Robot grinding and polishing method and system for titanium alloy casing runner welding slag

Abstract

The invention provides a robot grinding and polishing method and system for titanium alloy casing runner welding slag. The system comprises a robot, a robot controller, a six-dimensional force sensor, a displacement sensor, a three-dimensional scanner, a belt sander and a workbench. The method comprises the following steps: firstly, fixing a casing on a workbench, positioning the casing by using a displacement sensor, scanning a casing flow channel by using a three-dimensional scanner to obtain a flow channel welding slag distribution state, grasping a belt sander by using a robot equipped with a six-dimensional force sensor, carrying out gravity calibration on the belt sander before grinding and polishing, and carrying out welding slag distribution on the belt sander; and the gravity of the belt sander is compensated according to the calibration result. Three-dimensional software is used for dividing a flow channel area, a machining path is calculated through an off-line trajectory planning method, a robot executable machining program is generated through post-processing for grinding and polishing, in the grinding and polishing process, in order to adapt to the complex curved surface of the cartridge receiver flow channel, real-time adjustment is conducted according to the contact force value of a tool and a workpiece, and the contact force value is transmitted to a robot controller; the removal amount can be determined, the roughness is guaranteed, and the surface quality is improved.

Description

Technical Field

[0001] The present invention relates to the field of aero-engine manufacturing, and in particular to a method and system for robot-polishing welding slag of a titanium alloy casing runner. Background Art

[0002] Titanium alloy casing runner weld slag has excellent mechanical properties and is difficult to machine. Currently, it is primarily polished manually using handheld grinding guns with small grinding wheels such as diamond and silicon carbide. This method is inefficient, resulting in noticeable tool marks and poor surface consistency. Furthermore, the grinding and polishing process generates significant dust and noise, seriously impacting the health of production workers. Summary of the Invention

[0003] The present invention aims to solve the problems in the prior art of easy surface burns, low efficiency and poor consistency during the removal of welding slag from the runner of a titanium alloy casing.

[0004] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0005] A method for robot grinding and polishing of titanium alloy casing runner welding slag, comprising the following steps:

[0006] Calibration: Through hand-eye calibration, the transformation relationship between the robot base coordinate system T3, the robot end flange tool coordinate system T2, and the camera coordinate system T1 is obtained for coordinate system 1 and trajectory calculation;

[0007] Generate a preset machining path: a) Runner region division: Based on the grinding and polishing process of the runner weld slag and the principle of one-step machining, the casing model to be machined is divided into regions and contoured to generate a casing model; b) Machining path planning: Load the 3D casing model, set the boundary curve features to be machined and the machining process parameters, and generate a grinding and polishing machining path in the workpiece base coordinate system for the curve features to be machined; c) Post-processing: Convert the machining path into a program file in a code format recognizable by the robot controller and input it into the robot controller;

[0008] Real-time detection steps: a) Workpiece positioning: Fix the casing on the workbench and position the workpiece using a displacement sensor; b) Welding slag location identification: Scan the casing flow channel with a three-dimensional scanner to obtain flow channel point cloud data, perform fitting identification based on the point cloud data, and generate welding slag distribution data at the flow channel; c) Automated grinding and polishing: Based on the obtained flow channel welding slag distribution data and the grinding and polishing processing path, set the process parameters, replace the grinding tool, and control the robot to drive the grinding tool installed at its end to grind and polish the casing in batches.

[0009] The calibration step is a process of converting the scanning results of the 3D scanner into the robot base coordinate system;

[0010] P b =B×S×P S

[0011] Where: P s is the coordinate of the measured point P in the camera coordinate system T1; b is the coordinate of the measured point P in the robot base coordinate system T3; S is the coordinate transformation relationship between the camera coordinate system T1 and the robot end flange coordinate system T2; B is the coordinate transformation relationship between the robot end flange coordinate system T2 and the robot base coordinate system T3, which is read by the robot controller.

[0012] The hand-eye calibration is to determine the transformation matrix S between the camera coordinate system T1 and the robot flange end coordinate system T2 through calibration sphere calibration;

[0013] Rotation Matrix: Solving for R S

[0014]

[0015] Where: R M 、T M are the rotation and translation matrices of the robot flange end coordinate system T2; R s 、T S They are the rotation and translation relationship matrices from the camera coordinate system T1 to the robot flange end coordinate system T2, X B To calibrate the coordinates of the ball in the robot base coordinate system T3, X S is the coordinate of the calibration ball in the camera coordinate system T1;

[0016] Expanded to:

[0017] X B =R M ·R S ·X S +R M ·T S +T M

[0018] The robot is controlled to drive the 3D scanner to measure the calibration ball twice in a translational manner.

