tool library frame body 103; the roll-up door 101 has two states of opening and closing, and in the opening state, the accommodating space is communicated with the external space; under the closed state, accommodation space and exterior space are isolated from each other, play dustproof isolation effect.

Further, the grinding and polishing robot module 4 comprises a tail end flange plate 402, a wrist 401, a small arm 403, an elbow 405, a large arm 406, a waist 408, a base 407, a servo motor I404, a servo motor II 412, a servo motor III 411, a servo motor IV 410 and a servo motor V409; a tail flange plate 402 is fixed at the end part of the wrist 401 and is used for connecting the grinding and polishing tool system module 3; the wrist 401, the small arm 403, the elbow 405, the large arm 406, the waist 408 and the base 407 are hinged in sequence, and the base 407 is fixed on the bottom plate 5; the wrist 401 rotates under the driving of a servo motor I404; the small arm 403 rotates under the drive of a servo motor II 412; the elbow 405 is driven by a servo motor III 411 to rotate; the large arm 406 is driven by a servo motor IV 410 to rotate; the waist 408 is driven by a servo motor V409 to rotate.

Further, the clamp module 2 comprises a special blade chuck 201, a clamp chassis 203, a tip base 204 and a tip 206; the special blade chuck 201 is fixed on the clamp chassis 203 through the chuck base 202, and the special blade chuck 201 can do rotary motion in the direction of the workpiece spindle; the tip 206 is fixed on the fixture chassis 203 through the tip base 204, and the blade is positioned through the tip 206 and the special blade chuck 201. When a workpiece is processed, the special blade chuck 201 arranged on the clamp module 2 performs rotary motion in the direction of the main shaft of the workpiece, so that double-sided precision processing is completed, the processing efficiency is improved, secondary clamping is not needed, and error accumulation is avoided.

Preferably, a T-shaped groove is formed in the fixture base plate 203, and the tip base 204 can perform linear motion in the x-axis direction on the T-shaped groove, so that the x-direction movement freedom of the blade is limited, and the workpiece has a uniquely determined machining position.

Further, the fixture module 2 positions the workpiece by using a six-point positioning principle: selecting a design reference of a processed surface as a fine reference, selecting the bottom surface and the stepped side surface of the tenon as positioning references, and selecting a planar bearing plate as a positioning element as the positioning reference; the workpiece is regarded as an axle-like part, the end face of each blade is positioned by a tip, the stepped side face of the tenon adopts a positioning reference block with the same section, the other plane side face of the tenon is provided with a limiting device, and the top end of each blade is fixed by the tip.

The invention also provides a control method of the intelligent grinding and polishing system of the complex curved surface robot with the automatic tool replacement function, and the control process mainly comprises the following steps:

step 1, clamping a workpiece on a clamp module, starting a grinding and polishing tool system and a grinding and polishing robot, adjusting the angle of the grinding and polishing tool in place according to the type of the workpiece, setting initial parameter values and initial positions of the system, and simultaneously inputting a design model;

step 2, measuring the size and shape of the workpiece, collecting required data to form a workpiece model, comparing the workpiece model with design model data, and continuing to step 3 if the comparison data result in that the workpiece model has machinability;

step 3, processing the data collected in the step 2 to obtain an out-of-tolerance value between the workpiece measurement model and the design model, namely machining allowance; meanwhile, processing big data to obtain processing parameters;

step 4, performing allowance distribution, determining the motion track of the robot, and generating a numerical control machining program;

step 5, operating a processing program, and starting grinding and polishing by the grinding and polishing robot module, wherein the grinding and polishing process is divided into two stages, namely a powerful grinding and polishing stage and a finishing grinding and polishing stage; in order to adapt to different curvatures of complex curved surfaces, the positions of cutters in the grinding and polishing tool system module are monitored in real time in each grinding and polishing stage, the real-time curvatures of the workpiece model are fed back according to the positions of the cutters, big data are judged according to the real-time curvatures, and different grinding and polishing tools are adopted;

and 6, after grinding and polishing, measuring the size and the shape of the semi-finished product again, collecting data, establishing a model, matching and comparing the model with a design model, and detecting whether the measurement model meets the precision requirement.

