Development And Integration Of Key Technologies Of The Blade Robotic Belt-grinding Software

The blades are the fundamental components in the aero engines or steam turbines. Its machining level reflects the manufacturing capability of one country. Manual or automatic grinding process is usually applied to improve the finishing of the blades.Nowadays, many countries have already developed NC belt-grinding machine tools or robotic grinding system to realize automatic grinding. However, manual grinding approach is still mainly utilized in our country. Thus, it is very important to develop the robotic grinding system and thereby the software tools with independent intellectual property rights.In this thesis, on the basis of the previous developed robotic grinding hardware system, the requirement analysis and module design are implemented, and an integrated software system is developed, which contains the machining process experiments and can be operated smartly. The studies of this thesis are summarized as follows:The hardware system of robotic grinding is introduced, and base on the application scenarios of robotic grinding the requirement analysis of software system are conducted, then the development purposes of software system is made clear.The key techniques for hand-eye calibration and scanning have been studied deeply. A new method of hand-eye calibration is proposed and the automation of calibration is realized which based on the RAPID(ABB robot control language) program; Base on uniform-equal division, a calculation method of robot's TCP(Tool Center Point) is proposed to implement the one-to-one correlation between the points collected by scanner and the robot's TCP, and then the scanning RAPID program is designed.The calibration and scanning techniques are packaged as the scanning module. Base on the requirement analysis, the scanning module, matching point cloud, program updates, file management, manual operation, parameter setting and production management are integrated into the software system. And then, using the object-oriented idea, the software system is designed and developed with C#.The software test and practical grinding experiment are conducted on the robotic grinding hardware system developed previously. And the results indicate that: Compared with the previous scanning software, the calibration and scanning precision are improved significantly; The operative efficiency and easy-to-use of robotic grinding system are raised by using this software system; The data of grinding experiment shows that the maximum deviation of blade profile is 0.095 mm with the tolerance of 0.17 mm. The effectiveness and advantages of the software system are verified.