Complex surface grinding tool, tool rack, workstation, control system and method

Abstract

The present invention discloses a complex curved surface grinding tool, a tool holder, a workstation, a control system and a method, and relates to the technical field of complex curved surface polishing. The present invention aims to solve the problem that current grinding tools and automatic grinding devices have low grinding accuracy and poor adaptability and cannot meet the requirements of accurate and efficient grinding of complex curved surfaces. The present invention comprises a working box, in which a seven-degree-of-freedom mechanical arm, a tool quick-change library, an inspection quick-change library and a turntable fixture are arranged; the tool quick-change library is provided with no less than two U-shaped notches, the complex curved surface grinding tool holder is supported in the U-shaped notch, and the tooling fixture is supported in the U-shaped notch; the control system is applied to the workstation.

Description

Technical Field

[0001] The invention relates to the technical field of complex curved surface polishing, and in particular to a complex curved surface grinding tool, a tool rack, a workstation, a control system and a method. Background Art

[0002] Aircraft blades are a type of workpiece widely used in the aviation field. Their main working principle involves compressing air, heating the air, and ejecting the air to generate thrust.

[0003] Since aircraft blades have several complex curved surfaces, it is often necessary to go through multiple grinding and polishing steps to achieve overall processing of the aircraft blades when grinding and polishing them. At present, most aircraft blades are polished manually using traditional manual polishing sponge sandpaper tools. However, the manual grinding and polishing method has problems such as inconsistent grinding quality (i.e., grinding error) and low grinding efficiency.

[0004] Some factories also use joint robot grinding and polishing to grind and polish aviation blades, but the grinding accuracy is low (force control accuracy ±1N) and the force control response efficiency is slow (144 times / S), which makes it impossible to completely fit the workpiece surface when grinding complex curved surfaces. Directly using fixed trajectory manual debugging cannot adapt to complex curved surface grinding and there are grinding defects. When using sandpaper grinding tools, it is easy to over-polish the product surface and there are problems with uneven surface with concave and convex patterns. Summary of the invention

[0005] In order to solve the above problem, that is, the current grinding tools and automatic grinding devices have low grinding accuracy and poor adaptability, and cannot meet the problem of accurate and efficient grinding of complex surfaces, the present invention proposes a complex surface grinding workstation, which includes a work box, in which a seven-degree-of-freedom robotic arm, a tool quick change library, an inspection quick change library and a turntable fixture are arranged; the tool quick change library is provided with no less than two U-shaped notches, and the complex surface tool rack as described above is supported in the U-shaped notch, and the tooling fixture is supported in the U-shaped notch.

[0006] The present invention is further configured as follows: at least two U-shaped notches 2 are provided on the detection quick-change library, and detection tools are supported in the U-shaped notches 2. The detection tools include a roughness detection tool and a thickness detection tool; and are used to detect the roughness and thickness of the workpiece respectively.

[0007] The present invention is further configured as follows: a quick-change chuck adapted to the quick-change head is installed at the free end of the mechanical arm.

[0008] The present invention is further configured as follows: the turntable fixture includes a base, a mounting plate is rotatably connected to the base, a fixed profiling seat is fixedly connected to the mounting plate, an active profiling tool is rotatably connected to the fixed profiling seat; a mobile profiling seat is also slidably connected to the mounting plate, a driven profiling tool is rotatably connected to the mobile profiling seat, and the active profiling tool and the driven profiling tool are configured to match the workpiece.

[0009] The present invention is further configured as follows: the base is connected to the mounting plate via an axis drive to drive the mounting plate to rotate relative to the base; the active profiling tool is connected to the fixed profiling seat via a two-axis drive to drive the active profiling tool to rotate relative to the fixed profiling seat; the mobile profiling seat is connected to the mounting plate via a lead screw and a slider to drive the mobile profiling seat to slide along the direction of the lead screw.

[0010] The present invention also provides a complex curved surface grinding control system, which is applied to any of the complex curved surface grinding workstations described above, and comprises:

[0011] A control module for controlling the signal input and output of the system;

[0012] A control input module, whose output end is electrically connected to the input end of the control module so as to input a signal into the control module;

[0013] A driving unit, the output end of the control module is electrically connected to the driving unit, so as to output a control signal to the driving unit;

[0014] The execution unit is configured to drive the execution unit to operate based on the control signal.

[0015] The present invention is further configured to include a detection unit, which performs corresponding detection when the execution unit is working.

[0016] The present invention is further configured as follows: the drive unit includes the robotic arm, the one-axis drive, the two-axis drive, a grinding air valve, a quick-change solenoid valve, a safety solenoid valve and a grating controller; the execution unit includes two different complex surface grinding tools, the roughness detection tool, the thickness detection tool, a turntable one axis, a turntable two axes, a reciprocating file, the quick-change chuck, a safety door switch, and a start-stop switch; the detection unit includes a locking sensor and a release sensor.

[0017] The present invention is further configured as follows: it also includes an industrial computer, the input end of the industrial computer is electrically connected to the output end of the control module, the control module inputs a data signal to the industrial computer based on the input signal, the output end of the industrial computer is electrically connected to a display screen, and the display screen can display the corresponding data signal.

