CN118024096A - An online measurement, grinding, polishing and final inspection integrated robot processing system and method - Google Patents

An online measurement, grinding, polishing and final inspection integrated robot processing system and method Download PDF

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Publication number
CN118024096A
CN118024096A CN202311626651.7A CN202311626651A CN118024096A CN 118024096 A CN118024096 A CN 118024096A CN 202311626651 A CN202311626651 A CN 202311626651A CN 118024096 A CN118024096 A CN 118024096A
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CN
China
Prior art keywords
workpiece
polishing
final inspection
grinding
abrasive belt
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311626651.7A
Other languages
Chinese (zh)
Inventor
赵欢
周浩源
梁秀权
李祥飞
赵宏基
袁惯喆
丁汉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huazhong University of Science and Technology
Original Assignee
Huazhong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huazhong University of Science and Technology filed Critical Huazhong University of Science and Technology
Priority to CN202311626651.7A priority Critical patent/CN118024096A/en
Publication of CN118024096A publication Critical patent/CN118024096A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
    • B24B21/165—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape for vanes or blades of turbines, propellers, impellers, compressors and the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/06—Work supports, e.g. adjustable steadies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines
    • B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

本发明公开了一种在线测量磨抛终检一体化机器人加工系统及方法，系统包括与总控装置通信连接的机器人磨抛工作站、工件中转站、终检工作站；机器人磨抛工作站包括线激光在线检测机构、全特征力‑转速协同加工机构、全特征砂带磨抛机构、工业机器人、上料单元；上料单元上设有与工件配套的零点工装；工件中转站包括中转固定板、中转门、中转站夹爪、中转放料台；通过总控装置控制全特征力‑转速协同加工机构和全特征砂带磨抛机构对复杂曲面工件进行全特征精准磨抛，通过线激光在线检测机构对工业机器人夹持的工件在线检测，并计算调整加工工艺参数，采用三坐标测量仪对工件进行终检，实现复杂曲面工件的全特征高效率磨抛。

The invention discloses an online measurement, grinding, polishing and final inspection integrated robot processing system and method. The system comprises a robot grinding and polishing workstation, a workpiece transfer station and a final inspection workstation which are communicatively connected to a master control device; the robot grinding and polishing workstation comprises a line laser online detection mechanism, a full-feature force-speed coordinated processing mechanism, a full-feature abrasive belt grinding and polishing mechanism, an industrial robot and a feeding unit; the feeding unit is provided with a zero-point tooling matched with the workpiece; the workpiece transfer station comprises a transfer fixing plate, a transfer door, a transfer station clamping claw and a transfer unloading table; the full-feature force-speed coordinated processing mechanism and the full-feature abrasive belt grinding and polishing mechanism are controlled by the master control device to perform full-feature precise grinding and polishing on complex curved surface workpieces, the line laser online detection mechanism is used to perform online detection on the workpiece clamped by the industrial robot, and the processing parameters are calculated and adjusted, a three-coordinate measuring instrument is used to perform final inspection on the workpiece, and full-feature high-efficiency grinding and polishing of complex curved surface workpieces is achieved.

Description

Online measurement polishing final inspection integrated robot machining system and method
Technical Field
The invention belongs to the technical field of robot processing, and particularly relates to an online measurement polishing final inspection integrated robot processing system and method.
Background
In an aeroengine, gas turbine or steam turbine, a blade-like part is a core part in which gas compression and expansion are completed to generate strong power, and its surface quality and profile accuracy have a great influence on the overall aerodynamic performance and usability. And the grinding and polishing are the last process of blade processing, determine the final contour precision and surface quality of the blade, and relate to the final thrust and service life of the engine. The engine blade part has the characteristics of complex curved surface and changeable curvature.
At present, the grinding and polishing of engine blade parts mainly takes manpower as a main part, the efficiency is low, the grinding and polishing quality cannot be ensured, the processing environment is bad, and automatic grinding and polishing equipment is adopted to replace the manual grinding and polishing, so that the efficiency can be improved, and the grinding and polishing quality can be ensured. Automated polishing equipment in the corresponding field is developed but still not popularized. The automatic grinding and polishing equipment for the complex curved surface blade parts mainly comprises a numerical control special machine and a robot grinding and polishing system, wherein the numerical control special machine is evolved from the traditional numerical control machining, and a multi-axis numerical control machine tool is often used as a carrier, and an abrasive belt or a grinding wheel is used as a main grinding and polishing tool; the robot polishing system mainly comprises two modes, wherein a robot clamps the blade to polish on a polishing machine, and a polishing tool is arranged at the tail end of the robot to polish the fixed blade. Currently, the European and American manufacturing countries have outstanding results in the development of automatic processing equipment of complex curved blades, such as a six-axis linkage abrasive belt grinding machine tool for blades developed in 1986 by German Metabo company, and a high-precision robot grinding system developed by Canada AV & R company realizes the grinding and polishing processing of each characteristic of the complex curved blades of aviation. Meanwhile, a domestic robot grinding and polishing system is developed rapidly, a robot processing system is developed through Langfang intelligent, and a plurality of procedures such as rough grinding and fine grinding of blades can be realized.
However, the related blade grinding and polishing equipment on the market at present has some problems in processing the blade parts with complex curved surfaces. Because the removal allowance of the complex curved surface blade parts is uneven, an accurate material removal model is often required to be obtained through measurement, and further the process parameter generation is guided to realize high-precision grinding, but a commercially visible abrasive belt machine can generally only detect a planned track offline and then grind, and errors possibly existing in the machining process cannot be controlled. However, the complex curved surface blade type parts with small and uneven removal amount need to be measured on the machined model of the same curvature surface in the machining process so as to determine the next grinding process parameters and further ensure the grinding quality. The profile of the blade part with the complex curved surface is complex to change, and the requirements of different characteristics on the polishing tool are also different.
Therefore, a processing system capable of detecting and calculating and adjusting processing technological parameters on line in real time, having a polishing end matched with the appearance characteristics of a complex curved surface workpiece, and realizing one-step processing and forming while guaranteeing polishing quality of the complex curved surface workpiece is needed.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a blade part measurement grinding and polishing integrated robot processing system and method, which are used for grinding and polishing complex curved surface parts, integrate a full-characteristic force-rotating speed cooperative processing mechanism, a full-characteristic abrasive belt grinding and polishing mechanism, a line laser online detection mechanism and a three-coordinate measuring instrument into a whole, realize full-characteristic accurate grinding and polishing of complex curved surface parts through the full-characteristic force-rotating speed cooperative processing mechanism and the full-characteristic abrasive belt grinding and polishing mechanism, realize online detection of a robot clamping blade through the line laser online detection mechanism, realize online real-time detection in the processing process, calculate and adjust processing technological parameters, effectively avoid overgrinding and undergrinding and realize one-time processing and forming while guaranteeing the grinding and polishing quality of complex curved surface blade parts; the three-coordinate measurement is adopted for final inspection, multiple times of part clamping are not needed for detection, multiple times of part clamping errors can be effectively reduced, and the processing efficiency is improved; the problem that full-feature high-efficiency grinding and polishing cannot be achieved by the existing robot blade grinding and polishing technology can be solved.
