CN209239473U - Large complicated carved blade intelligence milling grinding and polishing multi robot processing system - Google Patents
Large complicated carved blade intelligence milling grinding and polishing multi robot processing system Download PDFInfo
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- CN209239473U CN209239473U CN201822070413.3U CN201822070413U CN209239473U CN 209239473 U CN209239473 U CN 209239473U CN 201822070413 U CN201822070413 U CN 201822070413U CN 209239473 U CN209239473 U CN 209239473U
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- heavily loaded
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- milling
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Abstract
The utility model relates to a kind of large complicated carved blade intelligence milling grinding and polishing multi robot processing systems, it uses symmetrical layout to make two heavily loaded six-joint robot work compounds, every heavily loaded six-joint robot changes processing stations by linear movement modified gear and rotation modified gear, by vision system, positioning and the calculating of processing capacity are carried out to blade.The utility model fundamentally solves the problems, such as that blade weakness zone existing for existing large complicated carved blade forming technology, overlapping region cannot achieve lathe milling, the grinding and polishing of artificial type face forms, be repeatedly loaded and repeatedly Surface inspection is reprocessed, it only needs to carry out blade clamped one time positioning during milling grinding and polishing operation and on-line checking type face function is provided, in the case where guaranteeing machining accuracy, greatly reduce human assistance, significantly improve blade forming efficiency, securely and reliably, high-efficiency environment friendly.
Description
Technical field
The utility model relates to a kind of large complicated carved blade intelligence milling grinding and polishing multi robot processing systems, belong to work
Industry intelligent robot milling grinding-polishing manufacture field.
Background technique
With the development of new and high technology, complex-curved application is also more and more extensive, and application depends primarily on two sides
Face: on the one hand it is the needs of mechanical characteristic and function, equipment is made to meet specific performance requirement, this requires product type faces to reach
High-precision mathematical feature；On the other hand it is the needs of external aesthetical effect, meets the needs of people are to product shape.It is complicated bent
The development and realization in face, and depend on complex-curved designing technique and manufacturing technology.Complex-curved practical application is very extensive,
If propeller blade, car body external form and engine turbine blade are complex-curved.
There are the spies such as Surface inspection difficulty, milling grinding and polishing process complexity for the milling polishing processing of large complicated carved blade
Point.The country there is no the mature automated arm and technique for supporting this series parts milling polishing processing at present, adopt always for a long time
With lathe milling partial blade, human assistance milling remainder, and to the method that blade carries out grinding and polishing.The method efficiency
Low, large labor intensity, grinding and polishing quality are difficult to ensure and dust pollution is serious.
Mobile manipulator is a complicated multiple-input and multiple-output, time-varying, the nonlinear system of close coupling, manipulator+view
Feel that guidance detection+off-line programing+power control technology+modified gear has been increasingly becoming the research hotspot of robot field, it is domestic
Outer enterprise puts into a large amount of capital and carries out research practice, to capture the commanding elevation of industrial robot field.Based on this, state at present
It is inside and outside also to exist for utilization mobile manipulator (industrial robot) completion to the research of the operations for forming of large complicated carved blade
It carries out steadily.
CN107931682A discloses a kind of robot of milling marine propeller blade, however, the robot lacks type
Face detection device and edge cutter device, and the list for using vertical processing method that its clamped one time is made only to be able to achieve blade again
Side processing, secondary clamping bring position error, seriously affect machining accuracy；It is more that CN107511745A discloses a kind of blade processing
Intelligent robot work compound equipment, but the equipment is only applicable to the polishing processing of small-sized single blade.
To sum up, existing curved surface blade face forming technique adds mainly for the part tracking of the polishing processing, large-scale blade of blade
Work etc., and there is no systematic technical solution in terms of large-scale blade milling grinding and polishing detects operation.
Summary of the invention
The purpose of this utility model is to provide for a kind of large complicated carved blade intelligence milling grinding and polishing multirobot work
Industry system solves large complicated carved blade milling problem, greatly reduces human assistance, avoids and is repeatedly loaded and multiple type
Error caused by face is detected only needs in milling grinding and polishing operation process to carry out blade clamped one time positioning and provides on-line checking type
Face function significantly improves blade forming efficiency, securely and reliably, high-efficiency environment friendly in the case where guaranteeing machining accuracy.
