A device and method for robot force-controlled grinding of blades based on dragging and teaching

Abstract

The invention belongs to the related technical field of intelligent machining, and discloses a device and a method for force controlling polishing a blade through dragging a teaching robot. The devicecomprises the robot, a six-dimensional force sensor, a polishing mechanism, a position changing machine, and a robot control system; the six-dimensional force sensor is connected with a tail end executor of the robot and the polishing mechanism; the position changing machine is used for bearing the to-be-machined blade; the robot, the six-dimensional force sensor and the polishing mechanism are connected to the robot control system; the six-dimensional force sensor is used for measuring the contact force between the blade and the polishing mechanism in the blade polishing process, and transmitting the detected data to the robot control system; the robot control system is further used for receiving the tail end position information data of the robot, processing the received data to obtainthe corresponding control quantity, and then controlling the robot to drive the polishing mechanism to carry out corresponding motion. According to the device and the method, the skill requirement foran operator is reduced, and the machining consistency and the machining precision are improved.

Description

technical field [0001] The invention belongs to the technical field related to intelligent processing, and more specifically relates to a device and method for grinding blades controlled by a robot based on dragging and teaching. Background technique [0002] With the development of science and technology, aerospace and energy have an urgent demand for blades with complex curved surfaces. However, at present, the processing of blades with complex curved surfaces is mainly done manually. The processing efficiency is low, the processing accuracy is not high, and the labor intensity of the operator is also high. In recent years, the robot industry has developed rapidly. Compared with multi-axis CNC machine tools, industrial robots have the advantages of low cost, good flexibility, intelligence, high efficiency, and large operating space. The widespread use of robots in blade grinding can not only improve the quantity and quality of products, but also ensure the personal safety ...

AI Technical Summary

Problems solved by technology

The equipment includes a six-degree-of-freedom serial robot, a six-dimensional force sensor, a robot control system, and a grinding and polishing mechanism. One end of the six-dimensional force sensor is installed on the end effector of the robot through a flange, and the grinding and polishing mechanism is installed on the six-dimensional At the other end of the force sensor, the six-dimensional force sensor and the robot communicate with the robot controller through the bus, and the operator can compile the program in the robot control system on the computer, thereby solving the problems caused by offline programming in the force-controlled grinding blade. The problem of long configuration time and complicated programming

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