Research On Path Planning Of Robotic Belt Grinding Blade Based On Secondary Development Of UG System

Blade parts are key parts of the energy and power equipment.The Working performance of these equipment is heavily influenced by blade surface quality and dimensional accuracy.Surface grinding is the final step of blade manufacturing.Blade surface quality and dimensional accuracy is greatly affected by surface grinding.Therefore,to study and improve the blade surface grinding process has important practical significance.Currently the mainly blade surface grinding process is hand-grinding.But manual grinding has defects as poor consistency and low processing efficiency.In recent years,some researchers have proposed using robot instead of manually blade grinding.And the key technology to increase the grinding surface accuracy and machining efficiency is more reasonable blade trajectory planning.According to that problem,this paper design a robot blade surface grinding trajectory planning system based on UG secondary development key technologies.A surface grinding blade trajectory optimization is realized by this system.Details are as follows:Robot grinding blade trajectory planning system overall framework has been built by using UG secondary development key technologies.The system include pretreatment of blade measuring point module,blade three-dimensional reconstruction module and blade trajectory planning module.The pretreatment of blade measuring point module is used for pretreatment of initial blade surface point.This process include the removal of bad points,edge arc fitting and data format judgment and conversion.Three-dimensional reconstruction module can realize blade root and tip-sectional data expansion,blade basin and back line fitting and other functions.At last the 3D blade model that can suit for grinding is established by this module.Blade trajectory planning module using parallel sections intersection and equal chord deviation method to generate and discrete the blade grinding,thereby obtaining grinding trajectory point data.This module is particularly suitable for planning grinding path of blade which have a sharp curvature change.Using this module to planning grinding path can improve the grinding efficiency.After that the virtual belt grinding system is built as taking advantage of off-line programming software.Offline programming is carried out based on path points data obtained above.The robot program is compiled following the planned surface grinding trajectory of the blade.The feasibility and correctness of the program is verified by blade surface grinding simulation.Finally,the robot and manual grinding of blade sample comparative experiment is carried out.By comparison of the surface roughness at two ways of grinding blade,the results show that the trajectory planning system with off-line programming guide robot grinding can reduce the average surface roughness of about 40%,lower grinding surface roughness of the sampling points' standard deviation about 57%,significantly improved blade grinding surface quality.The robot trajectory planning system built by this paper lay the foundation of automatic blade grinding technology.