The technical solution of the utility model is:
A kind of large complicated carved blade intelligence milling grinding and polishing multi robot processing system, including activity bases, heavy duty six
Axis robot, blade installing mechanism, robot control cabinet and main power control cabinet, are characterized in that: opening in the middle part of the activity bases
Equipped with the melt pit for disappearing blade-section blade to be processed, the blade installing mechanism is rotation modified gear and the rotation
Modified gear includes for installing the horizontal rotating shaft of blade to be processed, being arranged in melt pit side and the bed of support level shaft one end
Head case, the tailstock case for being arranged in the melt pit other side and the support level shaft other end, the melt pit two sides are separately symmetrically arranged with straight line
Mobile modified gear, each linear movement modified gear top is respectively arranged a heavily loaded six-joint robot, so that leaf to be processed
The blade two sides of piece are respectively disposed with heavily loaded six-joint robot, and the arm front end of the heavy duty six-joint robot is respectively equipped with power control
Detection device and fast replacing device, the corresponding linear movement position of the modified gear far from melt pit side in activity bases top are set respectively
There are the tool rack for disposing power tool and the tool magazine for disposing all kinds of cutters of milling grinding and polishing, heavily loaded six-joint robot point
Not Pei Zhiyou vision system, the vision system includes the view of industrial personal computer, PLC system and responsible blade different location scanning work
Feel detection device, the robot control cabinet, tool magazine, tool rack, linear movement modified gear, rotation modified gear, power control
Detection device and vision system are electrically connected with main power control cabinet respectively.
Above-mentioned large complicated carved blade intelligence milling grinding and polishing multi robot processing system, the vision inspection apparatus are
Intelligent laser camera, quantity is three, wherein two intelligent laser cameras are fixed on the arm front end of uniform machinery people, Ling Yitai
It is placed in tool rack.
Sand is arranged in the tool rack in above-mentioned large complicated carved blade intelligence milling grinding and polishing multi robot processing system
Band machine, intelligent laser camera, plasma cut tool, milling damping device and high-speed milling electro spindle, heavily loaded six-joint robot
After carrying out crawl using arm front end fast replacing device to realize that function switch, heavily loaded six-joint robot grab electro spindle, utilize
Quick-changing mechanism grabs the cutter in tool magazine.
Above-mentioned large complicated carved blade intelligence milling grinding and polishing multi robot processing system, the linear movement positioner
Structure is made of slide unit and ram, and the heavy duty six-joint robot is mounted on ram, and ram is followed to move along a straight line on slide unit.
Above-mentioned large complicated carved blade intelligence milling grinding and polishing multi robot processing system is laid out, i.e., using symmetrical expression
Heavily loaded six-joint robot, linear movement modified gear are arranged symmetrically in blade two sides, and quantity is two heavily loaded six-joint robots, two
Platform moves linearly modified gear or four heavily loaded six-joint robots, four linear movement modified gears, four robots two-by-two one
Group is distributed in the horizontal rotating shaft two sides of blade.
The beneficial effects of the utility model are:
1, it is laid out using two or four heavily loaded six-joint robots and corresponding auxiliary facility symmetrical expression, blade is added using horizontal
The method of work, two Tai Huositai robots, which can assist, to be done or processes simultaneously to blade, improves processing efficiency, and improve
Weakness zone cannot achieve the problem of automation milling because of vibration problems, realize the integration of milling grinding and polishing process, and change
The interference problem being apt to during blade processing.
2, the integration that positioning, processing compensation calibration and Surface inspection are realized by vision system, avoids secondary dress
The inaccurate problem in position is clamped, only needs to carry out clamped one time positioning to blade during milling grinding and polishing operation, and pass through knot
It closes off-line programing system and power control detection device ensure that the machining accuracy of blade surface, ensure that the quality of finished surface.
3, it is moved linearly using high-precision linear movement modified gear band mobile robot, using rotation modified gear band movable vane
Piece rotation, processing of the auxiliary robot to large-scale blade different location at least shorten 50% compared to processing method traditional at present
Activity duration, reduce by 80% human assistance, significantly improve blade forming efficiency, securely and reliably, high-efficiency environment friendly.
4, robot is realized by fast replacing device and quick-changing mechanism to cut electro spindle, belt sander, damping device, plasma
The automatic replacement for cutting tool and cutter, further improves operating efficiency.
In order to be further understood that the feature and technology contents of the utility model, please refer to practical new below in connection with this
The detailed description and accompanying drawings of type, however, the drawings only provide reference and explanation, is not used to limit the utility model.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the portion I enlarged drawing in Fig. 1；
Fig. 3 is the functional block diagram of the utility model operational method.