[0018] The present invention also provides a complex curved surface grinding method, which is processed by using the complex curved surface grinding control system as described above, and includes the following steps:

[0019] S1: Outputting a control signal to the safety solenoid valve through the control module, the safety solenoid valve controls the safety door switch to open based on the control signal, thereby opening the safety door, at which time the display screen will display a prompt for replacing the workpiece based on the data signal, and then the operator takes out the polished workpiece according to the prompt, and clamps the workpiece to be polished on the turntable fixture;

[0020] S2: After replacing the workpiece, the operator presses the button to confirm and leaves the working area. At the same time, the control module outputs a control signal to the grating controller. The grating controller detects whether there is someone in the working area based on the control signal. If there is someone, repeat step S2. If there is no one, proceed to the next step.

[0021] S3: The control module outputs a control signal to the robot arm, and the robot arm moves to the top of one of the complex surface grinding tools based on the control signal. The control module also outputs a control signal to the safety solenoid valve, and the safety solenoid valve drives the quick-change chuck to cooperate with the quick-change head based on the control signal. At the same time, the locking sensor detects the locking force between the two to ensure the stability of the cooperation between the two. At this time, the robot arm drives the complex surface grinding tool to grind and polish the large-area curved surface of the workpiece;

[0022] S4: After the large-area grinding and polishing of the workpiece is completed, the robotic arm returns the complex curved surface grinding tool to its original position, and drives the quick-change chuck and the quick-change head to loosen through the safety solenoid valve. At the same time, the loosening sensor detects the loosening force between the two to ensure that the two are completely loosened; then, step S3 is repeated to make the robotic arm cooperate with another complex curved surface grinding tool. At this time, the robotic arm drives the tool to grind the R angle, dead angle position and extended transition surface of the workpiece;

[0023] S5: After the R angle, dead angle and extended transition surface are polished, step S4 is repeated to reset the content of the complex curved surface polishing tool part, and the complex curved surface polishing tool is returned to its original position; then, step S3 is repeated to make the mechanical arm cooperate with the roughness detection tool, and at this time, the mechanical arm drives the roughness detection tool to perform roughness detection on the workpiece;

[0024] S6: After the roughness detection is completed, repeat step S4 to reset the content of the complex surface grinding tool part and return the roughness detection tool to its original position; then, repeat step S3 to make the mechanical arm cooperate with the thickness detection tool. At this time, the mechanical arm drives the thickness detection tool to perform thickness detection on the workpiece;

[0025] S7: After the thickness detection is completed, repeat step S4 to reset the content of the complex surface grinding tool part, and return the thickness detection tool to its original position. Then, the corresponding detection parameters will be input into the display screen in the form of data signals through the control module. If the roughness parameter and the thickness parameter do not meet the qualified requirements, repeat S3, S4, S5, and S6 until the roughness parameter and the thickness parameter meet the qualified requirements and enter the next step;

[0026] S8: The operator turns on the safety door switch, opens the safety door, takes out the polished workpiece, and puts in a new workpiece to be polished.

[0027] The present invention is further configured as follows: in step S1, the workpiece is first placed between the active profiling tooling and the driven profiling tooling, and then the movable profiling seat is moved toward the fixed profiling seat by rotating the lead screw, thereby reducing the distance between the active profiling tooling and the driven profiling tooling until the workpiece is clamped.

[0028] The present invention is further configured as follows: in steps S3, S4, S5, and S6, during large-area grinding and polishing, R angle, dead angle, extended transition surface grinding and polishing, roughness detection, and thickness detection, the two-axis drive drives the two axes of the turntable to rotate, and then the two axes of the turntable drive the active profiling tooling to rotate, so that the workpiece can achieve a 360° rotation; at the same time, in the above process, the reciprocating file can also be controlled to extend and retract by controlling the grinding air valve.

[0029] The beneficial effects of the present invention are:

[0030] 1. By designing arc-shaped tools, the purpose of processing most of the curved surfaces of aviation blades can be achieved. At the same time, by designing keyway-shaped tools, the R angles and dead angles of aviation blades can be polished and polished, and the complex curved surfaces can be further polished to make them more adaptable.

[0031] 2. By setting up an integrated workstation, all the processes of grinding and polishing can be integrated into the work box for automation, eliminating the tedious process of manual grinding and polishing. In addition, in conjunction with detection tools, the purpose of real-time detection of the workpiece after grinding and polishing can be achieved. That is, when the grinding and polishing is unqualified, it can be re-grinded and polished until it is qualified, further improving the accuracy of grinding and polishing and avoiding the problem of over-polishing.

[0032] 3. Through the control system, the workstation can be operated automatically, which can further automate the grinding and polishing of complex surfaces and greatly reduce the labor intensity of manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A structural schematic diagram of Example 1 is shown.

[0034] Figure 2 The figure shows the deformation of the tool disclosed in Example 1 when grinding a convex surface.

[0035] Figure 3 The deformation of the tool disclosed in Example 1 when grinding a concave surface is shown.

[0036] Figure 4 A structural schematic diagram of Example 2 is shown.

[0037] Figure 5 Shows Figure 4 Cross-sectional view in the AA direction.