In order to achieve the above purpose, one aspect of the present invention provides an on-line measurement polishing and final inspection integrated robot processing system, which comprises a master control device, a robot polishing workstation, a workpiece transfer station and a final inspection workstation, wherein the robot polishing workstation is in communication connection with the master control device and is used for measuring a process of a complex curved surface workpiece, calibrating a workpiece coordinate system and polishing all features of the workpiece, and the workpiece transfer station is used for assisting an industrial robot to clamp the workpiece; wherein,
The final inspection workstation comprises a three-coordinate measuring instrument and a workpiece transmission guide rail, wherein the three-coordinate measuring instrument is used for quality inspection of the workpiece processed by the robot polishing workstation; the robot polishing workstation comprises a line laser online detection mechanism, a full-characteristic force-rotating speed cooperative machining mechanism, a full-characteristic abrasive belt polishing mechanism, an industrial robot and a feeding unit; the feeding unit is provided with a plurality of zero-point tools matched with the workpiece; the workpiece transfer station comprises a transfer fixing plate, a transfer door, a transfer station clamping jaw and a transfer discharging table;
And the total control device controls the full-characteristic force-rotating speed cooperative machining mechanism and the full-characteristic abrasive belt grinding and polishing mechanism to carry out full-characteristic accurate grinding and polishing on the workpiece with the complex curved surface, the line laser on-line detection mechanism is used for carrying out on-line detection on the workpiece clamped by the industrial robot, calculating and adjusting machining process parameters, and adopting the three-coordinate measuring instrument to carry out final inspection on the workpiece so as to realize full-characteristic high-efficiency grinding and polishing on the workpiece with the complex curved surface.
Further, the robot polishing workstation and the workpiece transfer station are arranged in a polishing chamber; the final inspection workstation is arranged in the detection chamber;
the polishing chamber and the detection chamber are arranged on the base; the polishing chamber and the detection chamber are separated by a transfer fixing plate;
The polishing chamber and the detection chamber are of closed structures.
Further, the line laser online detection mechanism is arranged at the top of the polishing chamber and used for measuring and positioning the blade workpiece in the process and comprises a first laser measuring instrument, a second laser measuring instrument, a third laser measuring instrument and a fourth laser measuring instrument;
the first laser measuring instrument and the second laser measuring instrument are arranged at an included angle of 90 degrees, and the view field is increased to 270 degrees; the third laser measuring instrument and the fourth laser measuring instrument are arranged oppositely;
And measuring and positioning the workpiece by the first laser measuring instrument, the second laser measuring instrument, the third laser measuring instrument and the fourth laser measuring instrument, transmitting the result to the master control device, and generating processing technological parameters and a polishing path by the master control device through an algorithm.
Further, the workpiece and the zero tool jointly form a workpiece rigid connection assembly; the zero tool comprises a clamp, a positioning groove arranged at the top of the clamp and a positioning pin arranged at the bottom of the clamp;
The clamp is provided with a retention hole which is matched with the clamping jaw of the transfer station;
The positioning groove is matched with the workpiece;
The locating pin is matched with a zero point quick-change locating interface on the industrial robot.
Further, a polishing workstation base is arranged at the bottoms of the industrial robot, the feeding unit and the transferring and discharging platform;
The feeding unit comprises a feeding table and a plurality of material boxes arranged on the feeding table;
The polishing work station base is arranged on the base.
Further, a first dust adsorption device and a second dust adsorption device are further arranged on the base of the polishing workstation.
Further, the outlet ends of the first dust adsorption device and the second dust adsorption device are connected with a dust collector.
Further, the second dust adsorption device top is equipped with abrasive band mounting panel.
Further, the full-characteristic force-rotating speed cooperative machining mechanism comprises a first grinding wheel grinding and polishing module and a second grinding wheel grinding and polishing module which are arranged at the top of the first dust adsorption device;
the first grinding wheel polishing module comprises a first force control device and a first polishing end connected with the first force control device; the second grinding wheel polishing module comprises a second force control device and a second polishing end connected with the second force control device;
the first force control device and the second force control device are respectively connected with the master control device.
Further, the full-characteristic abrasive belt polishing mechanism comprises a third force control device arranged on the side surface of the abrasive belt mounting plate, and a first abrasive belt contact wheel, an abrasive belt, a second abrasive belt contact wheel and an abrasive belt which are connected with the third force control device;
The first abrasive belt contact wheel, the abrasive belt, the second abrasive belt contact wheel and the abrasive belt are arranged in parallel at intervals and staggered along the side surface of the abrasive belt mounting plate from top to bottom;
The third force control device is connected with the master control device;
the first abrasive belt contact wheel and the abrasive belt are used for rough grinding of the workpiece, and the second abrasive belt contact wheel and the abrasive belt are used for fine grinding of the workpiece;
The first abrasive belt contact wheel, the abrasive belt, the second abrasive belt contact wheel and the abrasive belt are driven by the same motor.
Further, a guide rail mounting seat for supporting the workpiece transmission guide rail is also arranged on the grinding and polishing workstation base;
the guide rail mounting seat is positioned in the polishing chamber; one end of the workpiece transmission guide rail is positioned in the polishing chamber, and the other end of the workpiece transmission guide rail is positioned in the detection chamber;
and the workpiece transmission guide rail is provided with a workpiece transmission sliding block matched with the positioning pin on the zero tool.
Further, the transfer door is arranged on the transfer fixing plate;
The transfer door can accommodate the workpiece conveying guide rail and the workpiece rigid connection assembly and is communicated with the final inspection workstation.
Further, the transfer door is a telescopic door and is opened only when the workpiece is transported from the polishing room to the detection room.
Further, the transfer station clamping jaw is arranged on the transfer fixing plate and is positioned above the transfer door.
Further, a damping groove is arranged on the base at the periphery of the three-coordinate measuring instrument.
The invention also provides an online measurement polishing final inspection integrated robot processing method, which is realized by applying the online measurement polishing final inspection integrated robot processing system, and comprises the following steps:
S1, placing a plurality of workpieces on a feeding table, and matching the workpieces with a zero tool of a feeding box of the feeding table to form a plurality of workpiece rigid connection assemblies;
s2, starting a master control device, controlling the industrial robot to clamp the workpiece rigid connection assembly and move the workpiece rigid connection assembly to a workpiece transfer station for azimuth adjustment, enabling the lower surface of the workpiece rigid connection assembly to face upwards, enabling a locating pin on a zero tool to be exposed, and controlling the industrial robot to act, so that a zero quick-change locating interface on the industrial robot and the locating pin can be subjected to zero quick-change;
s3, moving the industrial robot to a line laser on-line detection mechanism with the workpiece rigid connection assembly, performing process measurement and calibrating a workpiece coordinate system, transmitting a measurement result to a master control device by the line laser on-line detection mechanism, and generating processing technological parameters and a polishing path by the master control device through an algorithm;
s4, starting a full-characteristic force-rotating speed cooperative machining mechanism and a full-characteristic abrasive belt grinding and polishing mechanism, and carrying out full-characteristic grinding on the workpiece according to the machining process parameters and the grinding and polishing path;
S5, after the full-feature polishing of the workpiece is finished, the industrial robot returns the workpiece rigid connection assembly to the workpiece transfer station again for azimuth adjustment, so that the workpiece is returned to the original position, and the workpiece is clamped and placed to the transfer station discharging table through the industrial robot after adjustment; then, clamping the workpiece by an industrial robot, placing the workpiece on a workpiece transmission guide rail leading to a final inspection workstation, and moving a workpiece transmission slide block on the workpiece transmission guide rail to the final inspection workstation for final inspection;
S6, performing final inspection on the workpiece through a three-coordinate measuring instrument of the final inspection workstation, and judging whether the workpiece is qualified or not; if the processing flow is qualified, ending the processing flow; if the segment is unqualified, judging whether the segment is overground or not; if the grinding is carried out, the waste products are treated; if the grinding is not performed, repeating the steps S3 to S5.
