Blisk full-surface multi-robot collaborative machining apparatus and method

Abstract

The application discloses a whole blade full-surface multi-robot cooperative machining device and method, the device comprising three robots, a machining table for loading and driving the whole blade to rotate, and a positioning probe for position calibration of the first and second cutters; the first robot has a first mechanical arm capable of rotating to drive the first cutter to clamp and grind the whole blade; the second robot has a second mechanical arm capable of rotating to drive the second cutter to clamp and grind the whole blade; the third robot has a third mechanical arm for clamping a detector capable of detecting the whole blade; the upper computers of the first and second robots are coupled with the detector to plan the machining tracks of the first and second robots. The multi-robot cooperative machining device for the whole blade full-surface can simplify the installation and driving of the whole blade, can complete multiple machining procedures after one-time clamping, and can guarantee the machining quality and consistency of the whole blade.

Description

Technical Field

[0001] This invention relates to the field of machining technology, specifically to a multi-robot collaborative machining equipment and method for the entire surface of an integral bladed disk. Background Technology

[0002] Integral bladed disks are an important component of aircraft engines.

[0003] An integral bladed disk (IBD) integrates the engine rotor blades and the disk into one unit. While this eliminates conventional connecting parts and reduces the engine's structural weight and number of components, it also increases design and manufacturing complexity. For example, different parts of an IBD have different shapes and machining requirements. Furthermore, IBDs require a large amount of material and have a complex structure. Therefore, machining an IBD necessitates multiple tool changes and flexible mounting at various angles. This not only increases the workload but also easily leads to inconsistent machining quality across different parts of the IBD.

[0004] In summary, how to improve the processing efficiency and quality of integral bladed disks has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention provides a multi-robot collaborative processing equipment and method for the entire surface of an integral bladed disk, which can improve the processing efficiency and processing quality of the integral bladed disk.

[0006] This invention is achieved through the following technical solution:

[0007] A multi-robot collaborative machining equipment for the entire profile of an integral bladed disk includes:

[0008] A machining table used for loading and driving the integral impeller to rotate on a fixed axis;

[0009] A first robot having a first robotic arm capable of rotating on a fixed axis; the first robotic arm holds a first cutting tool for grinding a first feature portion of an integral bladed disk;

[0010] A second robot having a second mechanical arm capable of rotating on a fixed axis; the second mechanical arm holds a second cutting tool for grinding a second feature portion of the integral bladed disk;

[0011] A third robot with a third robotic arm; the third robotic arm is equipped with a detector for detecting the integral bladed disk; the host computers of both the first robot and the second robot are coupled to the detector, and the host computers are used to plan the processing trajectory of the first robot and the second robot based on the detection data of the detector.

[0012] A positioning probe used to calibrate the positions of the first and second tools in order to achieve global coordinate system positioning of the three tools;

[0013] Both the machining table and the positioning probe are within the movable area of ​​the first robotic arm, and both the machining table and the positioning probe are within the movable area of ​​the second robotic arm.

[0014] In some embodiments, it also includes:

[0015] A first tool magazine having a plurality of first tools; the first tool magazine having a first identifier for detecting the presence status of any one of the first tools;

[0016] A second tool magazine having a plurality of second tools; the second tool magazine having a second identifier for detecting the presence status of any second tool;

[0017] The machining table, the first tool magazine, and the positioning probe are all located within the movable area of ​​the first robotic arm, while the machining table, the second tool magazine, and the positioning probe are all located within the movable area of ​​the second robotic arm.

[0018] In some embodiments, the movable area of ​​either the first robotic arm or the second robotic arm is used to overlap with more than half of the movable area of ​​the overall impeller; the movable areas of both the first robotic arm and the second robotic arm are used to cover the movable area of ​​the overall impeller; the third robotic arm rotates about a fixed axis relative to the body of the third robot; the movable area of ​​the third robotic arm overlaps at the junction of the movable areas of the first robotic arm and the movable areas of the second robotic arm.

[0019] In some embodiments, a tool positioner is also included; the tool positioner is located within the movable area of ​​the first robotic arm and the movable area of ​​the second robotic arm.

[0020] In some embodiments, the processing table, the first robot, and the second robot are all enclosed within a protective cover; the protective cover includes a first protective cover and a second protective cover; the processing table, the first robot, and the second robot are all located within the first protective cover; the third robot, the first tool magazine, and the second tool magazine are all located within the second protective cover; a dust removal system and a cooling system are also provided within the first cover.

[0021] In some embodiments, the first tool is a belt abrasive head; the belt abrasive head includes an annular abrasive belt, a first drive roller, and a second drive roller; the first drive roller is parallel to the second drive roller; the first drive roller is disposed inside the annular abrasive belt, and at least three first drive rollers have different faces; the second drive roller is disposed outside the annular abrasive belt and is used to press the annular abrasive belt toward the first drive roller; the annular abrasive belt makes rolling contact with two opposite radial sides of any one of the first drive rollers; the belt abrasive head includes a root of the abrasive near the first robotic arm and a head of the abrasive away from the first robotic arm; the diameter of the first drive roller located at the head of the abrasive is smaller than the diameter of the other first drive rollers.