In figure: 1. heavily loaded six-joint robots, 2. linear movement modified gears, 3. rotation modified gears, 4. power controls detection dress
Set, 5. vision inspection apparatus, 6. robot control cabinets, 7. main power control cabinets, 8. tool magazines, 9. tool racks, 10. cutter controllers,
11. blade to be processed, 12. fast replacing devices, 13. activity bases, 14. melt pits, 15. milling electro spindles.
Specific embodiment
The preferred embodiment of the utility model is described in detail with reference to the accompanying drawing, so that the advantages of the utility model
It can be easier to be readily appreciated by one skilled in the art with feature, to make the protection scope of the utility model apparent clear
Define.
As shown in Figure 1, the large complicated carved blade intelligence milling grinding and polishing multi robot processing system, including activity bases
13, heavily loaded six-joint robot 1, blade installing mechanism, robot control cabinet 6 and main power control cabinet 7.Wherein, the activity bases 13
Middle part offers the melt pit 14 for disappearing 11 part blade of blade to be processed, and the blade installing mechanism is rotation modified gear
3 and the rotation modified gear 3 include for installing the horizontal rotating shaft of blade 11 to be processed, being arranged in 14 side of melt pit and branch
It supports the headstock of horizontal rotating shaft one end, be arranged in the tailstock case of 14 other side of melt pit and the support level shaft other end.Describedly
It cheats 14 two sides and is separately symmetrically arranged with linear movement modified gear 2, the quantity of the heavy duty six-joint robot 1 is two and symmetrical cloth
It is placed in two linear movement modified gears, 2 top, two heavily loaded six-joint robots 1 are located at the blade two sides of blade 11 to be processed,
The arm front end of the heavy duty six-joint robot 1 is respectively equipped with power control detection device 4 and fast replacing device 12.The activity bases 13
The corresponding two linear movement modified gears in top are respectively provided with the tool rack 9 of placement power tool far from the position of melt pit side
With for disposing the tool magazine 8 of all kinds of cutters of milling grinding and polishing.Two heavily loaded six-joint robots 1 are each configured with vision system, institute
Vision system is stated to be made of industrial personal computer, PLC system and the vision inspection apparatus 5 of responsible blade different location scanning work.It is described
Robot control cabinet 6, tool magazine 8, tool rack 9, linear movement modified gear 2, rotation modified gear 3, power control detection device 4 and
Vision system is electrically connected with main power control cabinet 7 respectively.
In the present embodiment, the vision inspection apparatus 5 is intelligent laser camera, and quantity is three, wherein two laser intelligence
Energy camera is fixed on the arm front end (being symmetrically set in two sides) of robot, and another is placed in tool rack 9.
The power control detection device 4 is force snesor.In the tool rack 9 be arranged belt sander, intelligent laser camera, etc. from
Sub- cutting tool, milling damping device and high-speed milling electro spindle 15 (being furnished with quick-changing mechanism in front end), heavily loaded 1 benefit of six-joint robot
After carrying out crawl with arm front end fast replacing device 12 to realize that function switch, the heavy duty six-joint robot 1 grab electro spindle,
The cutter in tool magazine is grabbed using quick-changing mechanism.
The linear movement modified gear 2 is made of slide unit and ram, and the heavy duty six-joint robot 1 is mounted on ram
On, follow ram to move along a straight line on slide unit.Blade 11 to be processed be mounted on horizontal rotating shaft after in headstock or tailstock case
Driving mechanism function under occur rotary motion, when specific works, blade to be processed presses the Surface inspection knot of vision inspection apparatus
Fruit and process planning subregion change blade angular displacement, and headstock is equipped with high-precision rotary encoder and carries out angle feed-back, rotation
Certain angle after-vision detection device carries out Surface inspection again, is processed to obtain corresponding processing of robots track.
The cutter controller 10 being electrically connected with plasma cut tool, the cutter controller are additionally provided on activity bases 13
10 are electrically connected with main power control cabinet 7.
The operational method of the large complicated carved blade intelligence milling grinding and polishing multi robot processing system, including walk as follows
It is rapid:
The first step is assembled by large complicated carved leaf blade hanging above activity bases 13 and with rotation modified gear 3.
Second step, using symmetric configuration in 1 work compound of heavily loaded six-joint robot of large complicated carved blade two sides, root
Cutting operation, milling operation and grinding and polishing operation are successively carried out to large complicated carved blade according to the planning of process decision system,
In cutting operation, milling operation and grinding and polishing operation process, ideal shape that heavily loaded six-joint robot 1 is formulated according to off-line programing system
Processing of robots track is run under state, changes processing stations by linear movement modified gear 2 and rotation modified gear 3, simultaneously
It is calibrated and compensated according to the blade profile testing result of vision system.