Further, performing the final inspection on the workpiece by the three-coordinate measuring machine of the final inspection workstation in step S6 includes: if the first workpiece in the material box is qualified after being processed and the second workpiece is also qualified after being processed, the rest workpieces in the material box are considered to be qualified and the measurement is not continued;
if the first workpiece in the material box is qualified and the second workpiece is unqualified, continuing to measure until the next qualified workpiece appears, and considering that the first two qualified workpieces and the rest of the workpieces are all qualified;
if the first workpiece in the material box is unqualified and the second workpiece is qualified, continuing to measure until the next qualified workpiece appears, and considering that the first two qualified workpieces and the rest of the workpieces are all qualified;
if the first workpiece in the material box is unqualified and the second workpiece is unqualified, the rest workpieces in the material box are considered to be unqualified.
Further, performing the final inspection on the workpiece by the three-coordinate measuring machine of the final inspection workstation in step S6 includes: performing final inspection on one workpiece in the random material drawing box, and if the workpiece is qualified, completely qualified all other workpieces in the material drawing box; if the product is unqualified, the product needs to be inspected one by one, whether the product is overground or not is judged, and if the product is overground, the product is waste; and if the polishing is not overground, polishing is performed again.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
1. According to the online measurement polishing final inspection integrated robot processing system, the full-characteristic abrasive belt polishing mechanism is combined with online detection of the line laser, and the final inspection is performed by adopting a three-coordinate measuring instrument; the grinding and polishing quality of the part processing can be effectively improved through online real-time detection and calculation and adjustment of the processing technological parameters in the workpiece processing process, overgrinding and undergrinding and polishing are avoided, one-time processing and forming are realized, and meanwhile, the grinding and polishing quality of the blade part with a complex curved surface is ensured; the machining efficiency and the machining quality of the complex curved surface blade part are improved.
2. According to the online measurement grinding and polishing final inspection integrated robot machining system, the full-characteristic force-rotating speed cooperative machining mechanism and the line laser online detection device are combined, the full-characteristic force-rotating speed cooperative machining mechanism can achieve full-characteristic accurate grinding and polishing of complex curved surface parts, the robot clamping blades are combined for online detection of machining, process machining technological parameter guidance is provided, multiple clamping parts are not required to be detected, multiple clamping part errors can be effectively reduced, and machining efficiency is improved.
3. The invention discloses an on-line measurement polishing final inspection integrated robot processing system, which divides a final inspection three-coordinate measurement and polishing processing belt sander and a line laser device into a detection chamber and a polishing chamber. The transfer and position calibration of the blade parts are realized through the transfer table and the triaxial transfer module, and the transfer is realized in the detection chamber and the polishing chamber through the telescopic door, so that the cleanliness of the polishing chamber is kept, and the precision of three-coordinate detection is ensured.
4. According to the online measurement polishing final inspection integrated robot processing system, the polishing chamber and the detection chamber are both arranged in a closed structure, so that the influence of noise and dust environment can be effectively reduced; meanwhile, the polishing chamber and the detection chamber can be installed separately and used independently, so that the flexibility is high.
5. According to the on-line measurement polishing final inspection integrated robot machining system, the dust adsorption devices are arranged at the bottoms of the full-characteristic force-rotating speed cooperative machining mechanism and the full-characteristic abrasive belt polishing mechanism, metal dust generated by machining is adsorbed on the base of the polishing workstation through electrostatic adsorption, and then the dust is pumped out of the polishing chamber through the dust collector, so that the environmental cleaning of the polishing chamber is ensured, and the influence on machining precision is avoided.
6. According to the online measurement, grinding and polishing final inspection integrated robot machining system, the feeding table and the transferring and discharging table are arranged in the grinding chamber, the material box is directly arranged on the feeding table, a plurality of blade workpieces are simultaneously arranged in one material box, one-time feeding is realized, a plurality of blades are machined, manual repeated feeding is not needed, and the machining efficiency is improved; meanwhile, the clamping precision is improved and the processing quality is ensured by positioning the material box and the tail end clamp of the robot.
During operation, the industrial robot 24 grabs the workpiece rigid connection assembly through the mechanical clamping jaw thereof, moves the workpiece 5 to the workpiece transfer station 3, and realizes accurate control of the blade polishing position in a mode that the zero point quick-change positioning interface of the industrial robot 24 is connected with the positioning pin
Drawings
FIG. 1 is a schematic side view of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an internal structure of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the present invention;
fig. 3 is an enlarged schematic structural diagram of a robot polishing workstation and a workpiece transfer station of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a blade workpiece structure of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the present invention;
Fig. 5 is a schematic diagram of a zero point tooling structure of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram showing an installation position of a line laser on-line detection mechanism of an on-line measurement polishing final inspection integrated robot processing system in a polishing chamber according to an embodiment of the present invention;
FIG. 7 is a schematic view illustrating the installation angles of a first laser measuring instrument and a second laser measuring instrument of an on-line measuring polishing final inspection integrated robot processing system according to an embodiment of the present invention;
FIG. 8 is a schematic view illustrating the installation angles of a third laser measuring instrument and a fourth laser measuring instrument of an on-line measuring polishing final inspection integrated robot processing system according to an embodiment of the present invention;
Fig. 9 is a schematic structural diagram of a full-feature force-rotation speed cooperative machining mechanism of an on-line measurement polishing final inspection integrated robot machining system according to an embodiment of the invention;
Fig. 10 is a schematic installation diagram (view angle one) of a full-feature abrasive belt polishing mechanism of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the present invention;
fig. 11 is a schematic installation diagram (view angle two) of a full-feature abrasive belt polishing mechanism of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the present invention;
Fig. 12 is a schematic diagram of an installation structure of a clamping jaw of a transfer station of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the invention;
FIG. 13 is a schematic diagram of a working state of a three-coordinate measuring machine of an on-line measurement polishing final inspection integrated robot processing system according to an embodiment of the present invention;
FIG. 14 is a schematic flow chart of an on-line measurement polishing final inspection integrated robot processing method according to an embodiment of the invention;
FIG. 15 is a schematic flow chart of a final inspection scheme I of an on-line measurement polishing final inspection integrated robot processing method according to an embodiment of the invention;
Fig. 16 is a schematic flow chart of a second final inspection scheme of an on-line measurement polishing final inspection integrated robot processing method according to an embodiment of the invention.
