Research On Technologies Of Robotic Grinding For Blades

As an important core component of large-scale power equipment such as aeroengines and steam turbines,blades have a great impact on the working performance of the whole machine by the geometric accuracy and surface quality.In particular,the later surface finishing of the blades mostly depends on handwork.Manual polishing is difficult to ensure the stability of material removal during the grinding and polishing process,and the efficiency is very low,and it is difficult to ensure the quality of the blade surface.In order to obtain high processing quality and production efficiency and replace manual operation,using an industrial robot system to grind blades is one of the effective methods to solve the problem of blade processing.This subject is aimed at the application of automatic processing of robots,taking the abrasive belt grinding process of aero-engine blades as the main research object,establishes a blade surface robot automatic grinding and polishing device based on compliance control,and conducts research and experimental verification of the grinding and polishing process.The main research contents are as follows:(1)Research and analyze the working principle and process requirements of the robotic abrasive belt grinding system,and establish an automatic blade robotic grinding processing platform.Using KUKA KR30-3 industrial robots,computers,robot controllers,ATI six-dimensional force/torque sensors,belt grinders,etc,an automatic robot grinding and polishing platform was built.A reasonable selection of contact wheels is made for the interference of the blade pots of the abrasive belt grinding and polishing blades.(2)Study the basic theoretical knowledge of abrasive belt grinding and polishing material removal,based on the Preston and Hertz contact theory,analyze the contact between the contact wheel and the surface during the abrasive belt grinding and polishing surface and establish a material removal model,and use MATLAB software to remove the established material The contour formula is simulated and verified,and the interaction between the material removal characteristics of the workpiece surface and the main process parameters(such as workpiece feed speed v_f,belt linear speed v_s,grinding and polishing pressure F,etc.)is analyzed according to the simulation results.(3)Establish the surface profile model of the abrasive belt grinding workpiece.Through the research and analysis of the abrasive particle motion trajectory of the abrasive belt,the motion equation of multiple abrasive particles is established from the motion equation of a single abrasive particle.According to the generation principle of the three-dimensional topography of the ground surface,the single test factor method is used to synthesize the three-dimensional topography and the roughness value change trend of the machined surface after grinding with different process parameters by the simulation software MATLAB.(4)Using the built blade robot automatic grinding and polishing processing platform,the single test factor method was used to carry out the robot belt grinding and polishing experiment to verify the accuracy of the simulation of the roughness of the abrasive belt grinding workpiece in the early stage.The experimental results are summarized and analyzed by establishing a surface roughness regression mathematical model,and the optimal combination of grinding and polishing process parameters is selected for the final machining of the blade profile.