Compared with the prior art, the invention has the following beneficial effects:

1. reducing environmental pollution and being beneficial to the health of workers. The general robot is closed in the working environment, chips discharged during machining and noise are isolated in the space, and during manual machining, chips discharged during grinding or intense illumination can affect the physical health of workers.

2. Can work periodically or for a long time, and is not easy to have work accidents. The robot can enable workers to be far away from the working environment with dangerous processing, and meanwhile, the reasonable working time distribution not only ensures the safety of the workers, but also can greatly improve the working efficiency;

3. and the consistency of the processing precision is kept. The common workers can judge the quality of the workpiece according to the past experience, certain errors exist, but the robot machining has unified standards, the quality reliability is ensured, and the rejection rate is reduced;

4. the robot can be developed and utilized for many times, so that the multifunctional robot is multifunctional, the utilization rate is high, and the cost investment is saved.

Drawings

FIG. 1 is a schematic diagram of the general structure of the present invention

FIG. 2 is a schematic view of a grinding and polishing tool storage

FIG. 3 is a schematic view of a work holder

FIG. 4 is a schematic diagram of a front view of an adaptive turntable type abrasive polishing tool system

FIG. 5 is a schematic diagram of a rear view of an adaptive turntable type polishing tool system

FIG. 6 is a schematic view of a polishing robot mechanism

FIG. 7 shows three cases of positioning error

FIG. 8 is a system control flow chart

In the figure:

1. grinding and polishing tool storage warehouse 2, clamp 3, grinding and polishing tool system 4, grinding and polishing robot 5, bottom plate 101, roller shutter 102, protective cover 103, tool warehouse frame body 104, tool seat 201, special blade chuck 202, chuck base 203, clamp base 204, tip base 205, tail seat 206, tip 301, supporting plate 302, abrasive belt 303, tensioning wheel 304, driving wheel 305, rack 306, gear 307, idler wheel I308, moving plate 309, contact wheel I310, contact wheel II 311, support 312, elbow changing wheel mechanism 313, idler wheel II 314, contact wheel III 315, contact wheel IV 316, locking screw bolt 317, wheel changing motor 318, gear transmission motor 319, swinging cylinder 320, driving motor 321, driving contact flange 401, wrist 402, end flange 403, small arm 404, servo motor I405, 406, large arm 407, base 408, waist 409 and servo 409 Servo motor V410, servo motor IV 411, servo motor III 412 and servo motor II

Detailed Description

The embodiments are further illustrated by the following figures and examples.

A control method of a complex curved surface robot intelligent grinding and polishing system with an automatic tool replacement function mainly comprises the following steps:

Examples

As shown in fig. 1, the intelligent grinding and polishing system for the robot with the complex curved surface and capable of automatically replacing tools comprises a grinding and polishing tool storage library module 1, a clamp module 2, a grinding and polishing tool system module 3, a grinding and polishing robot module 4 and a bottom plate 5, wherein the clamp module 2 is fixed on the bottom plate 5, the grinding and polishing robot module 4 is fixed on the bottom plate 5 and located on the side of the clamp module 2, the grinding and polishing tool system module 3 is installed at the free end of the grinding and polishing robot module 4, the grinding and polishing tool storage library module 1 is fixed on the bottom plate 5 and located behind the grinding and polishing robot module 4, and the grinding and polishing tool storage library module 1 is arranged. The invention realizes automatic tool replacing system and intelligent grinding and polishing of complex curved surfaces.