Like reference numerals denote like technical features throughout the drawings, in particular: 1-base, 2-robot polishing workstation, 20-line laser online detection mechanism, 201-first laser measuring instrument, 202-second laser measuring instrument, 203-third laser measuring instrument, 204-fourth laser measuring instrument, 21-polishing workstation base, 211-first dust adsorption device, 212-second dust adsorption device, 213-abrasive belt mounting plate, 214-guide rail mounting seat, 22-full characteristic force-rotating speed cooperative processing mechanism, 221-first abrasive wheel polishing module, 222-second abrasive wheel polishing module, 23-full characteristic abrasive belt polishing mechanism, 231-first abrasive belt contact wheel and abrasive belt, 232-second abrasive belt contact wheel and abrasive belt the device comprises a 24-industrial robot, a 25-feeding unit, 251-zero tool, 252-blade clamps, 253-positioning grooves, 254-positioning pins, 26-dust collectors, a 3-workpiece transfer station, a 31-transfer fixing plate, a 32-transfer door, 33-transfer station clamping jaws, a 34-transfer discharging platform, a 4-final inspection workstation, a 41-three-coordinate measuring instrument, 411-damping ditches, 42-workpiece transmission guide rails, 421-workpiece transmission slide blocks, 5-blade workpieces, 51-edge plates, 52-tenons, 53-tenon teeth, 54-blade bodies, 541-blade pots, 542-blade backs, 543-blade front edges, 544-blade rear edges and 55-blade root corners.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
1-13, One aspect of the present invention provides an on-line measurement polishing final inspection integrated robot processing system, which comprises a base 1, a polishing chamber and a detection chamber, wherein the polishing chamber and the detection chamber are arranged on the base 1; a robot polishing workstation 2 and a workpiece transfer station 3 are arranged in the polishing chamber; a final inspection workstation 4 is arranged in the detection chamber; the robot polishing workstation 2, the workpiece transfer station 3 and the final inspection workstation 4 are connected with a master control device in a communication way; the robot polishing workstation 2 is used for process measurement of the complex curved surface workpiece 5, calibration of a workpiece coordinate system and full-feature polishing of the workpiece; the workpiece transfer station 3 is used for assisting an industrial robot in clamping the workpiece 5; the final inspection workstation 4 comprises a three-coordinate measuring instrument 41 and a workpiece transmission guide rail 42, and is used for measuring and finally inspecting the workpiece 5 processed by the robot polishing workstation 2; the robot polishing workstation 2 comprises a line laser online detection mechanism 20, a full-characteristic force-rotating speed cooperative machining mechanism 22, a full-characteristic abrasive belt polishing mechanism 23, an industrial robot 24 and a feeding unit 25; the feeding unit 25 comprises a feeding table and a plurality of material boxes arranged on the feeding table; a plurality of zero-point tools 251 matched with the workpiece 5 are arranged on the material box; the workpiece 5 and the zero tool 251 form a workpiece rigid connection assembly together; the workpiece transfer station 3 comprises a transfer fixing plate 31, a transfer door 32, a transfer station clamping jaw 33 and a transfer discharging table 34; when the automatic zero-point switching device works, firstly, a workpiece 5 is placed on a loading table, a workpiece rigid connection assembly is formed by matching the workpiece 5 with a zero-point tool 251 of a loading box on the loading table, the industrial robot 24 is controlled by the master control device to clamp the workpiece rigid connection assembly to a workpiece transfer station 3, the orientation of the workpiece rigid connection assembly is adjusted by a transfer station clamping jaw 33, so that a locating pin on the workpiece rigid connection assembly is exposed and the zero-point switching is completed with a zero-point quick-change locating interface of the industrial robot 24; then, the industrial robot 24 clamps the workpiece rigid connection assembly for process measurement and polishing; after the measurement and polishing are finished, the industrial robot 24 returns the workpiece rigid connection assembly to the position of the transfer station clamping jaw 33 again, the workpiece rigid connection assembly is adjusted to return to the original position through the transfer station clamping jaw 33, the workpiece rigid connection assembly is sent to the workpiece transmission guide rail 42 leading to the final inspection workstation 4 through the industrial robot 24, and is sent to the final inspection workstation 4, and final inspection is carried out by the three-coordinate measuring machine; according to the invention, the total control device is used for controlling the full-characteristic force-rotating speed cooperative machining mechanism and the full-characteristic abrasive belt grinding and polishing mechanism to perform full-characteristic accurate grinding and polishing on the workpiece 5 with the complex curved surface, the linear laser online detection mechanism 20 is used for detecting the workpiece 5 clamped by the industrial robot 24 on line, so that the online real-time detection of the machining process is realized, the machining process parameters are calculated and adjusted, and the three-coordinate measuring instrument 41 is used for performing final detection on the workpiece 5, so that the full-characteristic high-efficiency grinding and polishing on the workpiece with the complex curved surface is realized.
Further, as shown in fig. 1 to 13, in the embodiment of the present invention, the workpiece 5 is an aviation blade workpiece, and the blade workpiece and the zero tooling 251 together form a blade rigid connection assembly; the blade workpiece comprises a flange plate 51, a tenon 52, a tenon tooth 53, a blade body 54 and a blade root corner 55 arranged between the blade body 54 and the flange plate 51; the blade body 54 includes a blade basin 541, a blade back 542, a blade leading edge 543, and a blade trailing edge 544; the blade body 54 is of an arc plate-shaped structure; the tenon 52 is arranged at the bottom of the flange plate 51; the tenon tooth 53 is arranged at the outer edge of the tenon 52; it should be noted that the present invention may also be used for processing other complex curved or simple profile structural parts, and is not limited to the vane structure of the present embodiment.
Further, as shown in fig. 1 to 13, in the embodiment of the present invention, the line laser online detection mechanism 20 is disposed at the top of the polishing chamber, and includes a first laser gauge 201, a second laser gauge 202, a third laser gauge 203, and a fourth laser gauge 204, which are used for measuring and positioning the process of the blade workpiece; the first laser measuring instrument 201 and the second laser measuring instrument 202 are arranged at relative positions with an included angle of 90 degrees, the view field is increased to 270 degrees, and the first laser measuring instrument and the second laser measuring instrument are respectively used for measuring the front edge and the rear edge of the blade of the workpiece 5, and the measuring ranges are shown as A in fig. 7; the third laser measuring instrument 203 and the fourth laser measuring instrument 204 are arranged oppositely and are respectively used for measuring the leaf basin and the leaf back of the workpiece 5, and the measuring range is shown as B in fig. 8; measuring and positioning the workpiece 5 by the first laser measuring instrument 201, the second laser measuring instrument 202, the third laser measuring instrument 203 and the fourth laser measuring instrument 204, and transmitting the results to the master control device, wherein the master control device generates processing technological parameters and a polishing path by an algorithm; the industrial robot clamps the workpiece rigid connection assembly, and starts the full-characteristic force-rotating speed cooperative machining mechanism 22 and the full-characteristic abrasive belt grinding and polishing mechanism 23 to perform full-characteristic grinding on the workpiece 5 according to the instruction of the master control device; the full-feature polishing of the blade workpiece comprises polishing of a blade basin, a blade back, a blade front edge, a blade rear edge, a blade root corner and a blade edge plate; according to the invention, different parts of the blade workpiece are polished in different polishing modes; it should be noted that the present invention may also be used for processing other complex curved surface parts, and is not limited to the vane structure of the present embodiment.
Further, as shown in fig. 1 to 13, in the embodiment of the present invention, the zero tool 251 includes a fixture 252, a positioning groove 253 disposed at the top of the fixture 252, and a positioning pin 254 disposed at the bottom of the fixture 252; the positioning groove 253 is matched with the tenon of the workpiece 5, and the positioning groove 253 and the tenon are connected in a three-point positioning mode to form a workpiece rigid connection assembly; the locating pin 254 is matched with a zero point quick change locating interface on the industrial robot 24.
Further, as shown in fig. 1 to 13, in the embodiment of the present invention, a polishing workstation base 21 is provided on the base 1; the industrial robot 24, the feeding unit 25 and the transferring and discharging platform 34 are all arranged on the grinding and polishing workstation base 21; the polishing workstation base 21 is also provided with a first dust adsorption device 211 and a second dust adsorption device 212; the top of the second dust adsorption device 212 is provided with an abrasive belt mounting plate 213; the full-feature force-rotating speed cooperative machining mechanism 22 is arranged at the top of the first dust adsorption device 211; the full-feature abrasive belt grinding and polishing mechanism 23 is arranged on the side surface of the abrasive belt mounting plate 213; the outlet ends of the first dust adsorption device 211 and the second dust adsorption device 212 are connected with the dust collector 26; the metal dust produced by processing is adsorbed on the polishing workstation base 21 through electrostatic adsorption, and is pumped out of the polishing chamber through the dust collector 26, so that the environment of the polishing chamber is ensured to be clean, the excessive influence of dust on polishing quality is avoided, and further the processing precision is influenced.