[0019] X B =R M1 ·R S ·X S1 +R M1 ·T S +T M1

[0020] X B =R M2 ·R S ·X S2+R M2 ·T S +T M2

[0021] If only translation is performed during the movement, R M1 =R M2 =R M , Lianlide

[0022]

[0023] A=[X S1 -X S2 ]

[0024]

[0025] R s A=b

[0026] Solve it by matrix singular value decomposition method, that is, R S =VU T Where V and U are Ab T The right and left singular matrices of ;

[0027] Translation Matrix: Solving for T S

[0028] From the above X B The expressions can be combined to get:

[0029] (R M2 -R M1 )·T S =R M1 ·R s ·X S1 -R M2 ·R s ·X S2 +T M1 -T M2

[0030] Control the robot to measure the calibration ball in multiple different postures, and the available types are as follows: S =b, and the least square method is used to obtain T S =(A T A) -1 A T b;

[0031] Finally, we get: the transformation matrix S of the camera coordinate system T1 → the tool coordinate system T2 at the end of the robot flange =

[0032] The processing boundary curve feature is to select a preset basic processing trajectory for the current boundary curve to be processed: a graphic, a straight line segment, a plane or a space curve.

[0033] The processing parameters are set according to the processing tools and processing technology requirements; the processing parameters include the processing line spacing, step size, speed and the feed direction and normal direction of the tool.

[0034] The post-processing is to process the trajectory into a control node signal for integrating the gripping, release, start and stop, and force-controlled start and stop of the grinding and polishing tool.

[0035] The step-by-step grinding and polishing comprises: performing a first grinding and polishing on the slag portion according to the obtained flow channel welding slag distribution data and process parameters to achieve the purpose of removing large pieces of welding slag excess height; further, according to the process parameters, replacing the grinding tool, controlling the robot to drive the grinding tool installed at its end to contact the casing flow channel for a second polishing process, thereby completing the grinding and polishing of the casing flow channel welding slag;

[0036] The process parameters include abrasive belt particle size, abrasive belt machine rotation speed, feed speed, and applied force control size.

[0037] The robot moves according to the processing trajectory planning program file input by the controller, driving the tool installed on the end effector to contact the processing surface for grinding and polishing processing, including: when the grinding and polishing tool and the casing surface are in contact with each other for processing, the strain signal is collected and measured by the force / torque sensor, and after signal conversion, amplification and filtering, the output is a recognizable digital signal transmitted to the host computer; the computer processes the collected digital signal, performs weight compensation calculation according to the weight compensation algorithm, and converts the measurement result into an actual grinding and polishing force; the host computer compares and calculates the actual grinding and polishing force with the set grinding and polishing force to obtain the force compensation value; the force compensation value is converted into a position compensation value, and then the actual target position of the grinding and polishing tool is obtained through conversion. The host computer converts the above parameters into signals and transmits them to the robot controller. The robot controller controls the robot to make feedback adjustments to achieve constant and controllable magnitude of the grinding and polishing force during the processing.

[0038] A robot grinding and polishing system for titanium alloy casing runner welding slag, comprising a host computer, a robot and a workbench; the robot is provided with a robot controller, and the robot end flange is connected to a six-dimensional force sensor, a displacement sensor and a fixture, the six-dimensional force sensor is used for real-time detection and feedback of contact force value; the displacement sensor is used for detecting the position of the casing to be processed on the workbench; the fixture is used for clamping a three-dimensional scanner or a sanding machine, the three-dimensional scanner is used for scanning the casing to be processed, and the sanding machine is used for grinding and polishing; the robot controller is used for executing an execution program sent by the host computer and feeding back execution data; the host computer is provided with a memory and a processor, and a program is stored in the memory. When the processor loads the program, the method steps as described above are executed to realize grinding and polishing of the casing runner welding slag.

[0039] The present invention has the following advantages:

[0040] 1. The present invention can replace manual operation, improve production efficiency, reduce processing costs, and improve processing quality stability and consistency.