Wherein, to the robot interference problem being related in processing of robots blade process and added using off-line programing system
Work area domain partitioning problem is emulated, and determines the corresponding linear movement modified gear 2 of processing stations and rotation modified gear 3
Position and robot pose, thus make in process process ideal blade model processing of robots track.
By the vision system, positioning and the calculating of processing capacity are carried out to blade, i.e., cutting operation, milling operation and
In grinding and polishing operation process, blade is scanned using vision inspection apparatus 5, identifies that the surface characteristics of blade, scan data are logical
It crosses ethernet communication and is transmitted to industrial personal computer, scan data is handled by the image processing software in industrial personal computer, is calculated
To the offset and processing capacity of blade, then in conjunction with the processing of robots track that off-line programing system under ideal model is formulated, really
Determine the final control program of robot, be calibrated and compensated with realizing, finally main power control cabinet 7 is according to the final control program of robot
Heavily loaded six-joint robot 1 is guided to process blade.
Milling operation process specifically:
1), heavily loaded six-joint robot 1 is by linear movement modified gear 2, and before being automatically moved into tool magazine 8, tool magazine 8 is certainly
It is dynamic to open tool magazine door, required floating cutter arbor and milling cutter are replaced by fast replacing device 12, then return to Milling Process station.
2), large complicated carved blade is processed by each blade subregion, rotation modified gear 3 revolves blade to be processed
Heavily loaded 1 machining area of six-joint robot is gone to calculate to be added using the characteristic point of intelligent laser camera scanning blade to be processed
Position of the work blade under robot coordinate system, then go to compare with these characteristic points and the characteristic point in master pattern, it calculates
The transformation relation of position in practical blade to be processed and theoretical model carries out the cutter track in theoretical model according to the transformation relation
Evolution makes it carry out Milling Process along practical blade to be processed.
3), when Milling Process, power control detection device 4 feeds back milling cutter pressure, and heavily loaded six-joint robot 1 is in entire machining locus
Milling cutter and blade constant pressure to be processed are kept using floating cutter arbor in the process.
4), when Milling Process, heavily loaded six-joint robot 1 controls Milling Speed, and electro spindle controls the revolving speed of milling cutter.
5), after the completion of milling, the two sides robot of symmetric configuration utilizes intelligent laser camera scanning blade again, obtains table
Face point cloud data judges whether that there are also machining allowance, to machined paddle with machined blade thickness is calculated according to these data
Leaf thickness reaches setting thickness, and rotation modified gear 3 is rotated with movable vane piece to next blade to be processed, until completing blade
Milling Process.
During milling blade edge weakness zone, the robot of side utilizes milling damping device in blade two sides
Blade is gripped, other side robot carries out milling operation；Or Liang Ge robot simultaneously milling operation, with offset blade vibration
It is dynamic.
When cutting operation, robot is coupled with plasma cutting machines by quick-changing mechanism, by process decision system and
Vision system generates robotic cutting track, carries out cutting operation to blade edge.
When grinding, polishing operation, robot is coupled by quick-changing mechanism with grinding, polishing tool, passes through process decision system
System and vision system generate robot grinding and polishing track, carry out grinding and polishing operation to blade surface.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
It is any to be familiar with those skilled in the art within the technical scope disclosed by the utility model in this, can readily occur in variation or
Replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model is answered described with right
It is required that protection scope subject to.
Claims (5)
1. a kind of large complicated carved blade intelligence milling grinding and polishing multi robot processing system, including activity bases, heavily loaded six axis
Robot, blade installing mechanism, robot control cabinet and main power control cabinet, it is characterised in that: offered in the middle part of the activity bases
For disappearing the melt pit of blade-section blade to be processed, the blade installing mechanism is rotation modified gear and the rotation conjugates
Mechanism includes for installing the horizontal rotating shaft of blade to be processed, being arranged in melt pit side and the head of a bed of support level shaft one end
Case, the tailstock case for being arranged in the melt pit other side and the support level shaft other end, the melt pit two sides are separately symmetrically arranged with straight line shifting
Dynamic modified gear, each linear movement modified gear top is respectively arranged a heavily loaded six-joint robot, so that blade to be processed
Blade two sides be respectively disposed with heavily loaded six-joint robot, the arm front end of the heavy duty six-joint robot is respectively equipped with power control inspection
Device and fast replacing device are surveyed, corresponding linear movement modified gear is respectively equipped with far from the position of melt pit side above the activity bases
Tool magazine for disposing the tool rack of power tool and for disposing all kinds of cutters of milling grinding and polishing, heavily loaded six-joint robot difference
Configured with vision system, the vision system includes the vision of industrial personal computer, PLC system and responsible blade different location scanning work
Detection device, the robot control cabinet, tool magazine, tool rack, linear movement modified gear, rotation modified gear, power control inspection
It surveys device and vision system is electrically connected with main power control cabinet respectively.