Further, as shown in fig. 1 to 13, in the embodiment of the present invention, the full-feature force-rotation speed cooperative machining mechanism 22 includes a first grinding wheel grinding and polishing module 221 and a second grinding wheel grinding and polishing module 222 disposed on top of the first dust adsorbing device 211; the first grinding wheel polishing module 221 comprises a first force control device and a first polishing end connected with the first force control device; the second grinding wheel polishing module 222 comprises a second force control device and a second polishing end connected with the second force control device; the first grinding wheel polishing module 221 is used for polishing the edge plate 51 of the workpiece 5; the second grinding wheel polishing module 222 is used for polishing the blade root corner 55 of the workpiece 5; the first force control device and the second force control device are respectively connected with the master control device.
Further, as shown in fig. 1-13, in the embodiment of the present invention, the full-featured belt polishing mechanism 23 includes a third force control device disposed on the side of the belt mounting plate 213, and a first belt contact wheel and belt 231 and a second belt contact wheel and belt 232 connected to the third force control device; the first abrasive belt contact wheel and abrasive belt 231 and the second abrasive belt contact wheel and abrasive belt 232 are arranged in parallel and at intervals and staggered from top to bottom along the side surface of the abrasive belt mounting plate 213 (staggered refers to that the first abrasive belt contact wheel and abrasive belt 231 and the second abrasive belt contact wheel and the abrasive belt 232 are not contacted with the abrasive belt mounting plate 213 and the distance from the surface of the abrasive belt mounting plate 213 is unequal); the polishing ends of the first abrasive belt contact wheel, the abrasive belt 231, the second abrasive belt contact wheel and the abrasive belt 232 extend out of the abrasive belt mounting plate 213; the third force control device is connected with the master control device; the first and second belt contact wheels 231 and 232 each include a belt contact wheel and a belt; the first abrasive belt contact wheel and the abrasive belt 231 are used for rough grinding the workpiece 5, and the second abrasive belt contact wheel and the abrasive belt 232 are used for fine grinding the workpiece 5; the first abrasive belt contact wheel and abrasive belt 231 and the second abrasive belt contact wheel and abrasive belt 232 are connected with the same force control device and controlled by the same force control device; the first abrasive belt contact wheel and the abrasive belt contact wheel in the abrasive belt 231 are used for rough grinding the blade basin 541 and the blade back 542 of the workpiece 5, and the abrasive belt is used for rough grinding the blade front edge 543 and the blade rear edge 544 of the workpiece 5; the second abrasive belt contact wheel and the abrasive belt contact wheel in the abrasive belt 232 are used for finely grinding the blade basin 541 and the blade back 542 of the workpiece 5, and the abrasive belt is used for finely grinding the blade leading edge 543 and the blade trailing edge 544 of the workpiece 5; during operation, firstly, the blade workpiece is subjected to rough grinding, so that the processing time is reduced, and the processing efficiency is improved, specifically, the blade basin 541 and the blade back 542 of the workpiece 5 are subjected to rough grinding through the first abrasive belt contact wheel and the abrasive belt contact wheel in the abrasive belt 231, and the blade front edge 543 and the blade rear edge 544 of the workpiece 5 are subjected to rough grinding through the abrasive belt; secondly, the blade workpiece is finely ground, so that the precision and the accuracy of the blade workpiece are ensured, specifically, the blade basin 541 and the blade back 542 of the workpiece 5 are finely ground through the second abrasive belt contact wheel and the abrasive belt contact wheel in the abrasive belt 232, and the blade front edge 543 and the blade rear edge 544 of the workpiece 5 are finely ground through the abrasive belt; finally, the edge plate 51 of the workpiece 5 is polished by the first grinding wheel polishing module 221, and the blade root corner 55 of the workpiece 5 is polished by the second grinding wheel polishing module 222; the full-characteristic force-rotating speed cooperative machining mechanism 22 and the full-characteristic abrasive belt grinding and polishing mechanism 23 are matched with the appearance characteristics of the complex curved surface workpiece, so that full-characteristic accurate grinding and polishing of the complex curved surface workpiece can be realized; it should be noted that the present invention may also be used for processing other complex curved surface parts or simple structure workpieces, and is not limited to the vane structure of the present embodiment.
Further, as shown in fig. 1 to 13, in the embodiment of the present invention, the polishing chamber and the detection chamber are separated by a transfer fixing plate 31; the polishing chamber and the detection chamber are of closed structures, so that the influence of noise and dust environment can be effectively reduced; meanwhile, the polishing chamber and the detection chamber can be installed separately and used independently, so that the flexibility is high.
Further, as shown in fig. 1 to 13, in the embodiment of the present invention, a rail mounting seat 214 for supporting the workpiece conveying rail 42 is further provided on the polishing station base 21; the guide rail mounting base 214 is positioned in the polishing chamber; a workpiece transmission slide block 421 matched with the positioning pin 254 on the zero tool 251 is arranged on the workpiece transmission guide rail 42; the transfer door 32 is arranged on the transfer fixing plate 31; the transfer door 32 is capable of accommodating the workpiece transport rail 42 and workpiece rigid connection assembly and is in communication with the final inspection workstation 4; in the embodiment of the present invention, the transfer door 32 is a retractable door that is opened only when transporting the blade work from the grinding chamber to the inspection chamber; one end of the workpiece transmission guide rail 42 is positioned in the polishing chamber, and the other end of the workpiece transmission guide rail is positioned in the detection chamber; the transfer station clamping jaw 33 is arranged on the transfer fixing plate 31 and is positioned above the transfer door 32; a fixture 252 of the zero tool 251 is provided with a retention hole which is matched with the clamping jaw 33 of the transfer station; the transfer discharging table 34 is used for accommodating blade workpieces after polishing each time; the transfer station clamping jaw 33 is used for transferring the workpiece rigid connection assembly; after the workpiece 5 is polished, the industrial robot 24 conveys the workpiece rigid connection assembly to the position of the transfer station clamping jaw 33 of the workpiece transfer station 3, the transfer station clamping jaw 33 is controlled by the master control device to clamp the workpiece rigid connection assembly, the workpiece rigid connection assembly rotates 180 degrees, the lower surface of the workpiece rigid connection assembly faces downwards, the locating pin 254 on the zero tool 251 faces downwards, then the workpiece rigid connection assembly is clamped by the mechanical claw of the industrial robot 24 and is placed on the workpiece conveying guide rail 42 leading to the final inspection workstation 4 (when polishing of a plurality of blade workpieces is involved, the workpiece rigid connection assembly is firstly placed on the transfer and discharge table 34, and after polishing of all blade workpieces is completed, the workpiece rigid connection assembly is sequentially placed on the workpiece conveying guide rail 42, and the workpiece conveying slide 421 on the workpiece conveying guide rail 42 is conveyed to the final inspection workstation 4 for final inspection by the three-coordinate measuring machine.
Further, as shown in fig. 1 to 13, in the embodiment of the present invention, a damping groove 411 is provided on the base 1 at the periphery of the three-coordinate measuring machine 41, for preventing metal dust and vibration during polishing in the polishing chamber from affecting the measurement result; the detection chamber is a constant temperature and humidity chamber; the transfer door 32 is opened only when the work 5 is transported.