As shown in fig. 2, the grinding and polishing tool storage library module 1 comprises a rolling door 101, a shield 102, a tool library frame body 103 and a cutter seat 104; the protective cover 102 is fixedly connected to the upper, lower, left, right and rear five surfaces of the tool magazine frame body 103; the tool library frame body 103 comprises a laminate and a frame body; a plurality of cutter seats 104 are arranged above the laminated plate, and the cutter seats 104 are used for placing the grinding and polishing tool system module 3; the roller shutter door 101 is connected to the tool magazine frame body 103 in a sliding manner, and has two states of opening and closing, wherein in the opening state, the accommodating space is communicated with the external space; under the opposite closed condition, accommodation space and exterior space mutual isolation can play a dustproof isolation effect.

As shown in fig. 3, the fixture module 2 includes a special blade chuck 201, a chuck base 202, a fixture chassis 203, a tip base 204, a tailstock 205, and a tip 206; the special blade chuck 201 can realize rotary motion in the x-axis direction; the clamp chassis 203 is designed with a T-shaped groove; the chuck base 202 is fixedly connected to the clamp chassis 203; the centre base 204 is fixedly connected to the clamp chassis 203; the tip 206 and the dedicated blade chuck 201 position the blades, limiting 5 degrees of freedom other than rotation about x. When a workpiece is processed, the special blade chuck 201 arranged on the clamp module 2 performs rotary motion in the direction of the main shaft of the workpiece, so that double-sided precision processing is completed, the processing efficiency is improved, secondary clamping is not needed, and error accumulation is avoided. The clamp chassis 203 adopts a T-shaped groove design, the pressure bearing capacity of the T-shaped groove structure is strong, the machining error caused by the transverse movement of the clamp body is prevented, the utilization rate is high, the clamp can be continuously used after being worn through removing a worn surface, the machining precision is not influenced, and the economical efficiency is greatly improved. The tip base 204 can make linear motion in the x-axis direction on the T-shaped groove, so that the x-direction moving freedom degree of the blade is limited, and the workpiece has a uniquely determined machining position. Meanwhile, the five-degree-of-freedom robot performs longitudinal and transverse feeding motions to grind and polish the workpiece.

The positioning of the workpiece adopts a six-point positioning principle. When the precise reference is selected, the principle of reference superposition is followed, the design reference of the processed surface is selected as the precise reference, the bottom surface and the stepped side surface of the tenon are selected as the positioning references, the selected positioning element is a planar bearing plate, two degrees of freedom are limited, the workpiece can be regarded as a shaft-like part for processing because of the rotation motion, and the end surface of the blade is positioned by a tip. Meanwhile, the stepped side surface of the tenon adopts a special positioning reference block with the same section, the side surface of the other plane of the tenon is provided with a limiting device, and the top end of the blade is fixed by a tip.

The positioning error is caused by the reference misalignment error and the positioning reference displacement error. When performing error analysis, errors generated in different positioning modes should be comprehensively analyzed, and vector superposition calculation should be performed.

Δ_dw＝Δ_jw±Δ_jb (5-1)

Since the selected positioning reference and the process reference coincide, Δ _jw0. The following is mainly to analyze the error generated by the displacement of the positioning reference, and the known plane supporting plate positioning belongs to the plane positioning, so that the delta_jb1＝0；

Because the surface of the workpiece belongs to a complex free-form surface, the change of the positioning reference can cause processing errors in different directions, the maximum error possibly occurring in the processing process is taken, and the processing precision of the workpiece is ensured. The positioning of the positioning reference block can be analyzed as plane V-block centering, and the general situation is divided into three types, as shown in fig. 7.

The positioning error is calculated as:

due to V-shaped block centering, the device has delta_dw(B)＝0

Taking the maximum radial dimension T of the blade_dmax＝0.08mm

Then

The overall positioning error is delta_dw＝0.04mm。

The motor working condition of the clamp system is the same as the function of a driving motor of a moving disc mechanism in the tool system, blades need to be machined on two sides, and after one side is machined, a servo motor rotates to work intermittently in a periodic mode. According to known working conditions and related requirements, the motor can complete forward rotation and reverse rotation, so that the servo motor is selected as a driving motor of the clamp chuck preliminarily, and the servo motor has the characteristics of large output torque, good acceleration performance, capability of being started and stopped frequently and the like. The motor model of the selected motor manufactured by MOTEC company in Germany is SEM60B04303HN servo motor.