[0038] Figure 6 The working condition of the tool disclosed in Example 2 during reciprocating grinding is shown.

[0039] Figure 7 The working condition of the tool disclosed in Example 2 during rotational grinding is shown.

[0040] Figure 8 The deformation of the tool disclosed in Example 2 during grinding is shown.

[0041] Fig. 9 A tool rack of the tool disclosed in Example 1 is shown.

[0042] Fig.10 A tool rack of the tool disclosed in Example 2 is shown.

[0043] Fig.11 A schematic diagram of the structure of the workstation is shown.

[0044] Fig.12 A schematic diagram of the structure of a tool quick change library is shown.

[0045] Fig.13 A schematic structural diagram of the turntable fixture is shown.

[0046] Fig.14 A schematic diagram of the control system is shown.

[0047] Fig.15 A flow chart of a grinding method is shown.

[0048] Figure numerals: 1. tool handle; 11. deformable sponge; 12. quick-change backing; 13. emery paper; 2. reciprocating file; 3. tool fixture; 31. quick-change head; 4. robotic arm; 5. tool quick-change library; 6. detection quick-change library; 7. turntable fixture; 71. base; 711. one-axis drive; 72. mounting plate; 73. fixed profiling seat; 731. two-axis drive; 7311. active profiling tool; 74. mobile profiling seat; 741. driven profiling tool; 8. working box; 81. safety door. DETAILED DESCRIPTION

[0049] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0050] Example 1

[0051] refer to Figure 1 This embodiment proposes a complex curved surface grinding tool, including a tool handle 1, one end of which is fixedly connected to a deformable sponge 11, and the deformable sponge 11 will produce a certain amount of deformation under the action of the extrusion force. The deformable sponge 11 is arranged in an arc shape away from the tool handle 1, and a corundum paper 13 is connected to the arc edge of the deformable sponge 11 through a quick-change backing velvet 12, and the detachable function of the corundum paper 13 can be realized through the quick-change backing velvet 12, that is, the quick-change backing velvet 12 is a Velcro, wherein the mother sticker is installed on the deformable sponge 11, and the child sticker is installed on the corundum paper 13, so that the corundum paper 13 can be quickly replaced.

[0052] By setting one side of the deformable sponge 11 to an arc shape, the emery paper 13 attached thereto can better fit the curved surface to be polished. At the same time, the deformation of the deformable sponge 11 when pressed down can also drive the emery paper 13 to deform accordingly, thereby making the emery paper 13 more consistent with the curved surface shape.

[0053] refer to Figure 2 , 3 , is the working posture of the tool disclosed in this embodiment, wherein the tool can be polished in the horizontal direction or in the direction of the tool handle 1 according to the polishing requirements when working, and the deformation of the tool when polishing the convex surface and the concave surface is also different, for specific reference Figure 2, when the tool is used to process the convex surface, the black part is the deformation produced, and the reference Figure 3 , is the deformation produced when the tool is used to process the concave surface, and the black part is the deformation produced according to the attached Figure 2 , 3 It can be seen from the content that the deformation that this tool can produce when grinding and polishing a convex surface or a concave surface can properly match the surface of the workpiece, so that the grinding and polishing accuracy can be higher. Figure 2 , 3 This tool can be used to grind and polish most curved surfaces, that is, the shaded areas in the figure can be polished and polished using this tool.

[0054] Example 2

[0055] refer to Figure 4 , 5 This embodiment discloses a complex curved surface grinding tool, including a tool handle 1, one end of which is fixedly connected to a deformable sponge 11, and the deformable sponge 11 will produce a certain amount of deformation under the action of the extrusion force. The cross section of the deformable sponge 11 is set to a keyway shape, the deformable sponge 11 is sleeved on one end of the tool handle 1, and the outer surface of the deformable sponge 11 is connected to a corundum paper 13 through a quick-change backing velvet 12, and the quick-change backing velvet 12 can realize the detachable function of the corundum paper 13, that is, the quick-change backing velvet 12 is a Velcro, wherein the mother sticker is installed on the deformable sponge 11, and the child sticker is installed on the corundum paper 13, so that the corundum paper 13 can be quickly replaced.

[0056] By setting the deformable sponge 11 to a keyway shape, the grinding and polishing of dead angles, R angles and extended transition surfaces can be achieved. At the same time, the deformation of the deformable sponge 11 when pressed down can also drive the emery paper 13 to deform accordingly, thereby enabling the emery paper 13 to better fit the shape of the grinding and polishing position.

[0057] refer to Figure 6 , 7 8, is the working posture of the tool disclosed in this embodiment, wherein the tool can be reciprocated along the direction of the tool handle 1 for grinding according to the grinding requirements, or can be rotated around the tool handle 1 for grinding, refer to Figure 8 This tool is used to process dead angles, R angles and extended transition surfaces. The black part is the deformation caused by it. Figure 8 It can also be seen from the content that when this tool is used to grind and polish dead angles and R angles, the deformation it can produce can properly match the surface of the workpiece, making the grinding and polishing accuracy higher. Figure 6This tool can also be used to grind and polish the extended transition surface, that is, the shaded area in the figure can be polished and polished using this tool.

