Robotic Blisk Grinding Process And Parameter Optimization For Aero Engine

The blisk,because of the traditional aviation engine rotor roulette wheel and blade to form a whole,eliminates the traditional hoe,groove and locking device.Compared with the blade it has the characteristics which is lighter,more simplified structure,bigger push weight ratio,improve the performance of the aviation engine,more and more widely used in the air engine.Now here are more mature blisk processing process,while here are still many problems in the blisk finishing process.At present,the mainstream blisk finishing method is still manual grinding,so there are problems such as low processing efficiency and poor consistency,and the processing effect is influenced by the worker’s proficiency,working hours,personal emotion.Therefore,in this paper,for the above problems,carry out the robotic blisk automatic grinding and polishing research,build the robotic blisk grinding and polishing automation processing platform,analyze the blisk processing process,establish the blisk grinding process material removal model,the blisk processing for the path planning,and the process parameters are optimized based on the material removal model.The main research content are as follows:1.Construction of the robotic blisk grinding platform.Build a robot-blisk processing platform,the two degree of freedom intelligent grinding and polishing end effector is installed at the end of industrial robot,a Beckhoff IPC is connected with the end effector,and monitoring the closed-loop feedback control contact positive force,the C5 G Open upper computer is connected with the robot control cabinet,used to read the robot’s location,Feed speed and other data information in real time,C5 G Open and Beckhoff IPC are connected through Ethernet,the robot position information,feed speed and other real-time transmission,used to control the specific parameters of the grinding process.2.Establishment of a material removal rate model for the robotic blisk grinding and polishing process.In view of the characteristics of the tools and workpieces in blisk grinding,analyze the cylindrical sand belt and the blisk blade model for a theoretical analysis of the contact condition,determine the shape of the contact area,analyze several important influence factors for the depth of material removal,and initially determine the material removal rate model combined with the curvature characteristics of the workpiece.The relationship between material removal depth and these factors is analyzed by these factors,and the coefficient of correlation with these factors is determined by experimental calibration.3.Path Planning of the Robotic blisk grinding.Before carrying out the path planning,the coordinate system of the robot tool is calibrated,from the center point of the robot sixaxis flange disk to the end of the actual grinding tool,and the coordinate system of the robot polishing workpiece is calibrated to find the position of the workpiece relative to the robot base coordinate,so as to facilitate the determination of the coordinates of the path planning.After the calibration is completed,the tool path of the blisk grinding process of the robot is planned by the calibration coordinate system,based on the three-dimensional model of the blisk,the blisk processing step is determined by the method of equal chord height error,which is better matched with the surface change.The resulting path points are fitted,the continuous curves of the fit are evenly separated,and the speed control of the grinding and polishing process is achieved by combining the speed commands and the discrete path points.4.Parameter optimization of the robotic blisk grinding.Analyze the parameters and the curvature trend of the blisk model itself according to the determined material removal rate model.Combined with processing requirements,the impact of the blisk processing important parameters analysis,and establish an optimization model,select the optimal process parameters at the initial processing position,and combined with the leaf curvature characteristics of the adjustment of processing parameters,with the goal of material removal depth consistency,adjust the parameters of the grinding process,achieve a constant material removal depth of the blisk grinding process.