As shown in fig. 4 and 5, the polishing tool system module 3 comprises a support plate 301, a sanding belt 302, a tension wheel 303, a driving wheel 304, an idler wheel i 307, a wheel changing mechanism 312, an idler wheel ii 313, a swing cylinder 319, a driving motor 320 and a driving contact flange 321; a plurality of positioning holes and a groove are formed in the working surface of the supporting plate 301; the abrasive belt 302 is wound on a tension wheel 303, a driving wheel 304, an idler wheel I307, an idler wheel II 313 and a contact wheel; the tension wheel 303 is hinged on the supporting plate 301 through a crankshaft, and the tension wheel 303 is driven by the swinging cylinder 319 to rotate around the y axis; the driving wheel 304 is hinged on the supporting plate 301 through a shaft, and the driving wheel 304 is driven by the driving motor 320 to rotate around the y axis; the idler wheel I307 is hinged on the supporting plate 301 through a shaft; the idler pulley II 313 is hinged on the support plate 301 through a shaft; the swing cylinder 319 is fixedly connected to the support plate 301; the driving motor 320 is fixedly connected to the supporting plate 301; the active contact flange 321 is fixedly attached to the support plate 301 for fixedly connecting to the end flange 402.

The grinding and polishing tool system module 3 adopts a self-adaptive rotating disc type closed abrasive belt grinding mode, and the problems that the traditional single curvature contact wheel is machined and tools are replaced are complex are solved. According to different curvatures of the surface of the blade, the contact wheel can be automatically replaced, the processing curvature is changed, and the processing coverage rate of the surface of the blade is improved. The wheel changing structure is firm in overall structure and strong in bearing capacity, the abrasive belt is not prone to falling off from the contact wheel due to the arrangement among the wheels, the abrasive belt can be in a tensioning state due to the tensioning forces in different directions, and the abrasive belt can be kept in constant contact with the contact wheel. Meanwhile, the substrate is hollowed out, so that the relative weight is reduced. Wherein straining device component part has: a crankshaft, a swing cylinder and a tension wheel. The working principle is as follows: the inside of the swing cylinder makes rotary motion within a certain range and is transmitted to the tension wheel through the connected crankshaft, and the tension wheel makes rotary motion around the axis of the crankshaft due to the structural design of the crankshaft, so that the tension and the relaxation of the abrasive belt are realized.

The wheel changing mechanism 312 comprises a rotary disc mechanism and a movable disc module, and realizes automatic wheel changing action, the movable disc module comprises a rack 305, a gear 306, a movable plate 308, a locking stud 316 and a gear transmission motor 318, the movable disc module is slidably connected with the support plate 301, the rack 305 is slidably connected with the support plate 301, and the rack 305 is fixedly connected with the movable plate 308; the gear 306 is hinged on the support plate 301 through a shaft, and the gear 306 rotates around the y axis under the driving of a gear transmission motor 318; the moving plate 308 is connected with the supporting plate 301 in a sliding manner, and a positioning hole of the turntable mechanism is formed in the working surface of the moving plate 308; the locking stud 318 is fixedly connected to the side surface of the support plate 301; the gear transmission motor 318 is fixedly connected to the support plate 301; when a smoother machining surface is met, the gear 306 rotates, the rotary motion around the y axis is converted into linear motion along the x axis through gear-rack transmission and is transmitted to the rack 305 at a constant speed, the rack 305 drives the turntable mechanism to complete the linear motion along the x axis at a constant speed, and the contact wheel retracts and is separated from the abrasive belt 302; the locking stud 316 and the gear drive motor 318 realize double self-locking; the turntable mechanism comprises a contact wheel I309, a contact wheel II 310, a bracket 311, a contact wheel III 314, a contact wheel IV 315 and a wheel changing motor 317, and is fixedly connected to the moving plate 308; the contact wheel I309, the contact wheel II 310, the contact wheel III 314 and the contact wheel IV 315 are four contact wheels with different diameters, and the four contact wheels are respectively hinged at four ends of the bracket 311; the bracket 311 is hinged on the moving plate 308 through a shaft, and the bracket 311 rotates around the y axis under the driving of the wheel changing motor 317; the wheel changing motor 317 is fixedly connected to the moving plate 308, and the wheel changing motor 317 drives the turntable mechanism to realize rotary motion around the y axis, so that automatic wheel changing is realized to adapt to different curvatures on a complex curved surface. The form adopts a turret type automatic tool changing mode, and has the advantages of simple structure, small occupied space, high tool changing efficiency and the like. The wheel changing motor 317 drives the turntable mechanism to realize automatic wheel changing action, and the automatic wheel changing mechanism is suitable for different curvatures on a complex curved surface. A servo motor is selected as a driving motor of the wheel changing mechanism, and the servo motor has the characteristics of large output torque, good acceleration performance, frequent starting and braking and the like.