As shown in fig. 14, another aspect of the present invention provides an on-line measurement polishing final inspection integrated robot processing method, implemented by using the on-line measurement polishing final inspection integrated robot processing system, including the following steps:
s1, placing a plurality of workpieces 5 on a feeding table, and matching the workpieces with a zero tool 251 of a feeding box on the feeding table to form a plurality of workpiece rigid connection assemblies;
S2, starting a master control device, controlling the industrial robot 24 to clamp the workpiece rigid connection assembly and move the workpiece rigid connection assembly to the workpiece transfer station 3 for azimuth adjustment, enabling the lower surface of the workpiece rigid connection assembly to face upwards, exposing the positioning pin 254 on the zero tool 251, and controlling the industrial robot 24 to act so that a zero quick-change positioning interface on the industrial robot and the positioning pin 254 perform zero quick-change;
S3, moving the industrial robot 24 to a line laser online detection mechanism 20 along with the workpiece rigid connection assembly, performing process measurement and calibrating a workpiece coordinate system, transmitting a measurement result to a master control device by the line laser online detection mechanism 20, and generating processing technological parameters and a polishing path by the master control device through an algorithm;
S4, starting a full-characteristic force-rotating speed cooperative machining mechanism 22 and a full-characteristic abrasive belt grinding and polishing mechanism 23, and carrying out full-characteristic grinding on the workpiece 5 according to the machining process parameters and the grinding and polishing paths;
S5, after finishing polishing all the features of the workpiece 5, the industrial robot 24 sends the workpiece rigid connection assembly back to the workpiece transfer station 3 again for azimuth adjustment, and the workpiece rigid connection assembly is clamped and placed on a transfer station discharging table through the industrial robot 24 after the azimuth adjustment; then, the workpiece 5 is clamped by the industrial robot 24 and placed on the workpiece conveying guide rail 42 leading to the final inspection workstation 4, and the workpiece conveying slide 421 on the workpiece conveying guide rail 42 is transferred to the final inspection workstation 4 for final inspection;
S6, performing final inspection on the workpiece 5 through a three-coordinate measuring instrument of the final inspection workstation 4, and judging whether the workpiece is qualified or not; if the processing flow is qualified, ending the processing flow; if the segment is unqualified, judging whether the segment is overground or not; if the grinding is carried out, the waste products are treated; if the grinding is not performed, repeating the steps S3 to S5.
Further, step S2 includes starting the master control device, controlling the gripper of the industrial robot 24 to clamp the workpiece rigid connection assembly to move to the transfer station clamping jaw 33 of the workpiece transfer station 3, and loosening the gripper; then, the total control device controls the transfer station clamping jaw 33 to clamp the workpiece rigid connection assembly and rotate 180 degrees, so that the lower surface of the workpiece rigid connection assembly faces upwards, the positioning pin 254 on the zero point tool 251 is exposed, and the industrial robot 24 is controlled to act, so that the zero point quick-change positioning interface on the industrial robot and the positioning pin 254 perform zero point quick-change.
Further, step S3 includes measuring, by the first laser gauge 201 and the second laser gauge 202, a leading edge and a trailing edge of the blade of the workpiece 5, respectively; measuring the leaf basin and the leaf back of the workpiece 5 by a third laser measuring instrument 203 and a fourth laser measuring instrument 204 respectively; after the first laser measuring instrument 201, the second laser measuring instrument 202, the third laser measuring instrument 203 and the fourth laser measuring instrument 204 measure and position the workpiece 5, the result is transmitted to a master control device, and the master control device generates processing technological parameters and a polishing path through an algorithm.
Further, the performing full-feature polishing on the workpiece 5 in step S4 includes: coarsely grinding the blade basin 541 and the blade back 542 of the workpiece 5 by the first abrasive belt contact wheel and the abrasive belt contact wheel in the abrasive belt 231, and coarsely grinding the blade leading edge 543 and the blade trailing edge 544 of the workpiece 5; refining the blade basin 541 and the blade back 542 of the workpiece 5 through the second abrasive belt contact wheel and the abrasive belt contact wheel in the abrasive belt 232, and refining the blade leading edge 543 and the blade trailing edge 544 of the workpiece 5 by the abrasive belt; the edge plate 51 of the workpiece 5 is polished by the first grinding wheel polishing module 221, and the blade root corner 55 of the workpiece 5 is polished by the second grinding wheel polishing module 222.
Further, after finishing the polishing of the full feature in step S5, the industrial robot 24 returns the workpiece rigid connection assembly to the workpiece transfer station 3 again for azimuth adjustment, and transfers the workpiece rigid connection assembly to the final inspection workstation 4 for final inspection after adjustment, which specifically includes: after the full-feature polishing is finished, the industrial robot 24 returns the workpiece rigid connection assembly to the position of the transfer station clamping jaw 33 of the workpiece transfer station 3 again, and the mechanical claw is loosened; then, the transfer station clamping jaw 33 is controlled by the master control device to clamp the workpiece rigid connection assembly, and is rotated 180 degrees, so that the lower surface of the workpiece rigid connection assembly faces downwards, the positioning pin 254 on the zero tool 251 faces downwards, then, the workpiece rigid connection assembly is clamped by the mechanical claw of the industrial robot 24 and placed on the workpiece transmission guide rail 42 leading to the final inspection workstation 4 (when polishing of a plurality of blade workpieces is involved, the workpiece rigid connection assembly is firstly placed on the transfer and discharge table 34, and after polishing of all blade workpieces is completed, the workpiece rigid connection assembly is sequentially placed on the workpiece transmission guide rail 421 on the workpiece transmission guide rail 42), and the workpiece transmission guide rail 421 on the workpiece transmission guide rail 42 is transferred to the final inspection workstation 4 for final inspection.
Further, the final inspection of the workpiece 5 by the three-coordinate measuring machine of the final inspection workstation 4 in step S6 includes two schemes, scheme one: if the measurement is qualified after the first workpiece 5 in the material box is processed, and the measurement is qualified after the second workpiece 5 is processed, the rest of the workpieces 5 in the material box are considered to be qualified, and the measurement is not continued; if the first workpiece 5 in the material box is qualified and the second workpiece 5 is unqualified, continuing to measure until the next qualified workpiece 5 appears, and considering that the first two qualified workpieces 5 and the rest of the workpieces are all qualified; if the first workpiece 5 in the material box is unqualified and the second workpiece 5 is qualified, continuing to measure until the next qualified workpiece 5 appears, and considering that the first two qualified workpieces 5 and the rest of the workpieces are all qualified; if the first workpiece 5 in the material box is failed, and the second workpiece 5 is failed, the rest workpieces 5 in the material box are failed; scheme II: performing final inspection on one workpiece 5 in the random material drawing box, and if the workpiece is qualified, completely qualified all other workpieces in the material drawing box; if the product is unqualified, the product needs to be inspected one by one, whether the product is overground or not is judged, and if the product is overground, the product is waste; and if the polishing is not overground, polishing is performed again.
Further, in the embodiment of the present invention, at least nine workpiece rigid connection assemblies may be placed in one magazine of the loading table and the transferring and discharging table, and the final inspection in step S6 is according to scheme one (as shown in fig. 15): if the first blade workpiece is qualified after being processed and the second blade workpiece is qualified after being processed, the nine blades in the material box are considered to be qualified and the measurement is not continued, so that the efficiency is improved; if the first is qualified and the second is unqualified, continuing to measure until the next qualified blade appears, and considering that the first two qualified blades and the rest blades are all qualified; if the first is unqualified, the second is qualified, and the first is the same as the second; if the first fails, the second fails, and all the nine blades are considered to be failed; the final inspection of step S6 follows scheme two (as shown in fig. 16): performing final inspection on one workpiece in the random material drawing box, and if the workpiece is qualified, completely qualified nine workpieces; if the product is unqualified, the product needs to be inspected one by one, whether the product is overground or not is judged, and if the product is overground, the product is waste; and if the polishing is not overground, polishing is performed again.