[0041] 2. The system of the present invention adopts a combination of flexible grinding and polishing tools and real-time force control to achieve the purpose of improving the surface quality of the flow channel, enhancing the aerodynamic performance of the flow channel and avoiding deformation of the casing. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Schematic diagram of the robot grinding and polishing system of the present invention;

[0043] Figure 2 is a flow chart of the method of the present invention;

[0044] Figure 3 Generate an offline trajectory graph for the object being processed by the present invention; DETAILED DESCRIPTION

[0045] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the invention. Therefore, the present invention is not limited to the specific implementation methods disclosed below.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art of the art to which the present invention pertains. The terms used in the specification of the invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention.

[0047] like Figure 1 As shown, a robot grinding and polishing system for titanium alloy casing flow channel welding slag includes: a host computer, a robot body, a robot controller, a six-dimensional force sensor, a displacement sensor, a three-dimensional scanner, a belt sander, and an object to be processed on a workbench. The robot is a six-axis robot, which is controlled by a PLC controller; the host computer stores a program, and when the program is loaded, the method steps are executed to achieve adaptive grinding and polishing; the robot controller is used to execute the execution program sent by the host computer and feedback the execution data; the flange end of the six-axis robot is equipped with a six-dimensional force sensor, a displacement sensor and a quick-change device. The six-dimensional force sensor is used to detect and feedback the contact force value when in contact with the object to be processed in real time, and the quick-change device can clamp the belt sander and the three-dimensional scanner;

[0048] Furthermore, the host computer transmits data to the robot controller and the six-dimensional force sensor respectively via the Ethernet UDP / IP protocol; the host computer establishes a two-way communication connection with the robot controller via the robot communication interface; the robot controller controls the movement of the industrial robot, and the sanding machine performs grinding and polishing processing on the casing fixed on the workbench; the six-dimensional force sensor sends the collected grinding and polishing force data as a closed-loop feedback signal to the host computer for processing.

[0049] like Figure 2 As shown, a robotic grinding and polishing method for titanium alloy casing runner weld slag is described. The method first fixes the casing on a workbench and uses a displacement sensor to position it. A 3D scanner is then used to scan the casing runner to obtain the runner weld slag distribution. A robot equipped with a six-dimensional force sensor then grasps the sanding machine. Before grinding and polishing, the sanding machine is gravity-calibrated and then gravity-compensated based on the calibration results. The machining sequence is designed using the one-shot machining principle. 3D software is used to divide the runner region, and then an offline trajectory planning method is used to calculate the machining path. After post-processing, a robot-executable machining program is generated. Finally, the robot performs grinding and polishing based on the received runner weld slag distribution data and path program. To adapt to the complex curved surface of the casing runner, the computer adjusts the tool-workpiece grinding and polishing contact force in real time based on the tool-workpiece contact force and transmits it to the robot controller. This determines the removal amount, ensures roughness, and improves surface quality. It mainly includes the following steps: hand-eye calibration, workpiece positioning, flow channel welding slag part identification, flow channel area division, processing path planning, post-processing to generate path files and automated grinding and polishing.

[0050] Step 1: Set the calibration sphere, clamp the 3D scanner with the robot quick changer (eye on hand), and define the camera coordinate system T1 at the camera end; clamp the sanding machine with the robot quick changer, and define the tool coordinate system T2 at the end of the robot flange; define the robot base coordinate system T3 with the robot base as the zero point;

[0051] Step 2: Perform hand-eye calibration to convert the scanning results of the 3D scanner into the robot base coordinate system.

[0052] The robot drives the 3D scanner to scan the calibration sphere according to the set points. The visual signals transmitted by the 3D scanner are then imported into the computer through the scanner's external data interface for point cloud imaging processing, resulting in a point cloud of the calibration sphere in the camera coordinate system. The following hand-eye calibration conversion process is used to obtain the transformation matrix S from the camera coordinate system T1 to the tool coordinate system T2 at the end of the robot flange.

[0053] The hand-eye calibration conversion process is to determine the rotation matrix R between the camera coordinate system T1 and the robot flange end tool coordinate system T2 M and the translation matrix TM .

[0054] Through calibration with a calibration sphere, the robot can perform multiple posture measurements on a fixed calibration sphere, and solve the transformation matrix S through spatial fixed point constraints.

[0055] Rotation Matrix: Solving for R S

[0056]

[0057] Where: R M 、T M are the rotation and translation matrices of the robot flange end tool coordinate system T2; R S 、T S They are the rotation and translation relationship matrices from the camera coordinate system T1 to the robot flange end tool coordinate system T2, X B To calibrate the coordinates of the ball in the robot base coordinate system T3, X S is the coordinate of the calibration ball in the camera coordinate system T1. Expand it to get:

[0058] X B =R M ·R S ·X S +R M ·T S +T M

[0059] The robot is controlled to drive the 3D scanner to measure the calibration ball twice in a translational manner.