As shown in fig. 6, the grinding and polishing robot module 4 includes a wrist 401, a terminal flange 402, a small arm 403, a servo motor i 404, an elbow 405, a large arm 406, a base 407, a waist 408, a servo motor v 409, a servo motor iv 410, a servo motor iii 411, and a servo motor ii 412, wherein the terminal flange 402 is fixedly connected with the wrist 401; the wrist 401 is hinged with the small arm 403, and the wrist 401 is driven by the servo motor I404 to realize the rotation motion around the y axis by belt transmission; the small arm 403 is pivotally connected with the elbow 405, and the small arm 403 rotates around the x axis under the driving of a servo motor II 412; the servo motor I404 is fixedly connected to the small arm 403; the elbow 405 is hinged with the large arm 406, and the elbow 405 is driven by the servo motor III 411 to rotate around the y axis; the servo motor II 412 is fixedly connected to the elbow 405; the large arm 406 is hinged with the waist part 408, and the large arm 406 is driven by a servo motor IV 410 to rotate around the y axis; the servo motor III 411 is fixedly connected to the elbow 405; the waist part 408 is pivotally connected with the base 407, and the waist part 408 is driven by a servo motor V409 to rotate around the z axis; the servo motor IV 410 is fixedly connected to the large arm 406; the servo motor V409 is fixedly connected to the base 407; the grinding and polishing robot module 4 has 5 degrees of freedom, and the end flange plate 402 is fixedly connected with the grinding and polishing tool system module 3 to process the blade. Each joint is provided with a servo motor for control. Five joints of the robot are driven and controlled by adopting Germany MOTEC servo motors, and meanwhile, each motor is provided with a speed reducer, and an RV speed reducer is selected preliminarily. The RV reducer consists of a planetary reducer and a cycloid reducer, and has the advantages of large transmission ratio, stable transmission, high transmission efficiency, small occupied space and the like.

1. clamping a blank or a semi-finished product on an X-direction precision rotary table by using a special fixture, starting equipment such as a machine tool, a robot, a grinding and polishing tool and the like, initializing the equipment, adjusting the angle of a tool head in place according to the type of the machined blank, checking and checking each part of the equipment, setting initial parameter values and initial positions of other parts of the equipment, and inputting a design model.

2. The method comprises the following steps of measuring a blank to be processed in accurate size and shape, collecting required data to form a workpiece model, and comparing the workpiece model with design model data to draw a conclusion whether the blank has machinability:

a. if the data are compared, the result is that the machining process is not available, and the machining process is finished;

b. if the data are compared, it is concluded that there is processability, step 3 is continued.

3. And (3) processing the data collected in the step (2) to obtain an out-of-tolerance value between the workpiece measurement model and the design model, namely the machining allowance. And simultaneously, processing the big data to obtain processing parameters.