[0022] In some embodiments, the second tool includes a sanding disc and a sanding disc mounting base; the sanding disc is axially floatingly mounted on the sanding disc mounting base.

[0023] In some embodiments, the second tool includes a finger-shaped grinding head and a grinding head mounting base; the finger-shaped grinding head is radially floatingly mounted on the grinding head mounting base.

[0024] This application also provides a multi-robot collaborative machining method for the entire surface of an integral bladed disk, applied to the aforementioned multi-robot collaborative machining equipment for the entire surface of an integral bladed disk, the method comprising:

[0025] S1: Mount the integral impeller onto the machining table;

[0026] S2: After the third robot grasps the detector to scan the entire bladed disk, the three-dimensional model of the entire bladed disk is reconstructed and analyzed, and an automatic grinding trajectory is established.

[0027] S3: Drive the first robot to grind the entire impeller along the automatic grinding trajectory after grasping and calibrating the first tool, and drive the second robot to grind the entire impeller along the automatic grinding trajectory after grasping and calibrating the second tool.

[0028] In some embodiments, S2 includes:

[0029] S21: Drive the third robot to grasp the detector and drive the detector to scan the entire bladed disk; S22: The host computer of the first and second robots reconstructs and analyzes the entire bladed disk.

[0030] The three-dimensional model of the disk is used to determine the allowance and automatically program the automatic grinding trajectory based on the three-dimensional model.

[0031] In some embodiments, S3 further includes:

[0032] After driving the first robot to grind the integral bladed disk along the automatic grinding trajectory, the detector of the third robot is driven to scan and inspect the integral bladed disk; after driving the second robot to grind the integral bladed disk along the automatic grinding trajectory, the detector of the third robot is driven to scan and inspect the integral bladed disk.

[0033] In some embodiments, the step of driving the first robot to grind the integral impeller along an automated grinding trajectory specifically includes:

[0034] The first tool mounted on the first robot grinds the blade of the entire bladed disk along the automatic grinding trajectory in a grinding method of rough grinding followed by forward grinding and then fine grinding followed by reverse grinding.

[0035] The specific steps of driving the second robot to grind the integral bladed disk along the automatic grinding trajectory include: driving the second tool mounted on the second robot to grind the blade body of the integral bladed disk along the automatic grinding trajectory in a grinding mode of first rough grinding and forward grinding, and then fine grinding and reverse grinding.

[0036] In some embodiments, a coarse abrasive grinding wheel is used to grind the blade of the integral bladed disk along a first direction to obtain transverse texture, and an abrasive belt is used to grind the blade of the integral bladed disk along a second direction to obtain longitudinal texture.

[0037] Compared with the above-mentioned background technology, the multi-robot collaborative processing equipment for the entire surface of the integral bladed disk provided in this application includes a processing table, a first robot, a second robot, a third robot, and a positioning probe; wherein, the first robot has a first robotic arm that can rotate on a fixed axis, the second robot has a second robotic arm that can rotate on a fixed axis, and the third robot has a third robotic arm and the third robotic arm is equipped with a detector.

[0038] In this multi-robot collaborative machining equipment for the entire profile of the integral bladed disk, the machining table is used to load and drive the integral bladed disk to rotate on a fixed axis. The first robotic arm holds the first cutting tool and is used to grind the first feature part of the integral bladed disk. The second robotic arm holds the second cutting tool and is used to grind the second feature part of the integral bladed disk. The detector set on the third robotic arm is used to detect the integral bladed disk. The positioning probe can perform position calibration on the first cutting tool held by the first robotic arm and the second cutting tool held by the second robotic arm, so as to realize the positioning of the entire coordinate system of the integral bladed disk, the first cutting tool and the second cutting tool.

[0039] In this multi-robot collaborative processing equipment for the entire surface of the integral bladed disk, the processing table and the positioning probe are both located within the movable area of ​​the first robotic arm, and the processing table and the positioning probe are both located within the movable area of ​​the second robotic arm. In addition, the host computers of both the first and second robots are coupled to detectors, and the host computers are used to plan the processing trajectories of the first and second robots based on the detection data of the detectors.

[0040] In the integrated impeller full-surface multi-robot collaborative processing equipment provided in this application, the integrated impeller to be processed is mounted on a processing table, and the processing table drives the integrated impeller to be processed to rotate around its own central axis, thereby realizing the rotation of the aforementioned integrated impeller around its own central axis; the first tool is mounted on the first robotic arm of the first robot, and when the first robotic arm rotates around its fixed axis, it can either move to the positioning probe to calibrate the position of the aforementioned first tool, or move to the processing table and use the aforementioned first tool to process the integrated impeller; the second tool is mounted on the second robotic arm of the second robot, and when the second robotic arm rotates around its fixed axis, it can either move to the positioning probe to calibrate the position of the aforementioned second tool, or move to the processing table and use the aforementioned second tool to process the integrated impeller.