[0060] X B =R M1 ·R S ·X S1 +R M1 ·T S +T M1

[0061] X B =R M2 ·R S ·X S2 +R M2 ·T S +T M2

[0062] If only translation is performed during the movement, R M1 =R M2 =R M , Lianlide

[0063]

[0064] A=[X S1-X S2 ]

[0065]

[0066] R S A=b

[0067] Solve it by matrix singular value decomposition method, that is, R S =VU T , where V and U are Ab T The right and left singular matrices of ;

[0068] Translation Matrix: Solving for T S

[0069] From the above X B The expressions can be combined to get:

[0070] (R M2 -R M1 )·T S =R M1 ·R S ·X S1 -R M2 ·R s ·X S2 +T M1 -T M2

[0071] Control the robot to measure the calibration ball in multiple different postures, and the available types are as follows: S =b, and the least square method is used to obtain T S =(A T A) -1 A T b.

[0072] Finally, we get: the transformation matrix of the camera coordinate system T1 → the tool coordinate system T2 at the end of the robot flange

[0073] Furthermore, the conversion process from the scanning result of the 3D scanner to the robot base coordinate system is as follows:

[0074] P b =B×S×P S

[0075] Where: P s is the coordinate of the measured point P in the camera coordinate system T1; bis the coordinate of the measured point P on the calibration sphere in the robot base coordinate system T3; S is the coordinate transformation relationship between the camera coordinate system T1 and the tool coordinate system T2 of the robot end flange; B is the coordinate transformation relationship between the tool coordinate system T2 of the robot end flange and the robot base coordinate system T3, which can be read directly from the robot controller.

[0076] Finally, according to the above formula, the coordinate P of the measured point P on the calibration ball in the robot base coordinate system T3 is b .

[0077] Step 3: Fix the casing to be processed on the workbench, use the displacement sensor to position the casing, obtain the relative distance signal, and convert it into the position of the casing to be processed in the base coordinate system through the coordinate transformation relationship B between the tool coordinate system T2 of the robot end flange and the robot base coordinate system T3.

[0078] Step 4: The robot drives the 3D scanner to scan the casing flow channel according to the point position detected by the displacement sensor (the position of the casing to be processed in the base coordinate system), and then transmits the visual signal transmitted by the 3D scanner through the scanner's external data interface to import the point cloud data of the casing flow channel welding slag into the host computer for point cloud imaging processing.

[0079] Step 5: Fit the point cloud data and identify the position and height of the flow channel welding slag and the curvature characteristics around the welding slag according to the curvature size. Finally, generate the flow channel welding slag distribution data of the TCP point of the belt sander grinding head.

[0080] Step 6: The robot quick changer clamps the sanding machine and defines the end of the sanding machine support arm as the tool coordinate system T2; the robot grabs the sanding machine and performs gravity calibration and gravity compensation in the tool coordinate system T2.

[0081] Step 7: Divide the casing model to be processed into regions based on the grinding and polishing process of the casing runner weld slag and the principle of one-time processing; specifically, since it is necessary to prioritize the removal of large pieces of runner weld slag, it is necessary to divide the corresponding regions for the runner weld slag location;

[0082] Step 8: Load the 3D casing model, select the boundary curve feature to be machined, set machining parameters based on the machining tool and process requirements, and generate a machining path for the current curve feature in the workpiece base coordinate system T2. Machining the boundary curve feature involves selecting a preset basic machining trajectory for the current boundary curve: a graphic, straight line segment, plane, or spatial curve. Machining parameters include, but are not limited to, machining line spacing, step size, speed, and tool feed and normal directions.

[0083] Step 9: Post-process the machining path into a program file in a code format recognizable by the robot controller and input it into the robot controller. Post-processing converts the trajectory into control node signals for integrated grinding and polishing tool pick-up and release, start and stop, and force-controlled start and stop.

[0084] Step 10: Based on the obtained flow channel weld slag position data of the TCP point of the sanding machine grinding head, the weld slag area is ground and polished for the first time according to appropriate process parameters to achieve the purpose of removing large pieces of weld slag excess height. The upper computer outputs instructions to the robot controller, controls the robot according to the input processing trajectory planning program file and appropriate process parameters, drives the robot to move according to the program file formed by the trajectory planning, and drives the TCP point of the sanding machine grinding head installed on the robot end effector to contact and polish the casing flow channel for the second grinding and polishing. The process parameters include but are not limited to the sanding belt particle size, sanding belt machine speed, feed speed, applied force control size, etc. In order to adapt to the complex curved surface of the casing flow channel during the grinding and polishing process, the computer adjusts the grinding and polishing contact force between the tool and the casing in real time according to the contact force value between the tool and the workpiece and transmits it to the robot controller.