4. And after the machining allowance is obtained, allowance distribution is carried out according to the grinding and polishing characteristics and the material characteristics of the blank, then process decision is carried out, the motion track of the robot is determined, a numerical control machining program is generated, and the program is waited to be executed.

5. And (3) operating a processing program, and starting grinding and polishing by the grinding and polishing robot module 4 according to the program, wherein the grinding and polishing process is divided into two stages, namely a powerful grinding and polishing stage and a finishing grinding and polishing stage. In order to adapt to different curvatures of complex curved surfaces, the system needs to monitor the position of a cutter in the grinding and polishing tool system module 3 in real time in each stage, feed back the real-time curvature of a workpiece model according to the position of the cutter, judge big data according to the real-time curvature, and adopt different grinding and polishing tools:

a. in the strong grinding and polishing stage, when the big data is judged to be a smooth transition curved surface, a grinding and polishing tool 1 is selected, and when the big data is judged to be a sharp feature, a grinding and polishing tool 2 is selected;

b. in the finishing grinding and polishing stage, when the big data is judged to be a smooth transition curved surface, a grinding and polishing tool 3 is selected, and when the big data is judged to be a sharp feature, a grinding and polishing tool 4 is selected;

and finally, according to the cutter position monitored in real time and the curvature fed back in real time, the grinding and polishing robot module is matched to finish the grinding and polishing processing of the blank or the semi-finished product.

6. After grinding and polishing, measuring the size and shape of the semi-finished product again, collecting data to establish a model, matching and comparing the model with a design model, and detecting whether the measurement model meets the precision requirement:

a. if so, finishing the processing;

b. if not, returning to the step 3 and carrying out the next processing cycle.

Claims

1. An intelligent grinding and polishing system of a complex curved surface robot with an automatic tool replacement function is characterized by comprising a grinding and polishing tool storage library module (1), a clamp module (2), a grinding and polishing tool system module (3), a grinding and polishing robot module (4) and a bottom plate (5), wherein the clamp module (2) is fixed on the bottom plate (5), the grinding and polishing robot module (4) is fixed on the bottom plate (5) and is positioned on the side of the clamp module (2), the grinding and polishing tool system module (3) is installed at the free end of the grinding and polishing robot module (4), the grinding and polishing tool storage library module (1) is fixed on the bottom plate (5) and is positioned behind the grinding and polishing robot module (4), and the grinding and polishing tool storage library module (1) is arranged;

the grinding and polishing tool system module (3) comprises a supporting plate (301), an abrasive belt (302), a tension wheel (303), a driving wheel (304), a wheel changing mechanism (312), a swing cylinder (319), a driving motor (320) and a driving contact flange (321); the tensioning wheel (303) is hinged to the supporting plate (301) through a crankshaft, the driving wheel (304) is hinged to the supporting plate (301), and the abrasive belt (302) surrounds the tensioning wheel (303), the driving wheel (304) and the wheel changing mechanism (312); the swing cylinder (319) and the driving motor (320) are respectively fixed on the supporting plate (301), the tensioning wheel (303) is driven by the swing cylinder (319) to rotate, and the driving wheel (304) is driven by the driving motor (320) to rotate; the active contact flange (321) is fixed on the support plate (301) and used for connecting the grinding and polishing robot module (4).

2. The intelligent grinding and polishing system for the complex curved surface robot with the automatic tool replacement function as claimed in claim 1, wherein the grinding and polishing tool system module (3) further comprises an idler wheel I (307) and an idler wheel II (313), and the abrasive belt (302) sequentially surrounds a tension wheel (303), a driving wheel (304), the idler wheel I (307), a gear changing mechanism (312) and the idler wheel II (313).