2. large complicated carved blade intelligence milling grinding and polishing multi robot processing system according to claim 1, feature
Be: the vision inspection apparatus be intelligent laser camera, quantity be three, wherein two intelligent laser cameras be fixed on it is same
The arm front end of robot, another is placed in tool rack.
3. large complicated carved blade intelligence milling grinding and polishing multi robot processing system according to claim 1, feature
It is: belt sander, intelligent laser camera, plasma cut tool, milling damping device and High Speed Milling Operation is set in the tool rack
Electro spindle is cut, heavily loaded six-joint robot carries out crawl using arm front end fast replacing device to realize function switch, heavily loaded six axis
After robot grabs electro spindle, the cutter in tool magazine is grabbed using quick-changing mechanism.
4. large complicated carved blade intelligence milling grinding and polishing multi robot processing system according to claim 1, feature
Be: the linear movement modified gear is made of slide unit and ram, and the heavy duty six-joint robot is mounted on ram, is followed
Ram moves along a straight line on slide unit.
5. large complicated carved blade intelligence milling grinding and polishing multi robot processing system according to claim 1, feature
Be: using symmetrical layout, i.e., heavily loaded six-joint robot, linear movement modified gear are arranged symmetrically in blade two sides, quantity
Become for two heavily loaded six-joint robots, two linear movement modified gears or four heavily loaded six-joint robots, four linear movements
Position mechanism, four robots in pairs, are distributed in the horizontal rotating shaft two sides of blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822070413.3U CN209239473U (en) | 2018-12-11 | 2018-12-11 | Large complicated carved blade intelligence milling grinding and polishing multi robot processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822070413.3U CN209239473U (en) | 2018-12-11 | 2018-12-11 | Large complicated carved blade intelligence milling grinding and polishing multi robot processing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209239473U true CN209239473U (en) | 2019-08-13 |
Family
ID=67532348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822070413.3U Expired - Fee Related CN209239473U (en) | 2018-12-11 | 2018-12-11 | Large complicated carved blade intelligence milling grinding and polishing multi robot processing system |
Country Status (1)
| Country | Link |
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| CN (1) | CN209239473U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396841A (en) * | 2018-12-11 | 2019-03-01 | 沈阳远大智能高科机器人有限公司 | Large complicated carved blade intelligence milling grinding and polishing multi robot processing system and its operational method |
| CN111958328A (en) * | 2020-07-22 | 2020-11-20 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Workpiece machining control method, device and system |
| CN111983976A (en) * | 2020-07-22 | 2020-11-24 | 无锡中车时代智能装备有限公司 | Robot milling and grinding control method, device and system for wind tunnel component |
| CN114643513A (en) * | 2022-05-19 | 2022-06-21 | 潍坊科技学院 | Grinding and polishing device for fan blades and working method of grinding and polishing device |
| CN116749021A (en) * | 2023-08-18 | 2023-09-15 | 太原理工大学 | Double-hundred-impeller symmetrical polishing and grinding device and method |
-
2018
- 2018-12-11 CN CN201822070413.3U patent/CN209239473U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396841A (en) * | 2018-12-11 | 2019-03-01 | 沈阳远大智能高科机器人有限公司 | Large complicated carved blade intelligence milling grinding and polishing multi robot processing system and its operational method |
| CN111958328A (en) * | 2020-07-22 | 2020-11-20 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Workpiece machining control method, device and system |
| CN111983976A (en) * | 2020-07-22 | 2020-11-24 | 无锡中车时代智能装备有限公司 | Robot milling and grinding control method, device and system for wind tunnel component |
| CN114643513A (en) * | 2022-05-19 | 2022-06-21 | 潍坊科技学院 | Grinding and polishing device for fan blades and working method of grinding and polishing device |
| CN116749021A (en) * | 2023-08-18 | 2023-09-15 | 太原理工大学 | Double-hundred-impeller symmetrical polishing and grinding device and method |
| CN116749021B (en) * | 2023-08-18 | 2023-11-07 | 太原理工大学 | Double-hundred-impeller symmetrical polishing and grinding device and method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190813 Termination date: 20211211 |
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| CF01 | Termination of patent right due to non-payment of annual fee |