[0085] Furthermore, when the grinding and polishing tool and the casing surface are in contact with each other for processing, the strain signal is collected and measured by the force / torque sensor, and after signal conversion, amplification, and filtering, the output is a recognizable digital signal transmitted to the host computer; the host computer processes the collected digital signal, performs weight compensation calculation according to the weight compensation algorithm, and converts the measurement result into an actual grinding and polishing force; the computer compares and calculates the actual grinding and polishing force with the set grinding and polishing force to obtain a force compensation value; the force compensation value is converted into a position compensation value, and then the actual position where the grinding and polishing tool should be is obtained through conversion. The computer converts the above parameters into signals and transmits them to the robot controller. The robot controller controls the robot to make feedback adjustments to achieve constant and controllable magnitude of the grinding and polishing force during the processing process.

[0086] like Figure 3 As shown, Figure 3 The top part shows an overview of the three intercepted flow channel areas; Figure 3 The center section shows the characteristic diagram of the processing object model of the present invention. Based on the grinding and polishing process of the casing flow channel welding slag and the principle of single-stage processing, the casing model to be processed is divided into three regions: the left concave region, the middle region, and the upper right region. Based on this, the processing path for each region is calculated using an offline trajectory planning method: Figure 3 (a) is the offline trajectory generation diagram of the left concave area of ​​the processing object of the present invention; Figure 3 (b) is an offline trajectory generation diagram for the middle area of ​​the processing object of the present invention; Figure 3 (c) is the offline trajectory generation diagram of the upper right area of ​​the processing object of the present invention.

[0087] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A robot grinding and polishing method for titanium alloy casing runner welding slag, characterized in that: The following steps are involved: Calibration: Through hand-eye calibration, the transformation relationship between the robot base coordinate system T3, the robot end flange tool coordinate system T2, and the camera coordinate system T1 is obtained for coordinate system 1 and trajectory calculation; Generate a preset machining path: a) Runner region division: Based on the grinding and polishing process of the runner weld slag and the principle of one-step machining, the casing model to be machined is divided into regions and contoured to generate a casing model; b) Machining path planning: Load the 3D casing model, set the boundary curve features to be machined and the machining process parameters, and generate a grinding and polishing machining path in the workpiece base coordinate system for the curve features to be machined; c) Post-processing: Convert the machining path into a program file in a code format recognizable by the robot controller and input it into the robot controller; Real-time detection steps: a) Workpiece positioning: Fix the casing on the workbench and position the workpiece using a displacement sensor; b) Welding slag location identification: Scan the casing flow channel with a three-dimensional scanner to obtain flow channel point cloud data, perform fitting identification based on the point cloud data, and generate welding slag distribution data at the flow channel; c) Automated grinding and polishing: Based on the obtained flow channel welding slag distribution data and the grinding and polishing processing path, set the process parameters, replace the grinding tool, and control the robot to drive the grinding tool installed at its end to grind and polish the casing in batches.

2. A robot grinding and polishing method for titanium alloy casing runner welding slag according to claim 1, characterized in that: The calibration step is a process of converting the scanning results of the 3D scanner into the robot base coordinate system; R b =B×S×P S Where: P s is the coordinate of the measured point P in the camera coordinate system T1; b is the coordinate of the measured point P in the robot base coordinate system T3; S is the coordinate transformation relationship between the camera coordinate system T1 and the robot end flange coordinate system T2; B is the coordinate transformation relationship between the robot end flange coordinate system T2 and the robot base coordinate system T3, which is read by the robot controller.