3. The intelligent complex curved surface robot grinding and polishing system with automatic tool replacement function as claimed in claim 1, wherein the wheel changing mechanism (312) comprises a turntable mechanism and a movable disk module; the movable disc module is connected with the supporting plate (301) in a sliding mode, the turntable mechanism is fixed on the movable disc module, and the movable disc module is used for driving the turntable mechanism to do linear motion along the supporting plate (301) and limit; the rotary table mechanism comprises a support (311), a wheel changing motor (317) and four contact wheels with different diameters, the four contact wheels are respectively hinged to four ends of the support (311), and the abrasive belt (302) surrounds three contact wheels close to the outer side; the support (311) is hinged to the movable disk module, the wheel changing motor (317) is fixed to the movable disk module, and the support (311) rotates under the driving of the wheel changing motor (317).

4. The intelligent grinding and polishing system for the complex curved surface robot with the automatic tool replacement function as claimed in claim 3, wherein the moving disk module comprises a rack (305), a gear (306), a moving plate (308), a locking stud (316), a gear transmission motor (318), and the rack (305) is slidably connected with the supporting plate (301); the moving plate (308) is fixed on a rack (305), the rack (305) is meshed with a gear (306), the gear (306) is hinged on the supporting plate (301) through a shaft, a gear transmission motor (318) is fixed on the supporting plate (301), and a locking stud (316) is connected to the side face of the supporting plate (301); the gear (306) is driven by a gear transmission motor (318) to rotate, so that the moving plate (308) is connected with the supporting plate (301) in a sliding manner and limited by a locking stud (316); the turntable mechanism is fixed on the moving plate (308).

5. The intelligent grinding and polishing system for the complex curved surface robot with the automatic tool replacement function as claimed in claim 1, wherein the grinding and polishing tool storage library module (1) comprises a tool library frame body (103) and a cutter seat (104); the tool library frame body (103) comprises a plurality of laminates and frame bodies, a plurality of cutter seats (104) are arranged above the laminates, and the cutter seats (104) are used for placing the grinding and polishing tool system module (3).

6. The intelligent grinding and polishing system for the complex curved surface robot with the automatic tool replacement function as claimed in claim 5, wherein the grinding and polishing tool storage library module (1) further comprises a rolling door (101) and a protective cover (102), the rolling door (101) is slidably connected to one surface of the tool library frame body (103) facing the grinding and polishing robot module (4), and the protective cover (102) is fixedly connected to the remaining five surfaces of the tool library frame body (103).

7. The intelligent grinding and polishing system for the complex curved surface robot with the automatic tool replacement function as claimed in claim 1, wherein the grinding and polishing robot module (4) comprises a tail end flange plate (402), a wrist (401), a small arm (403), an elbow (405), a large arm (406), a waist (408), a base (407), a servo motor I (404), a servo motor II (412), a servo motor III (411), a servo motor IV (410) and a servo motor V (409); the tail end flange plate (402) is fixed at the end part of the wrist (401) and is used for connecting the grinding and polishing tool system module (3); the wrist (401), the small arm (403), the elbow (405), the large arm (406), the waist (408) and the base (407) are sequentially hinged, and the base (407) is fixed on the bottom plate (5); the wrist (401) rotates under the drive of a servo motor I (404); the small arm (403) rotates under the drive of a servo motor II (412); the elbow (405) is driven by a servo motor III (411) to rotate; the large arm (406) is driven by a servo motor IV (410) to rotate; the waist part (408) is driven by a servo motor V (409) to rotate.

8. The intelligent complex curved surface robot grinding and polishing system capable of automatically replacing tools as claimed in claim 1, wherein the clamp module (2) comprises a special blade chuck (201), a clamp chassis (203), a tip base (204) and a tip (206); the special blade chuck (201) is fixed on the clamp chassis (203) through the chuck base 202, and the special blade chuck (201) can do rotary motion in the direction of the main shaft of the workpiece; the tip (206) is fixed on the clamp chassis (203) through the tip base (204), and the blade is positioned through the tip (206) and the special blade chuck (201).

9. The control method of the intelligent grinding and polishing system for the complex curved surface robot with the automatic tool replacement function as claimed in claim 1, is characterized by comprising the following steps: