On-site measurement method applied to space curved surface machining for robot grinding system
A technology of curved surface processing and measurement methods, which is applied to metal processing equipment, parts of grinding machine tools, grinding machines, etc., can solve problems such as the vibration of robots, the flexibility of robot grinding systems, and the difficulty of further improving the accuracy of on-site measurement. , to achieve the effect of improving measurement accuracy and grinding accuracy
Inactive Publication Date: 2012-06-20
TSINGHUA UNIV
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Problems solved by technology
Considering that the absolute accuracy of industrial robots is often greater than 1mm, and the repeatability is generally greater than 0.1mm; at the same time, due to the influence of factors such as inertial force and workpiece weight, the robot is prone to vibration when the workpiece is loaded; in addition, the robot base coordinate system and measurement There are calibration errors between the coordinate systems, and these error influencing factors are finally reflected in the on-site measurement results, making it difficult to further improve the accuracy of the on-site measurement
In order to improve the mapping accuracy between the workpiece coordinate system and the robot end coordinate system, a high-precision special fixture must be used at the end of the robot, which will affect the flexibility of the robot grinding system
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[0028] With reference to the accompanying drawings and specific embodiments, a turbine blade is taken as an example, and the method proposed by the present invention will be further described in detail through comparison with existing methods.
[0029] In the robotic abrasive belt grinding system used in the method of the present invention, a multi-degree-of-freedom coordinate measuring machine is used to replace the fixed contact or non-contact detection head. During a complete workpiece measurement, the workpiece remains stationary and passes coordinate measurement The inspection head of the machine moves to complete the measurement. The robot grinding system can be divided into three parts: 1) the abrasive belt grinding system, which is composed of the belt grinder and the controller of the abrasive belt grinder; 2) the robot system, which is generally composed of tandem industrial robots, robot controllers and The related sensors (such as force sensors, etc.) are composed; 3)...
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The invention provides an on-site measurement method applied to high-precision complex curved surface machining in a robot grinding system, and belongs to the field of abrasive belt grinding. The method mainly comprises the following steps: selecting and machining three base planes, measuring a work piece which is stationary by use of a measuring system, calculating to obtain the mapping relationship between a coordinate system and a work piece coordinate system, calculating to obtain grinding depth and curvature, calculating to obtain the mapping relationship from the work piece coordinate system to a robot terminal coordinate system, planning the motion path of a robot, and completing the grinding operation while controlling grinding parameters. The invention can solve the problem of poor on-site measurement accuracy in the prior art and can also reduce the requirements for clamp accuracy and improve accuracy of the robot grinding system.
Description
Technical field [0001] The invention belongs to the field of abrasive belt grinding processing, and particularly relates to an in-situ measurement method for high-precision and complex curved surface processing in a robot grinding system. Background technique [0002] In mechanical processing, grinding has a wide range of applications. Under certain conditions, grinding can only be used for processing, such as high surface roughness requirements or hard materials. Grinding is mainly divided into grinding wheel grinding and belt grinding. Compared with grinding wheel grinding, belt grinding has better heat dissipation, the machined surface is not easy to burn, and the surface cold hardness and residual stress are smaller. At the same time, because the abrasive belt and the grinding contact wheel have certain elasticity, the abrasive belt grinding is easier to conform to the processing surface, and is often more suitable for curved surface processing. Therefore, belt grinding, li...
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IPC IPC(8): B24B49/04B24B21/16
Inventor 宋亦旭吕洪波孙晓民
Owner TSINGHUA UNIV
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