[0058] Example 3

[0059] refer to Fig. 9 , 10 The present embodiment discloses a complex curved surface grinding tool holder, including the complex curved surface grinding tool as described in Embodiments 1 and 2, wherein a reciprocating file 2 is fixedly connected to one end of the tool handle 1 away from the deformable sponge 11. It should be noted that the reciprocating file 2 mentioned in the present application utilizes a disclosed conventional structure and only adopts its reciprocating handle structure, and does not include a file head. The file head is replaced by the complex curved surface grinding tool disclosed in the present application, that is, the reciprocating file 2 structure in the present application is used to realize the telescopic function of driving the complex curved surface grinding tool.

[0060] The end of the reciprocating file 2 facing away from the tool handle 1 is connected to a fixture 3 by bolts, and a quick-change head 31 is fixedly connected to the upper surface of the fixture 3 by bolts. The quick-change head 31 can cooperate with the quick-change chuck more quickly, thereby enabling the complex curved surface grinding tool holder to be quickly installed on an operating structure such as a robotic arm 4, and the complex curved surface grinding tool holder is driven by the operating structure to complete the grinding and polishing of the workpiece.

[0061] Example 4

[0062] refer to Fig.11 The present embodiment discloses a complex curved surface grinding workstation, including a work box 8, which is composed of a workbench and a box. The workbench is installed in the box, and a visual window and a safety door 81 are provided on the box. All grinding and polishing work is carried out in the box, which can prevent the debris generated during grinding from splashing onto personnel or other external objects.

[0063] A seven-degree-of-freedom robotic arm 4, a tool quick-change magazine 5, a detection quick-change magazine 6 and a turntable fixture 7 are installed in the working box 8, wherein the robotic arm 4 and the turntable fixture 7 are installed on the workbench, and the tool quick-change magazine 5 and the detection quick-change magazine 6 are both installed on the side walls of the box.

[0064] refer to Fig.12 There are two U-shaped notches on the tool quick-change library 5. The complex curved surface grinding tool rack described in Example 3 is supported in the U-shaped notch 1, that is, the two complex curved surface grinding tool racks corresponding to the two complex curved surface grinding tools are respectively arranged corresponding to the two U-shaped notches 1, and the quick-change head 31 is arranged upward to facilitate the robot arm 4 to grasp and install.

[0065] There are two U-shaped notches 2 on the detection quick-change magazine 6. It should be noted that the detection quick-change magazine 6 has the same structure as the tool quick-change magazine 5, but the U-shaped notches 2 on the detection quick-change magazine 6 are not limited to two. In this application, only two U-shaped notches 2 are used as an example. The specific number of notches can be adjusted accordingly according to actual usage.

[0066] The two U-shaped notches are respectively installed with a roughness detection tool and a thickness detection tool, wherein the roughness detection tool and the thickness detection tool are basically the same as the structure of the complex curved surface grinding tool holder, and the only difference is that the deformable sponge 11 at the front end of the tool handle 1 is replaced with a roughness sensor and a thickness sensor. Therefore, the roughness detection tool and the thickness detection tool are not described in detail here. The roughness detection tool and the thickness detection tool can realize the detection of the roughness and thickness of the workpiece.

[0067] The free end of the robot arm 4 is equipped with a quick-change chuck that is compatible with the quick-change head 31 through bolts, so that the robot arm 4 can be connected with two complex surface grinding tools, a roughness detection tool and a thickness detection tool through the quick-change head 31 and the quick-change chuck respectively, and then the robot arm 4 can drive them to the designated working position to perform corresponding work.

[0068] refer to Fig.13 The turntable fixture 7 includes a base 71, which is fixedly connected to the workbench by bolts, a mounting plate 72 is rotatably connected to the upper surface of the base 71, a fixed profiling seat 73 is fixedly connected to the mounting plate 72 by bolts, an active profiling tool 7311 is rotatably connected to the fixed profiling seat 73, and the active profiling tool 7311 is adapted to the workpiece to be polished. A mobile profiling seat 74 is also slidably connected to the upper surface of the mounting plate 72, and a driven profiling tool 741 is rotatably connected to the side surface of the mobile profiling seat 74 close to the fixed profiling seat 73, and the driven profiling tool 741 is also adapted to the workpiece, that is, the active profiling tool 7311 and the driven profiling tool 741 are mirror images of each other, and the active profiling tool 7311 and the driven profiling tool 741 can realize the clamping work of the workpiece.

[0069] The base 71 and the mounting plate 72 are connected via a shaft drive 711, and the shaft drive 711 uses a driving motor, that is, a turntable shaft is installed between the base 71 and the mounting plate 72, the turntable shaft is rotatably connected to the base 71, and the turntable shaft is fixedly connected to the mounting plate 72. The output end of the shaft drive 711 is connected to one end of the turntable shaft through a coupling, so that the turntable shaft is driven to rotate by the shaft drive 711, thereby achieving the purpose of rotating the mounting plate 72 relative to the base 71.

[0070] The active profiling tooling 7311 is connected to the fixed profiling seat 73 through a two-axis drive 731, and the two-axis drive 731 also uses a driving motor, that is, a turntable two-axis is installed between the active profiling tooling 7311 and the fixed profiling seat 73, the turntable two-axis is rotatably connected to the fixed profiling seat 73, the turntable two-axis is fixedly connected to the active profiling tooling 7311, and the output end of the two-axis drive 731 is connected to one end of the turntable two-axis through a coupling, thereby realizing the purpose of driving the turntable two-axis to rotate through the two-axis drive 731, and realizing the purpose of rotating the active profiling tooling 731 relative to the fixed profiling seat 73.

[0071] It should be noted that the movable profiling seat 74 is connected to the mounting plate 72 through a screw and a slider, that is, the two ends of the screw are rotatably connected to the mounting plate 72 through a fixed block, the slider is threadedly connected to the screw, and the movable profiling seat 74 is fixedly connected to the slider. Fig.13 The middle lead screw and the slider are both located in the corrugated protective cover. The end of the lead screw away from the fixed contoured seat 73 extends out of the corrugated protective cover and is equipped with a handwheel for adjusting the rotation of the lead screw. Since the lead screw and the slider are both purchased parts and are existing conventional drive structures, they will not be described in detail here.

[0072] The clamping process of the turntable fixture 7 is as follows: first, the hand wheel is rotated to drive the lead screw to rotate, so that the movable profiling seat 74 moves in a direction away from the fixed profiling seat 73, thereby increasing the distance between the active profiling tooling 7311 and the driven profiling tooling 741.

[0073] Secondly, place the workpiece to be ground and polished between the active profiling tooling 7311 and the driven profiling tooling 741, and place one end of the workpiece against the active profiling tooling 7311. Then, turn the handwheel again to drive the lead screw to rotate, so that the movable profiling seat 74 moves toward the direction close to the fixed profiling seat 73 until the driven profiling tooling 741 is against the other end of the workpiece and clamped.

[0074] Finally, after the workpiece is ground and polished, repeat the above steps, remove the processed workpiece, and replace it with a new workpiece to be ground and polished.

[0075] Example 5

[0076] refer to Fig.14This embodiment discloses a complex curved surface grinding control system, which is applied to the complex curved surface grinding workstation described in Example 4. It includes a control module, which uses a PLC programming controller, and the control module is used to control the signal input and output in the system. A control input module, whose output end is electrically connected to the input end of the control module, is used to input a signal into the control module. A drive unit, the output end of the control module is electrically connected to the drive unit, and the control module can output a corresponding control signal to the drive unit based on the input signal. An execution unit, the drive unit drives the execution unit to work based on the control signal.

[0077] It also includes a detection unit. When the execution unit executes the corresponding work, the detection unit can perform corresponding detection to ensure that the work of the execution unit can be carried out accurately.

[0078] The driving unit includes a robot arm 4, a first axis drive 711, a second axis drive 731, a grinding air valve, a quick-change solenoid valve, a safety solenoid valve, and a grating controller. The execution unit includes two different complex surface grinding tools, a roughness detection tool, a thickness detection tool, a turntable first axis, a turntable second axis, a reciprocating file 2, a quick-change chuck, a safety door 81 switch, and a start-stop switch, wherein the two complex surface grinding tools are the complex surface grinding tools disclosed in Examples 1 and 2, respectively. The detection unit includes a locking sensor and a release sensor.

[0079] It also includes an industrial computer, the input end of the industrial computer is electrically connected to the output end of the control module, the control module inputs a data signal to the industrial computer based on the input signal, the output end of the industrial computer is electrically connected to a display screen, and after the industrial computer processes the data signal, it can display the corresponding information on the display screen.

[0080] It should be noted that the roughness sensor on the roughness detection tool and the thickness sensor on the thickness detection tool are both connected to the control input module in communication, that is, they can be connected by wired communication or by Bluetooth wireless communication, so that the roughness signal and thickness signal detected by them can be transmitted into the control module. The locking sensor and the release sensor are also connected to the control input module in communication, that is, they can also be connected by wired or wireless methods, to ensure that their locking signal and release signal can also be transmitted to the control module. The output end of the grating controller is also connected to the control input module in communication, that is, they can also be connected by wired or wireless methods.

[0081] Description of the use process: First, regarding the replacement of tooling by the robot arm 4, the control module will first output a corresponding control signal to the robot arm 4 according to the situation. The tooling in this application includes two complex curved surface grinding tools and a roughness detection tool and a thickness detection tool, that is, the robot arm 4 that receives the control signal will move its free end to the top of the specified tooling, and then the control module will continue to output a control signal to the robot arm 4 to control the quick-change solenoid valve to open, and then the quick-change chuck will be matched with the quick-change head 31 on the corresponding tooling, and the quick-change solenoid valve will be closed. At this time, the locking sensor works at the same time to detect the locking force between the quick-change solenoid valve and the quick-change head 31, and transmit the locking signal to the control module to determine whether the quick-change chuck and the quick-change head 31 are locked. Similarly, when the robot arm 4 needs to replace the tooling, the release sensor will detect the release force between the quick-change solenoid valve and the quick-change head 31, and transmit the release signal to the control module to determine whether the quick-change chuck and the quick-change head 31 are released.