[0041] Based on the aforementioned motion characteristics of the machining table, the first robotic arm, and the second robotic arm, continuous and automated machining can be achieved with a single positioning of the integral impeller, the first cutting tool, and the second cutting tool, thereby improving machining accuracy and efficiency. The aforementioned machining operation simplifies the clamping, positioning, and driving of the integral impeller, establishes a complete coordinate system between the first cutting tool, the second cutting tool, the detector, and other components and the integral impeller, and enables these components to move around the integral impeller, which helps ensure the machining consistency of the integral impeller. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of the multi-robot collaborative processing equipment for the entire surface of an integral bladed disk provided in an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the installation of the belt abrasive head and integral impeller provided in the embodiments of this application;

[0045] Figure 3 This is a schematic diagram of the installation of the finger-shaped grinding head and the integral impeller provided in the embodiments of this application;

[0046] Figure 4 This is a schematic diagram illustrating the installation of the blue light scanning device, the third robot, and the integral bladed disk provided in the embodiments of this application.

[0047] Figure 5 This is a schematic flowchart illustrating the multi-robot collaborative machining method for the entire surface of an integral bladed disk provided in an embodiment of this application.

[0048] Among them, 01-integral impeller, 1-processing table, 2-first robot, 21-first robotic arm, 3-second robot, 31-second robotic arm, 4-third robot, 41-third robotic arm, 5-first tool magazine, 6-second tool magazine, 7-positioning probe, 8-protective cover, 81-first protective cover, 82-second protective cover, 9-dust removal system, 10-cooling system, 20-belt abrasive head, 40-finger abrasive head, 50-blue light scanning equipment. Detailed Implementation

[0049] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are illustrative rather than limiting. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Please refer to Figures 1 to 5 , Figure 1 This is a schematic diagram of the structure of the multi-robot collaborative processing equipment for the entire surface of an integral bladed disk provided in an embodiment of this application; Figure 2 This is a schematic diagram of the installation of the belt abrasive head and integral impeller provided in the embodiments of this application; Figure 3 This is a schematic diagram of the installation of the finger-shaped grinding head and the integral impeller provided in the embodiments of this application; Figure 4 This is a schematic diagram illustrating the installation of the blue light scanning device, the third robot, and the integral bladed disk provided in the embodiments of this application. Figure 5 This is a schematic flowchart illustrating the multi-robot collaborative machining method for the entire surface of an integral bladed disk provided in an embodiment of this application.

[0052] refer to Figure 1 This application provides a multi-robot collaborative processing equipment for the entire surface of an integral bladed disk, including a processing table, a positioning probe, and three robots. The three robots include a first robot, a second robot, and a third robot. The first robot has a first mechanical arm that can rotate on a fixed axis. The first mechanical arm holds a first cutting tool and is used to grind a first feature part of the integral bladed disk 01. The second robot has a second mechanical arm that can rotate on a fixed axis. The second mechanical arm holds a second cutting tool and is used to grind a second feature part of the integral bladed disk 01. The third robot has a third mechanical arm, and the third mechanical arm is equipped with a detector for detecting the integral bladed disk 01.

[0053] In this embodiment, both the machining table and the positioning probe are located within the movable area of ​​the first robotic arm, and both are located within the movable area of ​​the second robotic arm. The machining table is used to load and drive the integral impeller 01 to rotate along a fixed axis. The host computers of both the first and second robots are coupled to the detectors, and the host computers are used to plan the machining trajectories of the first and second robots based on the detector data. As for the positioning probe, it is used to calibrate the positions of the first and second tools to achieve global coordinate system positioning of multiple components of the multi-robot collaborative machining equipment for the entire surface of the integral impeller. Specifically, the positioning probe can be a Renishaw probe.

[0054] In this multi-robot collaborative machining equipment for the entire profile of an integral bladed disk, the integral bladed disk 01 to be processed is mounted on a machining table. The machining table drives the integral bladed disk 01 to rotate around its own central axis. A first tool is mounted on the first robotic arm of the first robot. When the first robotic arm rotates around its central axis, it can either move to a positioning probe to calibrate the position of the first tool, or move to the machining table and use the first tool to process the integral bladed disk 01. A second tool is mounted on the second robotic arm of the second robot. When the second robotic arm rotates around its central axis, it can either move to a positioning probe to calibrate the position of the second tool, or move to the machining table and use the second tool to process the integral bladed disk 01. The first, second, and third robotic arms can all be six-axis industrial robots.

