Device and method for machining three-dimensional impeller blade welding groove through robot

Abstract

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.

Description

technical field [0001] The invention relates to the technical field of robot automatic processing, in particular to equipment and a method for robot automatic processing of welding grooves of ternary impeller blades. Background technique [0002] As a kind of industrial equipment, centrifugal compressors have been widely used in important fields closely related to the national economy, such as petroleum and petrochemical, natural gas transmission, metal smelting, etc. As the core component of the centrifugal compressor, the three-dimensional impeller, its processing quality directly affects the performance and efficiency of the centrifugal compressor, so the three-dimensional impeller is vividly called the "heart" of the centrifugal compressor. How can it be manufactured in a short period of time? The ternary impeller with higher and lower manufacturing cost is a difficult problem that urgently needs to be studied and solved by engineers and technicians. The impeller blades...

AI Technical Summary

Problems solved by technology

However, due to the low positioning accuracy of the robot itself and the large positioning error of the impeller, it is difficult to achieve the correct relative processing position between the tool and the blade rim line simply relying on the robot's motion accuracy along the trajectory generated by the impeller model

In addition, the width of the blade rim surface is different after finishing milling, and the width of the welding process is required to be the same after welding groove processing, which requires a variable removal allowance processing method in the process of welding groove removal. Existing robotic machining removal methods cannot meet this requirement

Images