[0082] Secondly, regarding the mechanical arm 4 clamping the tooling to perform designated operations on the workpiece, that is, when the mechanical arm 4 cooperates with different tooling, the corresponding workpiece cannot be operated. For example, when it cooperates with two complex curved surface grinding tools, it realizes the grinding and polishing of the workpiece, and when it cooperates with the roughness detection tool and the back-end detection tool, it is used to realize the detection process of the roughness and thickness of the workpiece. At the same time, it should be noted that during the detection process, the parameters detected by the corresponding sensor will be transmitted to the control module through the control input module, and then the control module will upload the parameters to the industrial computer, and the industrial computer will analyze and process the parameters to determine whether the roughness and thickness are qualified, so as to determine whether the workpiece needs to be reprocessed.

[0083] Third, regarding the control of the turntable fixture 7, when the workpiece is being ground, polished and inspected, the control module will output control signals to the one-axis drive 711 and the two-axis drive 731. Based on the control signals, the one-axis drive 711 and the two-axis drive 731 make corresponding actions and drive the one-axis and the two-axis of the turntable to work, thereby ensuring that the workpiece can be rotated 360° during the grinding, polishing and inspection process, ensuring that the grinding, polishing and inspection of the workpiece can be more comprehensive.

[0084] Fourthly, regarding the action of the reciprocating file 2 during grinding and polishing, during grinding and polishing, some positions need to be reciprocated along the direction of the tool handle 1. At this time, the control module will output a control signal to the reciprocating file 2, and the reciprocating file 2 starts working based on the control signal and moves back and forth, thereby achieving the purpose of reciprocating grinding.

[0085] Fifth, regarding the safety door 81 and the start and stop of the device, when the workpiece needs to be replaced, the operator needs to manually press the switch to make the control module output a control signal to the safety solenoid valve, and the safety solenoid valve controls the safety door 81 switch to open based on the control signal, thereby opening the safety door 81. At the same time, after pressing the switch, the control unit will also input a corresponding data signal to the industrial computer, and the industrial computer can display a prompt for replacing the workpiece on the display screen based on the data signal. After the safety door 81 is opened, the operator can manually control the turntable fixture 7 to achieve the purpose of replacing the workpiece.

[0086] When the workpiece is replaced, the safety door 81 is manually closed, and the operator needs to stay away from the working area. After closing the safety door 81, the control module will output a control signal to the grating controller. The grating controller detects whether there is someone in the working area based on the control signal, and transmits the detection signal to the control module to determine whether the start-stop switch is turned on.

[0087] Example 6

[0088] refer to Fig.15 This embodiment discloses a complex curved surface grinding method, which is processed by using the complex curved surface grinding system described in Example 5, and includes the following steps:

[0089] S1: The control module outputs a control signal to the safety solenoid valve, and the safety solenoid valve controls the safety door 81 to open based on the control signal, thereby opening the safety door 81. At this time, the display screen will display a prompt for replacing the workpiece based on the data signal, and then the operator will take out the polished workpiece according to the prompt and clamp the workpiece to be polished on the turntable fixture 7;

[0090] S2: After replacing the workpiece, the operator presses the button to confirm closing the safety door 81 and stays away from the working area. At the same time, the control module outputs a control signal to the grating controller. The grating controller detects whether there is someone in the working area based on the control signal. If there is someone, repeat step S2. If there is no one, proceed to the next step.

[0091] S3: The control module outputs a control signal to the robot arm 4, and the robot arm 4 moves to the top of one of the complex curved surface grinding tools based on the control signal, that is, the complex curved surface grinding tool disclosed in Example 1. The control module also outputs a control signal to the safety solenoid valve, and the safety solenoid valve drives the quick-change chuck to cooperate with the quick-change head 31 based on the control signal. At the same time, the locking sensor detects the locking force between the two to ensure the stability of the cooperation between the two; at this time, the robot arm 4 drives the complex curved surface grinding tool to grind and polish the large-area curved surface of the workpiece;

[0092] S4: After the large-area grinding and polishing of the workpiece is completed, the robot arm 4 returns the complex curved surface grinding tool to its original position, and drives the quick-change chuck and the quick-change head 31 to loosen through the safety solenoid valve. At the same time, the loosening sensor detects the loosening force between the two to ensure that the two are completely loosened; then, step S3 is repeated to make the robot arm 4 cooperate with another complex curved surface grinding tool, that is, the complex curved surface grinding tool disclosed in Example 2. At this time, the robot arm 4 drives the complex curved surface grinding tool to grind and polish the R angle, dead angle position and extended transition surface of the workpiece;

[0093] S5: After the R angle, dead angle and extended transition surface are polished, step S4 is repeated to reset the complex surface polishing tool part and return the complex surface polishing tool to its original position; then step S3 is repeated to make the robot arm 4 cooperate with the roughness detection tool. At this time, the robot arm 4 drives the roughness detection tool to perform roughness detection on the workpiece;

[0094] S6: After the roughness detection is completed, repeat step S4 to reset the complex surface grinding tool part and return the roughness detection tool to its original position; then, repeat step S3 to make the robot arm 4 cooperate with the thickness detection tool. At this time, the robot arm 4 drives the thickness detection tool to perform thickness detection on the workpiece;

[0095] S7: After the thickness detection is completed, repeat step S4 to reset the content of the complex surface grinding tool part, and return the thickness detection tool to its original position. Then, the corresponding detection parameters (i.e., roughness parameters and thickness parameters) will be input into the display screen in the form of data signals through the control module. If the roughness parameters and thickness parameters do not meet the qualified requirements, repeat steps S3, S4, S5, and S6 until the roughness parameters and thickness parameters meet the qualified requirements and proceed to the next step;

[0096] S8: The operator turns on the switch of the safety door 81, opens the safety door 81, takes out the polished workpiece, and puts in a new workpiece to be polished.