[0055] The integral bladed disk 01 is large in size and complex in shape. Therefore, the multi-robot collaborative machining equipment for the entire surface of the integral bladed disk provided in this application simplifies the mounting, positioning, and driving of the integral bladed disk 01. It establishes a complete coordinate system between the first tool, the second tool, the detector, and other components and the integral bladed disk 01, and makes the first tool, the second tool, the detector, and other components move around the integral bladed disk 01, which helps to ensure the machining efficiency and consistency of the integral bladed disk 01. In addition, the motion characteristics of the machining table, the first robotic arm, and the second robotic arm can meet the requirements of continuous and automatic machining of the integral bladed disk 01, the first tool, and the second tool after a single positioning, which helps to ensure the machining quality of the integral bladed disk 01.

[0056] In summary, the multi-robot collaborative processing equipment for the entire surface of the integral bladed disk provided in this application achieves automatic processing based on the motion characteristics of multiple components, reduces the number of clamping and positioning operations, simplifies the installation and driving of the integral bladed disk 01, and improves the processing effect, processing quality, and processing consistency of the integral bladed disk 01.

[0057] The multi-robot collaborative machining equipment for the entire surface of an integral bladed disk provided in this application will be further described below with reference to the accompanying drawings and embodiments. Due to the large size and complex shape of the integral bladed disk, when the same tool is used to machine the integral bladed disk 01 for a long time, the tool will gradually wear down, leading to a decrease in machining accuracy. Therefore, in some embodiments, the multi-robot collaborative machining equipment for the entire surface of an integral bladed disk provided in this application includes a first tool magazine 5 and a second tool magazine 6. The first tool magazine 5 has a first identifier for detecting the presence status of any first tool, and the second tool magazine 6 has a second identifier for detecting the presence status of any second tool. Of course, the first tool magazine 5 contains a plurality of first tools, that is, the first tool magazine 5 is used to store first tools; the second tool magazine 6 contains a plurality of second tools, that is, the second tool magazine 6 is used to store second tools.

[0058] Obviously, in the above embodiments, the machining table 1, the first tool magazine 5 and the positioning probe are all within the movable area of ​​the first robotic arm 21, and the machining table 1, the second tool magazine 6 and the positioning probe are all within the movable area of ​​the second robotic arm 31.

[0059] The first tool magazine 5 can monitor the presence status of any first tool through a first identifier, thereby determining whether a first tool is in the first tool magazine 5, the duration of the first tool being in / out of the first tool magazine 5, etc., and thus reasonably control the working time of each first tool to prevent severely worn first tools from continuing to process the entire impeller 01. For example, if a first tool is removed from the first tool magazine 5, it means that the first tool is mounted on the first robotic arm. Based on the time the first tool is removed from the first tool magazine 5, the working time of the first tool can be analyzed. When the working time of a first tool reaches a set value, the operator manually changes the tool or the host computer of the first and second robots automatically changes the tool based on the working time of the first tool to prevent the working time of the first tool from being too long. Similarly, the second tool magazine 6 can monitor the presence status of any second tool through a second identifier, thereby reasonably controlling the working time of each second tool to prevent severely worn second tools from continuing to process the entire impeller 01.

[0060] In some embodiments, the first robotic arm rotates about a fixed axis relative to the body of the first robot, and the movable area of ​​the first robotic arm during this rotation coincides with more than half of the movable area of ​​the integral bladed disk. Similarly, the second robotic arm rotates about a fixed axis relative to the body of the second robot, and the movable area of ​​the second robotic arm during this rotation coincides with more than half of the movable area of ​​the integral bladed disk. Since the integral bladed disk rotates about its own central axis, more than half of the movable area of ​​the integral bladed disk can be considered as... Figure 1 The image shows more than half of the entire bladed disk from the viewpoint shown.

[0061] Taking the first robotic arm as an example, when the first robotic arm uses the first tool to process the blades of the integral bladed disk, the machining table can drive the integral bladed disk to rotate so that the adjacent blades of the integral bladed disk are aligned with the first tool of the first robotic arm in turn, or the second robotic arm can drive the second tool to rotate so that the second tool is aligned with the adjacent blades of the integral bladed disk in turn.

[0062] In the above embodiments, the movable area of ​​the first robotic arm and the movable area of ​​both the first and second robotic arms are used to cover the movable area of ​​the entire bladed disk, or in other words, the union of the movable areas of the first and second robotic arms covers the movable area of ​​the entire bladed disk, which can be used to process any part of the entire bladed disk.

[0063] For the third robot in this multi-robot collaborative processing equipment for the entire profile of the integral bladed disk, its third robotic arm rotates around a fixed axis relative to the body of the third robot. The movable area of ​​the third robotic arm during this rotation coincides with the boundary between the movable areas of the first and second robotic arms. In other words, the intersection of the movable areas of the first and second robotic arms coincides with the movable area of ​​the third robotic arm. The third robotic arm is equipped with detectors that can detect various parts of the integral bladed disk during its rotation, assisting the processing operations of the first and second robots. The range of motion of the third robotic arm is adapted to the ranges of motion of the first and second robots, improving the continuity and efficiency between multiple processes and providing ample working space for both robots.

