The invention discloses a device and method for
machining a three-dimensional
impeller blade
welding groove through a
robot, and belongs to the technical field of
robot automatic
machining. The device comprises the
industrial robot, a force control measurement module, a
machining tool quick-change module, a machining tool and a
workbench. The machining method comprises the steps of
impeller blade characteristic curve extraction, sorting and
discretization, central axis generation and extraction, cover plate line generation and
discretization, machining allowance calculation,
impeller blade
welding groove frame setting and adjustment,
cutting tool coordinate
system calibration, workpiece coordinate
system calibration, machining track automatic production, in-situ measurement based on force
control mode, and feed allowance determining based on online control of machining removal amount. The automatic machining and removal of the impeller
welding groove by the
robot can be realized, compared with a five-axis
numerical control machining
machine tool, the device and method provided by the invention are low in cost, good in adaptability and very high in flexibility, and then the self-adaptive machining problem of the impeller welding groove is well solved.