[0097] In step S1, the workpiece is first placed between the active profiling tooling 7311 and the driven profiling tooling 741, and then the hand wheel is turned to drive the lead screw to rotate, so that the movable profiling seat 74 moves toward the fixed profiling seat 73, thereby reducing the distance between the active profiling tooling 7311 and the driven profiling tooling 741 until the workpiece is clamped.

[0098] During the large-area grinding and polishing, R-angle, dead angle, extended transition surface grinding and polishing, roughness detection and thickness detection in steps S3, S4, S5 and S6, the two-axis drive 731 drives the two axes of the turntable to rotate, and then the two axes of the turntable drive the active profiling tooling 7311 to rotate, so that the workpiece can achieve a 360° rotation; at the same time, in the above process, the extension and retraction of the reciprocating file 2 can also be controlled by controlling the grinding air valve, thereby satisfying the reciprocating movement of the complex curved surface grinding tool.

[0099] In summary, the present invention can achieve the purpose of processing most of the curved surfaces of aviation blades by designing arc-shaped tools. At the same time, by designing keyway-shaped tools, it can achieve the grinding and polishing of the R angle and dead angle of aviation blades, and further achieve the grinding and polishing of complex curved surfaces, making it more adaptable. By setting an integrated workstation, it can be achieved that all the processes of grinding and polishing are integrated into the work box for automatic completion, eliminating the cumbersome process of manual grinding and polishing, and in conjunction with the detection tool, the purpose of real-time detection of the workpiece after grinding and polishing is achieved, that is, when the grinding and polishing is unqualified, it can be re-grinded and polished until it is qualified, further improving the accuracy of grinding and polishing, and avoiding the problem of over-polishing. Through the control system, the automatic operation of the workstation can be achieved, and the grinding and polishing work of complex curved surfaces can be further automated, greatly reducing the labor intensity of manual labor.

[0100] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0101] In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0102] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0103] The term "comprise" or any other similar term is intended to cover a non-exclusive inclusion, such that a process, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article, or apparatus / device.

[0104] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A complex curved surface grinding workstation, characterized by: The invention comprises a working box (8), wherein a seven-degree-of-freedom mechanical arm (4), a tool quick-change magazine (5), a detection quick-change magazine (6) and a turntable fixture (7) are arranged in the working box (8); the tool quick-change magazine (5) is provided with at least two U-shaped notches 1, and a complex curved surface grinding tool rack is supported in the U-shaped notch 1, and the complex curved surface grinding tool rack comprises a tool fixture (3), a quick-change head (31) is installed on the upper surface of the tool fixture (3), and the tool fixture (3) is supported in the U-shaped notch 1; the turntable fixture The tool (7) comprises a base (71), a mounting plate (72) being rotatably connected to the base (71), a fixed profiling seat (73) being fixedly connected to the mounting plate (72), an active profiling tool (7311) being rotatably connected to the fixed profiling seat (73); a movable profiling seat (74) being slidably connected to the mounting plate (72), a driven profiling tool (741) being rotatably connected to the movable profiling seat (74), the active profiling tool (7311) and the driven profiling tool (741) being arranged to match the workpiece.

2. The complex curved surface grinding workstation according to claim 1, characterized in that: The detection quick-change library (6) is provided with no less than two U-shaped notches 2, and detection tools are supported in the U-shaped notches 2. The detection tools include a roughness detection tool and a thickness detection tool, which are used to detect the roughness and thickness of the workpiece respectively.

3. The complex curved surface grinding workstation according to claim 2, characterized in that: A quick-change chuck matching the quick-change head (31) is mounted on the free end of the mechanical arm (4).

4. The complex curved surface grinding workstation according to claim 3, characterized in that: The base (71) is connected to the mounting plate (72) via a single-axis drive (711) for driving the mounting plate (72) to rotate relative to the base (71); the active profiling tool (7311) is connected to the fixed profiling seat (73) via a dual-axis drive (731) for driving the active profiling tool (7311) to rotate relative to the fixed profiling seat (73); and the movable profiling seat (74) is connected to the mounting plate (72) via a lead screw and a slider for driving the movable profiling seat (74) to slide along the lead screw direction.

5. A complex curved surface grinding control system, applied to the complex curved surface grinding workstation as claimed in claim 4, characterized in that: Included are: A control module for controlling the signal input and output of the system; A control input module, whose output end is electrically connected to the input end of the control module so as to input a signal into the control module; A driving unit, the output end of the control module is electrically connected to the driving unit, so as to output a control signal to the driving unit; The execution unit is configured to drive the execution unit to operate based on the control signal.