[0064] In the above embodiments, the multi-robot collaborative machining equipment for the entire surface of an integral bladed disk provided in this application further includes a tool positioner, which is located within the movable area of ​​the first robotic arm and the movable area of ​​the second robotic arm. For example, if the multi-robot collaborative machining equipment for the entire surface of an integral bladed disk has one tool positioner, then this tool positioner is located within the movable area of ​​both the first and second robotic arms. For example, if the multi-robot collaborative machining equipment for the entire surface of an integral bladed disk has two tool positioners, then one tool positioner is located within the movable area of ​​the first robotic arm, and the other tool positioner is located within the movable area of ​​the second robotic arm.

[0065] When the multi-robot collaborative processing equipment for the entire surface of the integral bladed disk is equipped with two tool positioners, one tool positioner is adjacent to the first tool magazine and can complete tool positioning immediately after the first robotic arm changes tools; the other tool positioner is adjacent to the second tool magazine and can complete tool positioning immediately after the second robotic arm changes tools.

[0066] Furthermore, the multi-robot collaborative machining equipment for the entire profile of the integral bladed disk provided in this application also includes a protective cover for enclosing the machining table, the first robot, and the second robot. In other words, the machining table, the first robot, and the second robot are all housed within the protective cover. Since the protective cover can enclose the machining table holding the integral bladed disk, the first robot holding the first cutting tool, and the second robot holding the second cutting tool, this multi-robot collaborative machining equipment for the entire profile of the integral bladed disk can provide a suitable working environment for wet machining of the integral bladed disk and limit the extent of contamination at the work site. For example, this multi-robot collaborative machining equipment for the entire profile of the integral bladed disk can perform wet polishing, completing both rough and fine polishing of the integral bladed disk.

[0067] The aforementioned protective cover may include a first protective cover and a second protective cover; the machining table, the first robot, and the second robot of the integrated bladed disk full-surface multi-robot collaborative machining equipment are all located within the first protective cover; the third robot, the first tool magazine, and the second tool magazine of the integrated bladed disk full-surface multi-robot collaborative machining equipment are all located within the second protective cover; wherein, a dust removal system and a cooling system are also provided inside the first cover. Of course, in order to utilize the detection device located on the third robot to inspect the integrated bladed disk and to change tools for the first and second robots, the first and second protective covers can be interconnected.

[0068] In some embodiments, the first tool is specifically a belt abrasive head, which may include an annular abrasive belt, a first drive roller disposed within the ring of the annular abrasive belt, and a second drive roller disposed outside the ring of the annular abrasive belt; the first drive roller is parallel to the second drive roller; typically, the belt abrasive head has multiple first drive rollers, with at least three first drive rollers having different faces, and the annular abrasive belt is sleeved on all the first drive rollers. The belt abrasive head may be provided with one or more second drive rollers, and any one of the second drive rollers presses the annular abrasive belt against the first drive roller. Under the pressing action of the second drive roller, the annular abrasive belt rolls into contact with the radially opposite sides of any one of the first drive rollers respectively. Thus, the belt abrasive head provided in this embodiment presents as follows: Figure 2 As shown, the slender, zigzag-shaped belt grinding head can extend into the integral bladed disk and perform detailed and efficient processing on various parts of the integral bladed disk, even when faced with spatial constraints in different parts of the integral bladed disk, such as grinding the profile of the integral bladed disk.

[0069] The aforementioned belt abrasive head includes an abrasive root and an abrasive head. The abrasive root is close to the first robotic arm, while the abrasive head is away from the first robotic arm. Typically, the diameter of the first drive roller located at the abrasive head is smaller than the diameter of the other first drive rollers, and the annular abrasive belt wraps around all the first drive rollers and adheres tightly to the radial sides of any one of the first drive rollers. Therefore, the smaller size of the abrasive head of the belt abrasive head makes it easier to extend between adjacent blades of the integral bladed disk.

[0070] In some embodiments, the second tool may specifically include a sand disc and a sand disc mounting base; the sand disc is axially floating and mounted on the sand disc mounting base, and the second robotic arm of the second robot mounting the second tool refers to the second robotic arm mounting the sand disc mounting base. The floating range of the sand disc relative to the sand disc mounting base is limited and can be specifically designed according to the requirements of the machining operation of the integral impeller.

[0071] In addition to the examples above, the second tool may specifically include a finger-shaped grinding head and a grinding head mounting base. The finger-shaped grinding head is radially floating and mounted on the grinding head mounting base. The second robotic arm of the second robot mounting the second tool refers to the second robotic arm mounting the grinding head mounting base. Similarly, the floating range of the finger-shaped grinding head relative to the grinding head mounting base is limited and can be specifically designed according to the requirements of the machining operation of the integral impeller.