The invention provides an on-line measurement polishing final inspection integrated robot processing system and method, when in operation, firstly, a workpiece 5 is placed on a loading table, and is matched with a zero tool 251 of a loading box of the loading table to form a workpiece rigid connection component, a mechanical claw of an industrial robot 24 is controlled by the master control device to move the workpiece rigid connection component to a transfer station clamping jaw 33 of a workpiece transfer station 3, and the mechanical claw is loosened; then, the total control device controls the transfer station clamping jaw 33 to clamp the workpiece rigid connection assembly, and rotate 180 degrees to enable the lower surface of the workpiece rigid connection assembly to face upwards, so that a locating pin on the zero point tool 251 is exposed, and a zero point quick-change locating interface of the industrial robot 24 and the locating pin are subjected to zero point quick-change; then, the industrial robot 24 is controlled by the master control device to clamp the workpiece rigid connection assembly and move to the linear laser online detection mechanism 20 for process measurement and calibration of a workpiece coordinate system, the linear laser online detection mechanism 20 transmits a measurement result to the master control device, and the master control device generates processing technological parameters and a polishing path through an algorithm; the master control device sends control instructions to a full-characteristic force-rotating speed cooperative machining mechanism 22 and a full-characteristic abrasive belt grinding and polishing mechanism 23, so that the workpiece 5 is subjected to full-characteristic grinding according to the machining process parameters and the grinding and polishing paths; finally, after the measurement and full-feature polishing are finished, the industrial robot 24 returns the workpiece rigid connection assembly to the position of a transfer station clamping jaw 33, the transfer station clamping jaw rotates 180 degrees, the mechanical claw of the industrial robot 24 clamps the workpiece rigid connection assembly and sends the workpiece rigid connection assembly to a workpiece transmission guide rail 42 leading to a final inspection workstation 4, the workpiece rigid connection assembly is sent to the final inspection workstation 4, the final inspection is carried out by a three-coordinate measuring instrument, and if the workpiece rigid connection assembly is qualified, the workpiece rigid connection assembly is qualified; if the grinding is not qualified, judging whether the grinding is overground, and if the grinding is overground, judging that the grinding is waste; and continuing to enter a polishing cycle without overgrinding.
The full-characteristic abrasive belt polishing mechanism is combined with the line laser on-line detection, and three-coordinate measurement is adopted for final detection. The processing process is detected in real time on line, and the processing technological parameters are calculated and adjusted, so that the grinding and polishing quality of the part processing can be effectively improved, overgrinding and undergrinding and polishing are avoided, one-step processing and forming are realized, and meanwhile, the grinding and polishing quality of the blade part with the complex curved surface is ensured. The machining efficiency and the machining quality of the complex curved surface blade part are improved.
According to the online measurement grinding and polishing final inspection integrated robot processing system and method, a full-characteristic force-rotating speed cooperative processing mechanism, a full-characteristic abrasive belt grinding and polishing mechanism, a line laser online detection mechanism and a three-coordinate measuring instrument are integrated, full-characteristic accurate grinding and polishing of complex curved surface parts are realized through the full-characteristic force-rotating speed cooperative processing mechanism and the full-characteristic abrasive belt grinding and polishing mechanism, online detection is carried out on a robot clamping blade through the line laser online detection mechanism, online real-time detection in a processing process is realized, processing technological parameters are calculated and adjusted, overgrinding and undergrinding and polishing can be effectively avoided, one-time processing and forming are realized, and meanwhile, the grinding and polishing quality of the complex curved surface blade parts is ensured; and the final inspection is performed by adopting three-coordinate measurement, multiple times of part clamping are not needed for detection, multiple times of part clamping errors can be effectively reduced, and the processing efficiency is improved.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (18)

1. An on-line measurement grinds and throws final inspection integration robot processing system which characterized in that: the device comprises a master control device, a robot grinding and polishing workstation (2) which is in communication connection with the master control device and is used for measuring the process of a complex curved surface workpiece (5), calibrating a workpiece coordinate system and grinding and polishing all the characteristics of the workpiece, a workpiece transfer station (3) which is used for assisting an industrial robot (24) to clamp the workpiece (5), and a final inspection workstation (4); wherein,
The final inspection workstation (4) comprises a three-coordinate measuring instrument (41) and a workpiece transmission guide rail (42) which are used for quality inspection of the workpiece (5) processed by the robot polishing workstation (2); the robot polishing workstation (2) comprises a line laser online detection mechanism (20), a full-characteristic force-rotating speed cooperative machining mechanism (22), a full-characteristic abrasive belt polishing mechanism (23), an industrial robot (24) and a feeding unit (25); a plurality of zero-point tools (251) matched with the workpiece (5) are arranged on the feeding unit (25); the workpiece transfer station (3) comprises a transfer fixing plate (31), a transfer door (32), transfer station clamping jaws (33) and a transfer discharging table (34);
The total control device is used for controlling the full-feature force-rotating speed cooperative machining mechanism (22) and the full-feature abrasive belt grinding and polishing mechanism (23) to conduct full-feature accurate grinding and polishing on the workpiece (5) with the complex curved surface, the line laser online detection mechanism (20) is used for conducting online detection on the workpiece (5) clamped by the industrial robot (24), machining process parameters are calculated and adjusted, and the three-coordinate measuring instrument (41) is used for conducting final inspection on the workpiece (5) to achieve full-feature high-efficiency grinding and polishing on the workpiece with the complex curved surface.
2. The on-line measurement polishing final inspection integrated robot processing system of claim 1, wherein: the robot polishing workstation (2) and the workpiece transfer station (3) are arranged in a polishing chamber; the final inspection workstation (4) is arranged in the detection chamber;
the polishing chamber and the detection chamber are arranged on the base (1); the polishing chamber and the detection chamber are separated by a transfer fixing plate (31);
The polishing chamber and the detection chamber are of closed structures.
3. The on-line measurement polishing final inspection integrated robot processing system of claim 2, wherein: the line laser online detection mechanism (20) is arranged at the top of the polishing chamber and used for measuring and positioning the blade workpiece in the process, and comprises a first laser measuring instrument (201), a second laser measuring instrument (202), a third laser measuring instrument (203) and a fourth laser measuring instrument (204);
The first laser measuring instrument (201) and the second laser measuring instrument (202) are arranged at an included angle of 90 degrees, and the view field is increased to 270 degrees; -the third laser gauge (203) and the fourth laser gauge (204) are arranged opposite;
And measuring and positioning the workpiece (5) through the first laser measuring instrument (201), the second laser measuring instrument (202), the third laser measuring instrument (203) and the fourth laser measuring instrument (204), and transmitting the result to the master control device, wherein the master control device generates processing technological parameters and a polishing path through an algorithm.
4. An on-line measurement polishing final inspection integrated robot processing system according to claim 2 or 3, characterized in that: the workpiece (5) and the zero tool (251) form a workpiece rigid connection assembly together; the zero tool (251) comprises a clamp (252), a positioning groove (253) arranged at the top of the clamp (252) and a positioning pin (254) arranged at the bottom of the clamp (252);
The clamp (252) is provided with a retention hole which is matched with the clamping jaw (33) of the transfer station;
the positioning groove (253) is matched with the workpiece (5);
The locating pin (254) is matched with a zero quick-change locating interface on the industrial robot (24).
5. The on-line measurement polishing final inspection integrated robot processing system of claim 4, wherein: the bottom of the industrial robot (24), the feeding unit (25) and the transferring and discharging platform (34) is provided with a polishing work station base (21);
the feeding unit (25) comprises a feeding table and a plurality of material boxes arranged on the feeding table;
the polishing work station base (21) is arranged on the base (1).