6. The complex curved surface grinding control system according to claim 5, characterized in that: It also includes a detection unit, which performs corresponding detection when the execution unit is working.

7. The complex curved surface grinding control system according to claim 6, characterized in that: The drive unit comprises the robot arm (4), the first axis drive (711), the second axis drive (731), a grinding air valve, a quick-change solenoid valve, a safety solenoid valve and a grating controller; the execution unit comprises two different complex surface grinding tools, the roughness detection tool, the thickness detection tool, the first axis of the turntable, the second axis of the turntable, a reciprocating file (2), the quick-change chuck, a safety door (81) switch, and a start-stop switch; the detection unit comprises a locking sensor and a release sensor.

8. The complex curved surface grinding control system according to claim 7, characterized in that: It also includes an industrial computer, the input end of the industrial computer is electrically connected to the output end of the control module, the control module inputs a data signal to the industrial computer based on the input signal, the output end of the industrial computer is electrically connected to a display screen, and the display screen can display the corresponding data signal.

9. A complex curved surface grinding method, using the complex curved surface grinding control system as claimed in claim 8 for processing, characterized in that: The following steps are involved: S1: Outputting a control signal to the safety solenoid valve through the control module, the safety solenoid valve controls the switch of the safety door (81) to open based on the control signal, thereby opening the safety door (81), at which time a prompt for replacing the workpiece is displayed on the display screen based on the data signal, and then the operator takes out the polished workpiece according to the prompt and clamps the workpiece to be polished onto the turntable fixture (7); S2: After replacing the workpiece, the operator presses the button to confirm and leaves the working area. At the same time, the control module outputs a control signal to the grating controller. The grating controller detects whether there is someone in the working area based on the control signal. If there is someone, repeat step S2. If there is no one, proceed to the next step. S3: the control module outputs a control signal to the robot arm (4), and the robot arm (4) moves to the top of one of the complex curved surface grinding tools based on the control signal. The control module also outputs a control signal to the safety solenoid valve, and the safety solenoid valve drives the quick-change chuck to cooperate with the quick-change head (31) based on the control signal. At the same time, the locking sensor detects the locking force between the two to ensure the stability of the cooperation between the two. At this time, the robot arm (4) drives the complex curved surface grinding tool to grind and polish the large-area curved surface of the workpiece; S4: After the large-area grinding and polishing of the workpiece is completed, the robot arm (4) returns the complex curved surface grinding tool to its original position, and drives the quick-change chuck and the quick-change head (31) to loosen through the safety solenoid valve. At the same time, the loosening sensor detects the loosening force between the two to ensure that the two are completely loosened; then, step S3 is repeated to make the robot arm (4) cooperate with another complex curved surface grinding tool. At this time, the robot arm (4) drives the complex curved surface grinding tool to grind the R angle, dead angle position and extended transition surface of the workpiece; S5: After the R angle, dead angle and extended transition surface are polished, step S4 is repeated to reset the content of the complex curved surface polishing tool part, and the complex curved surface polishing tool is returned to its original position; then, step S3 is repeated to make the mechanical arm (4) cooperate with the roughness detection tool. At this time, the mechanical arm (4) drives the roughness detection tool to perform roughness detection on the workpiece; S6: After the roughness detection is completed, step S4 is repeated to reset the content of the complex curved surface grinding tool part, and the roughness detection tool is returned to its original position; then, step S3 is repeated to make the mechanical arm (4) cooperate with the thickness detection tool. At this time, the mechanical arm (4) drives the thickness detection tool to perform thickness detection on the workpiece; S7: After the thickness detection is completed, repeat step S4 to reset the content of the complex surface grinding tool part, and return the thickness detection tool to its original position. Then, the corresponding detection parameters will be input into the display screen in the form of data signals through the control module. If the roughness parameter and the thickness parameter do not meet the qualified requirements, repeat S3, S4, S5, and S6 until the roughness parameter and the thickness parameter meet the qualified requirements and enter the next step; S8: The operator turns on the switch of the safety door (81), opens the safety door (81), takes out the polished workpiece, and puts in a new workpiece to be polished.

10. The complex curved surface grinding method according to claim 9, characterized in that: In step S1, the workpiece is first placed between the active profiling tooling (7311) and the driven profiling tooling (741), and then the lead screw is rotated to move the movable profiling seat (74) toward the fixed profiling seat (73), thereby reducing the distance between the active profiling tooling (7311) and the driven profiling tooling (741) until the workpiece is clamped.

11. The complex curved surface grinding method according to claim 9, characterized in that: In the process of large-area grinding and polishing, R angle, dead angle, extended transition surface grinding and polishing, roughness detection and thickness detection in steps S3, S4, S5 and S6, the two-axis drive (731) drives the two axes of the turntable to rotate, and then the two axes of the turntable drive the active profiling tooling (7311) to rotate, so that the workpiece can achieve 360° rotation; at the same time, in the above process, the reciprocating file (2) can be controlled to extend and retract by controlling the grinding air valve.

Images