[0072] Regardless of whether sand discs and sand disc mounts are used, or as... Figure 3 The finger-shaped grinding head and grinding head mounting base shown indicate that the floating function of the second tool can prevent the second tool from exerting a large force on the overall impeller, which helps to ensure the machining quality of the overall impeller.

[0073] In summary, the multi-robot collaborative machining equipment for the entire surface of the integral bladed disk provided in this application selects different cutting tools for machining different parts of the integral bladed disk based on their structural features. Each cutting tool has a floating function, making it particularly suitable for machining difficult-to-machine areas such as blade edges and blade root fillets. Since the integral bladed disk uses a large amount of material and has high requirements for consistent machining quality, the multi-robot collaborative machining equipment for the entire surface of the integral bladed disk provided in this application identifies the cutting tools in the tool magazine and records their usage time. Therefore, the tool life can be estimated by the tool usage time, and the machining tool can be replaced to ensure the consistency of machining quality of the integral bladed disk. This avoids the rapid deterioration of machining performance after the machining tool reaches its lifespan, which would reduce the consistency of machining quality of the integral bladed disk.

[0074] In addition, you can refer to Figure 1 According to this application, a multi-robot collaborative machining method for the entire surface of an integral bladed disk is also provided, applied to the multi-robot collaborative machining equipment for the entire surface of an integral bladed disk mentioned above. The method includes:

[0075] S1: Mount the integral bladed disk 01 to the machining table 1;

[0076] S2: After the third robot 4 grasps the detector to scan the overall bladed disk 01, the three-dimensional model of the overall bladed disk is reconstructed and analyzed, and an automatic grinding trajectory is established.

[0077] S3: Drive the first robot 2 to grind the entire impeller 01 along the automatic grinding trajectory after grasping and calibrating the first tool, and drive the second robot 3 to grind the entire impeller 01 along the automatic grinding trajectory after grasping and calibrating the second tool.

[0078] When operating the multi-robot collaborative machining equipment for the entire surface of the integral bladed disk according to the method of multi-robot collaborative machining of the entire surface of the integral bladed disk, the main actions of clamping, scanning and grinding are performed in sequence.

[0079] Since the first tool, the second tool, and the detector are automatically grasped and positioned by the first robot 2, the second robot 3, and the third robot 4 respectively, the "clamping, scanning, and grinding" mentioned above mainly refers to clamping the integral impeller 01. For example, the integral impeller 01 can be hoisted onto the processing table 1.

[0080] like Figure 4 As shown, the detector can specifically be a blue light scanning device. Therefore, the third robot 4 grabbing the detector to scan the overall bladed disk 01 means that the third robot scans the overall bladed disk 01 through the blue light scanning device. Afterwards, the host computer of the first robot 2 and the second robot 3 can reconstruct and analyze the three-dimensional model of the overall bladed disk and establish an automatic grinding trajectory, so as to prepare for the host computer to drive the first robot 2 and the second robot 3 to automatically grind the overall bladed disk.

[0081] When grinding the integral impeller 01, the host computer drives the first robot 2 and the second robot 3 to grind the integral impeller 01 along the preset path in the automatic grinding trajectory. For example, the host computer drives the first robot 2 to grind the first feature part of the integral impeller 01 along the first path in the automatic grinding trajectory, and drives the second robot 3 to grind the second feature part of the integral impeller 01 along the second path in the automatic grinding trajectory.

[0082] In some embodiments, S2 of the integral bladed disk full-surface multi-robot collaborative machining method

[0083] Specifically, it may include:

[0084] S21: Drive the third robot 4 to grasp the detector and drive the detector to scan the entire bladed disk 01;

[0085] S22: The host computer of the first robot 2 and the second robot 3 reconstructs and analyzes the three-dimensional model of the overall bladed disk 01, and performs margin determination and automatic programming based on the three-dimensional model to obtain the automatic grinding trajectory.

[0086] The third robot 4 has a third robotic arm 41. Compared with the first robotic arm 21 and the second robotic arm 31, which can rotate along a fixed axis, the movement of the third robotic arm 41 includes, but is not limited to, rotation and translation along different trajectories. After the third robotic arm 41 grasps the detector, it moves the detector to the processing table 1 on which the integral impeller 01 is mounted. Then, the detector scans the integral impeller 01. Subsequently, the host computers of the first robot 2 and the second robot 3 reconstruct and analyze the three-dimensional model of the integral impeller 01 based on the detector's detection data, and perform margin determination and automatic programming based on the aforementioned three-dimensional model, ultimately obtaining an automatic grinding trajectory that matches the first and second cutting tools.

[0087] In some embodiments, S3 of the multi-robot collaborative machining method for the entire surface of the integral bladed disk further includes:

[0088] After driving the first robot 2 to grind the integral bladed disk 01 along the automatic grinding trajectory, the detector of the third robot 4 is driven to scan and inspect the integral bladed disk 01; after driving the second robot 3 to grind the integral bladed disk 01 along the automatic grinding trajectory, the detector of the third robot 4 is driven to scan and inspect the integral bladed disk 01.