3. The robot grinding and polishing method for titanium alloy casing runner welding slag according to claim 2 is characterized in that: The hand-eye calibration is to determine the transformation matrix S between the camera coordinate system T1 and the robot flange end coordinate system T2 through calibration sphere calibration; Rotation Matrix: Solving for R S Where: R M 、T M are the rotation and translation matrices of the robot flange end coordinate system T2; R S 、T S They are the rotation and translation relationship matrices from the camera coordinate system T1 to the robot flange end coordinate system T2, X B To calibrate the coordinates of the ball in the robot base coordinate system T3, X S is the coordinate of the calibration ball in the camera coordinate system T1; Expanded to: X B =R M ·R S ·X S +R M ·T S +T M The robot is controlled to drive the 3D scanner to measure the calibration ball twice in a translational manner. X B =R M1 ·R S ·X S1 +R M1 ·T S +T M1 X B =R M2 ·R S ·X S2 +R M2 ·T S +T M2 If only translation is performed during the movement, R M1 =R M2 =R M , Lianlide A=[X S1 -X S2 ] R S A=b Solve it by matrix singular value decomposition method, that is, R S =VY T Where V and U are respectively Ab T The right and left singular matrices of ; Translation Matrix: Solving for T S From the above X B The expressions can be combined to get: (R M2 -R M1 )·T S =R M1 ·R S ·X S1 -R M2 ·R S ·X S2 +T M1 -T M2 Control the robot to measure the calibration ball in multiple different postures, and the obtained type is ΑT S =b, and the least square method is used to obtain T S =(A T A) -1 A T b; Finally, we get: the transformation matrix of the camera coordinate system T1 → the tool coordinate system T2 at the end of the robot flange 4. The method for robot grinding and polishing of titanium alloy casing runner welding slag according to claim 1, characterized in that: The processing boundary curve feature is to select a preset basic processing trajectory for the current boundary curve to be processed: a graphic, a straight line segment, a plane or a space curve.

5. The method for robot grinding and polishing of titanium alloy casing runner welding slag according to claim 1, characterized in that: The processing parameters are set according to the processing tools and processing technology requirements; the processing parameters include the processing line spacing, step size, speed and the feed direction and normal direction of the tool.

6. The method for robot grinding and polishing of titanium alloy casing runner welding slag according to claim 1, characterized in that: The post-processing is to process the trajectory into a control node signal for integrating the gripping, release, start and stop, and force-controlled start and stop of the grinding and polishing tool.

7. The robot grinding and polishing method for titanium alloy casing runner welding slag according to claim 1 is characterized in that: The step-by-step grinding and polishing is as follows: according to the obtained flow channel welding slag distribution data, the welding slag part is subjected to the first grinding and polishing according to the process parameters to achieve the purpose of removing the large pieces of welding slag residual height; further, according to the process parameters, the grinding tool is replaced, and the robot is controlled to drive the grinding tool installed at its end to contact the casing flow channel for a second polishing process to complete the grinding and polishing of the casing flow channel welding slag.

8. The robot grinding and polishing method for titanium alloy casing runner welding slag according to claim 1 is characterized in that: The process parameters include abrasive belt particle size, abrasive belt machine rotation speed, feed speed, and applied force control size.

9. The method for robot grinding and polishing of titanium alloy casing runner welding slag according to claim 7, characterized in that: The robot moves according to the processing trajectory planning program file input by the controller, driving the tool installed on the end effector to contact the processing surface for grinding and polishing processing, including: when the grinding and polishing tool and the casing surface are in contact with each other for processing, the strain signal is collected and measured by the force / torque sensor, and after signal conversion, amplification and filtering, the output is a recognizable digital signal transmitted to the host computer; the computer processes the collected digital signal, performs weight compensation calculation according to the weight compensation algorithm, and converts the measurement result into an actual grinding and polishing force; the host computer compares and calculates the actual grinding and polishing force with the set grinding and polishing force to obtain the force compensation value; the force compensation value is converted into a position compensation value, and then the actual target position of the grinding and polishing tool is obtained through conversion. The host computer converts the above parameters into signals and transmits them to the robot controller. The robot controller controls the robot to make feedback adjustments to achieve constant and controllable magnitude of the grinding and polishing force during the processing.

10. A robot grinding and polishing system for titanium alloy casing runner welding slag, characterized in that: It includes a host computer, a robot and a workbench; the robot is provided with a robot controller, and the end flange of the robot is connected to a six-dimensional force sensor, a displacement sensor, and a fixture, the six-dimensional force sensor is used to detect and feedback the contact force value in real time; the displacement sensor is used to detect the position of the casing to be processed on the workbench; the fixture is used to clamp a three-dimensional scanner or a sanding machine, the three-dimensional scanner is used to scan the casing to be processed, and the sanding machine is used for grinding and polishing; the robot controller is used to execute the execution program sent by the host computer and feedback the execution data; the host computer is provided with a memory and a processor, and the memory stores a program. When the processor loads the program, the method steps described in any one of claims 1 to 9 are executed to realize the grinding and polishing of the casing flow channel welding slag.

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