6. The on-line measurement polishing final inspection integrated robot processing system of claim 5, wherein: the polishing workstation base (21) is also provided with a first dust adsorption device (211) and a second dust adsorption device (212).
7. The on-line measurement polishing final inspection integrated robot processing system of claim 6, wherein: the outlet ends of the first dust adsorption device (211) and the second dust adsorption device (212) are connected with a dust collector (26).
8. The on-line measurement polishing final inspection integrated robot processing system of claim 7, wherein: and an abrasive belt mounting plate (213) is arranged at the top of the second dust adsorption device (212).
9. The on-line measurement polishing final inspection integrated robot processing system of claim 7, wherein: the full-characteristic force-rotating speed cooperative machining mechanism (22) comprises a first grinding wheel grinding and polishing module (221) and a second grinding wheel grinding and polishing module (222) which are arranged at the top of the first dust adsorption device (211);
The first grinding wheel polishing module (221) comprises a first force control device and a first polishing end connected with the first force control device; the second grinding wheel polishing module (222) comprises a second force control device and a second polishing end connected with the second force control device;
the first force control device and the second force control device are respectively connected with the master control device.
10. The on-line measurement polishing final inspection integrated robot processing system of claim 8, wherein: the full-characteristic abrasive belt polishing mechanism (23) comprises a third force control device arranged on the side surface of the abrasive belt mounting plate (213), and a first abrasive belt contact wheel and an abrasive belt (231) and a second abrasive belt contact wheel and an abrasive belt (232) which are connected with the third force control device;
The first abrasive belt contact wheel and the abrasive belt (231) and the second abrasive belt contact wheel and the abrasive belt (232) are arranged in parallel and at intervals from top to bottom along the side surface of the abrasive belt mounting plate (213);
The third force control device is connected with the master control device;
the first abrasive belt contact wheel and the abrasive belt (231) are used for rough grinding of the workpiece (5), and the second abrasive belt contact wheel and the abrasive belt (232) are used for fine grinding of the workpiece (5).
11. An on-line measurement polishing finish inspection integrated robotic processing system according to any one of claims 5-10, wherein: a guide rail mounting seat (214) for supporting the workpiece transmission guide rail (42) is also arranged on the grinding and polishing workstation base (21);
The guide rail mounting seat (214) is positioned in the polishing chamber; one end of the workpiece transmission guide rail (42) is positioned in the polishing chamber, and the other end of the workpiece transmission guide rail is positioned in the detection chamber;
And a workpiece transmission sliding block (421) matched with the positioning pin (254) on the zero tool (251) is arranged on the workpiece transmission guide rail (42).
12. The on-line measurement polishing final inspection integrated robot processing system of claim 1, wherein: the transfer door (32) is arranged on the transfer fixing plate (31);
the transfer door (32) is capable of receiving the workpiece transport rail (42) and workpiece rigid connection assembly and is in communication with the final inspection workstation (4).
13. The on-line measurement polishing final inspection integrated robot processing system of claim 12, wherein: the transfer door (32) is a telescopic door and is opened only when the workpiece (5) is transported from the polishing room to the detection room.
14. The on-line measurement polishing final inspection integrated robot processing system of claim 1, wherein: the transfer station clamping jaw (33) is arranged on the transfer fixing plate (31) and is positioned above the transfer door (32).
15. The on-line measurement polishing final inspection integrated robot processing system of claim 1, wherein: a damping groove (411) is arranged on the base (1) at the periphery of the three-coordinate measuring instrument (41).
16. An online measurement polishing final inspection integrated robot processing method, which is characterized by being implemented by applying the online measurement polishing final inspection integrated robot processing system as claimed in any one of claims 1-15, comprising the following steps:
S1, placing a plurality of workpieces (5) on a feeding table, and matching the workpieces with a zero tool (251) of a feeding box on the feeding table to form a plurality of workpiece rigid connection assemblies;
S2, starting a master control device, controlling an industrial robot (24) to clamp a workpiece rigid connection assembly and move the workpiece rigid connection assembly to a workpiece transfer station (3) for azimuth adjustment, enabling the lower surface of the workpiece rigid connection assembly to face upwards, enabling a locating pin (254) on a zero point tool (251) to be exposed, and controlling the industrial robot (24) to act so that a zero point quick-change locating interface on the industrial robot and the locating pin (254) can be subjected to zero point quick-change;
S3, moving the industrial robot (24) to a line laser on-line detection mechanism (20) with the workpiece rigid connection assembly, performing process measurement and calibrating a workpiece coordinate system, transmitting a measurement result to a master control device by the line laser on-line detection mechanism (20), and generating processing technological parameters and a polishing path by the master control device through an algorithm;
S4, starting a full-characteristic force-rotating speed cooperative machining mechanism (22) and a full-characteristic abrasive belt grinding and polishing mechanism (23), and carrying out full-characteristic grinding on the workpiece (5) according to the machining process parameters and the grinding and polishing paths;
s5, after the full-feature polishing of the workpiece (5) is finished, the industrial robot (24) returns the workpiece rigid connection assembly to the workpiece transfer station (3) again for azimuth adjustment, so that the workpiece is returned to the original position, and the workpiece is clamped and placed to a transfer station discharging table through the industrial robot (24) after adjustment; then, the workpiece (5) is clamped by the industrial robot (24) and placed on a workpiece conveying guide rail (42) leading to a final inspection workstation (4), and the workpiece conveying slide block (421) on the workpiece conveying guide rail (42) is transferred to the final inspection workstation (4) for final inspection;
S6, performing final inspection on the workpiece (5) through a three-coordinate measuring instrument of the final inspection workstation (4) to judge whether the workpiece is qualified or not; if the processing flow is qualified, ending the processing flow; if the segment is unqualified, judging whether the segment is overground or not; if the grinding is carried out, the waste products are treated; if the grinding is not performed, repeating the steps S3 to S5.
17. The on-line measurement polishing final inspection integrated robot processing method according to claim 16, wherein the final inspection of the workpiece (5) by the three-coordinate measuring machine of the final inspection workstation (4) in step S6 comprises: if the first workpiece (5) in the material box is qualified after being processed and the second workpiece (5) is also qualified after being processed, the rest of the workpieces (5) in the material box are considered to be qualified, and the measurement is not continued;
If the first workpiece (5) in the material box is qualified and the second workpiece (5) is unqualified, continuing to measure until the next qualified workpiece (5) appears, and considering that the first two qualified workpieces (5) and the rest of the workpieces are all qualified;
If the first workpiece (5) in the material box is unqualified and the second workpiece (5) is qualified, continuing to measure until the next qualified workpiece (5) appears, and considering that the first two qualified workpieces (5) and the rest of the workpieces are all qualified;
If the first workpiece (5) in the material box is failed and the second workpiece (5) is failed, the rest of the workpieces (5) in the material box are failed.
18. The on-line measurement polishing final inspection integrated robot processing method according to claim 16, wherein the final inspection of the workpiece (5) by the three-coordinate measuring machine of the final inspection workstation (4) in step S6 comprises: performing final inspection on one workpiece (5) in the random material drawing box, and if the workpiece is qualified, completely qualified all other workpieces in the material drawing box; if the product is unqualified, the product needs to be inspected one by one, whether the product is overground or not is judged, and if the product is overground, the product is waste; and if the polishing is not overground, polishing is performed again.
CN202311626651.7A 2023-11-30 2023-11-30 An online measurement, grinding, polishing and final inspection integrated robot processing system and method Pending CN118024096A (en)

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