[0089] As can be seen, when grinding the integral bladed disk 01 according to the multi-robot collaborative machining method for the entire surface of the integral bladed disk, after either the first tool or the second tool completes a grinding process, the third robot drives the detector to rescan the integral bladed disk 01 to check the previous grinding process; if the check is qualified, the first tool and the second tool continue to perform the subsequent grinding process; if the check is unqualified, the first tool and the second tool continue to grind the surface of the integral bladed disk 01 corresponding to the current process according to the inspection data of the detector.

[0090] In some embodiments, the step of driving the first robot 2 to grind the integral impeller 01 along an automated grinding trajectory specifically includes:

[0091] The first tool mounted on the first robot 2 grinds the blade of the integral bladed disk 01 along the automatic grinding trajectory in a grinding method of rough grinding followed by forward grinding and then fine grinding followed by reverse grinding.

[0092] The specific steps of driving the second robot 3 to grind the integral impeller 01 along the automatic grinding trajectory include:

[0093] The second tool mounted on the second robot 3 grinds the blade of the integral bladed disk 01 along the automatic grinding trajectory in a grinding method of first rough grinding and forward grinding, and then fine grinding and reverse grinding.

[0094] According to the above description, during the execution of S3, after driving the first robot 2 to grasp and calibrate the first tool, the first tool mounted on the first robot 2 can be driven to grind the blade body of the integral bladed disk 01 along the automatic grinding trajectory in a grinding method of first rough grinding and forward grinding, then fine grinding and reverse grinding; similarly, after driving the second robot 3 to grasp and calibrate the second tool, the second tool mounted on the second robot 3 can be driven to grind the blade body of the integral bladed disk 01 along the automatic grinding trajectory in a grinding method of first rough grinding and forward grinding, then fine grinding and reverse grinding. Of course, in addition to grinding the blade body of the integral bladed disk 01, other parts of the integral bladed disk 01 also need to be ground.

[0095] The main purpose of rough grinding the blade of the integral bladed disk 01 is to remove high points and tool marks. At this stage, rough grinding increases material removal, while forward grinding improves removal accuracy. Fine grinding of the integral bladed disk 01 often refers to polishing; therefore, fine grinding of the integral bladed disk 01 can also be called fine polishing of the integral bladed disk 01. During fine polishing of the integral bladed disk 01, using reverse grinding can reduce residual surface stress and improve the overall product quality of the blade.

[0096] Based on the above embodiments, in the multi-robot collaborative machining method for the entire surface of the integral bladed disk provided in this application, a coarse abrasive grinding wheel can be used to grind the blade of the integral bladed disk 01 along the first direction to obtain transverse texture, and an abrasive belt can be used to grind the blade of the integral bladed disk 01 along the second direction to obtain longitudinal texture.

[0097] Grinding the integral bladed disk 01 along a first direction can produce transverse textures on the integral bladed disk 01. These transverse textures extend along the width direction of the blades of the integral bladed disk 01, facilitating the specific grinding action of the coarse abrasive tool. Grinding the integral bladed disk 01 along a second direction can produce longitudinal textures on the integral bladed disk 01. These longitudinal textures extend along the length direction of the blades of the integral bladed disk 01. These longitudinal textures intersect with the aforementioned transverse textures, which helps to improve the surface smoothness of the integral bladed disk 01 and give the integral bladed disk 01 better fatigue resistance.

[0098] The foregoing provides a detailed description of the multi-robot collaborative machining equipment and method for the entire surface of an integral bladed disk provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0099] The above description is merely a preferred embodiment of the present invention and is not intended to limit the technical solution of the present invention in any way. Those skilled in the art should understand that, without departing from the spirit and principles of the present invention, the technical solution can be modified and replaced in several simple ways, and these modifications and replacements are all within the scope of protection covered by the claims.

Claims

1. A blisk full-surface multi-robot collaborative machining apparatus, characterized by, The application relates to a machining device for grinding a blisk (01), comprising: a machining table (1) for loading and driving the blisk (01) to rotate around an axis; a first robot (2) with a first mechanical arm (21) capable of rotating around an axis; the first mechanical arm (21) holds a first tool for grinding a first feature of the blisk (01); a second robot (3) with a second mechanical arm (31) capable of rotating around an axis; the second mechanical arm (31) holds a second tool for grinding a second feature of the blisk (01); a third robot (4) with a third mechanical arm (41); the third mechanical arm (41) is provided with a detector for detecting the blisk (01); the detector is coupled to the upper computers of the first robot (2) and the second robot (3), and the upper computers are used for planning the machining tracks of the first robot (2) and the second robot (3) according to the detection data of the detector; a positioning probe for position calibration of the first tool and the second tool to realize global coordinate system positioning; the machining table (1) and the positioning probe are both located in the movable region of the first mechanical arm (21), and the machining table (1) and the positioning probe are both located in the movable region of the second mechanical arm (31); a first tool library (5) with a plurality of first tools; the first tool library (5) is provided with a first identifier for detecting the in-situ state of any first tool; a second tool library (6) with a plurality of second tools; the second tool library (6) is provided with a second identifier for detecting the in-situ state of any second tool; the machining table (1), the first tool library (5) and the positioning probe are all located in the movable region of the first mechanical arm (21), and the machining table (1), the second tool library (6) and the positioning probe are all located in the movable region of the second mechanical arm (31); the first tool is a sand belt grinding head (20); the sand belt grinding head (20) comprises a ring-shaped sand belt, a first transmission roller and a second transmission roller; the first transmission roller is parallel to the second transmission roller; the first transmission roller is arranged in the ring of the ring-shaped sand belt, at least three first transmission rollers are arranged on different surfaces; the second transmission roller is arranged outside the ring of the ring-shaped sand belt and is used for pressing the ring-shaped sand belt towards the first transmission roller; the ring-shaped sand belt is in rolling contact with two opposite sides of any first transmission roller in the radial direction; the sand belt grinding head (20) comprises a grinding tool root portion close to the first mechanical arm (21) and a grinding tool head portion away from the first mechanical arm (21); the diameter of the first transmission roller located at the grinding tool head portion is smaller than that of the remaining first transmission rollers.

2. The blisk full-foil multi-robot collaborative machining apparatus of claim 1, wherein, The movable area of any one of the first mechanical arm (21) and the second mechanical arm (31) is used to coincide with more than half of the movable area of the integral blade disc (01); the movable areas of the first mechanical arm (21) and the second mechanical arm (31) are used to cover the movable area of the integral blade disc (01); the third mechanical arm (41) is fixedly rotated relative to the fuselage of the third robot (4); the movable area of the third mechanical arm (41) coincides with the intersection of the movable area of the first mechanical arm (21) and the movable area of the second mechanical arm (31).

3. The blisk full-foil multi-robot collaborative machining apparatus of claim 1, wherein, The machining table (1), the first robot (2) and the second robot (3) are all enclosed in a protective cover (8); the protective cover (8) comprises a first protective cover (81) and a second protective cover (82); the machining table (1), the first robot (2) and the second robot (3) are all in the first protective cover (81); the third robot (4), the first tool magazine (5) and the second tool magazine (6) are all in the second protective cover (82); the first protective cover (81) is further provided with a dust removal system (9) and a cooling system (10).

4. The blisk full-impeller multi-robot collaborative machining apparatus according to any one of claims 1 to 3, characterized by, The second tool comprises a sand disc and a sand disc mounting seat; the sand disc is installed in the sand disc mounting seat in an axial floating manner.

5. The blisk full-impeller multi-robot collaborative machining apparatus according to any one of claims 1 to 3, characterized by, The second tool comprises a finger-shaped grinding head (40) and a grinding head mounting seat; the finger-shaped grinding head (40) is installed in the grinding head mounting seat in a radial floating manner.

6. A method for full-surface multi-robot collaborative machining of a blisk, characterized in that The method is applied to the integral blade disc full-surface multi-robot cooperative machining device as claimed in any one of claims 1 to 5, and the method comprises: S1: clamping the integral blade disc (01) to the machining table (1); S2: after the third robot (4) grasps the detector to scan the integral blade disc (01), reconstructing, analyzing the three-dimensional model of the integral blade disc and establishing an automatic grinding track; specifically as follows: S21: driving the third robot (4) to grasp the detector and driving the detector to scan the integral blade disc (01); S22: reconstructing and analyzing the three-dimensional model of the integral blade disc by the upper computers of the first robot (2) and the second robot (3), and determining the allowance and automatically programming according to the three-dimensional model to obtain the automatic grinding track; S3: driving the first robot (2) to grind the integral blade disc (01) along the automatic grinding track after grasping and calibrating the first tool, and driving the second robot (3) to grind the integral blade disc (01) along the automatic grinding track after grasping and calibrating the second tool; after driving the first robot and the second robot to grasp and calibrate, driving the detector grasped by the third robot (4) to scan and inspect the integral blade disc (01); The step of driving the first robot (2) to grind the integral blade disc (01) along the automatic grinding track comprises: Driving the first tool clamped by the first robot (2) to grind the blade body of the integral blade disc (01) along the automatic grinding track in a grinding mode of rough grinding first and then fine grinding; The step of driving the second robot (3) to grind the blisk (01) along the automatic grinding track comprises: The step of driving the second robot (3) to grind the blade of the blisk (01) along the automatic grinding track in the grinding mode of rough grinding and forward grinding first and then fine grinding and reverse grinding; The blade of the blisk (01) is ground in the first direction of the blisk (01) by using a rough abrasive tool to obtain a transverse texture, and the blade of the blisk (01) is ground in the second direction of the blisk (01) by using a stacked abrasive belt to obtain a longitudinal texture.

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