Non-uniform Margin Blade Robot Grinding And Polishing Force Speed Control

With the rapid development of our country’s aerospace technology,blades as the core key components of aero-engines,have extremely high requirements for their surface roughness、profile accuracy and surface quality.At present,our country’s blades polishing is mainly done manually.The efficiency is low and the blade surface consistency is poor,which also has great harm to the health of workers.Therefore,in order to the above problems,this paper constructs a robotic blades abrasive belt automatic grinding and polishing scheme,and builds an automatic blades grinding and polishing processing platform.Based on the elastic contact state of the contact wheel and the blade,the effect on the blade grinding depth is studied.Finally,according to the surface allowance of the blade is distributed for variable speed and constant force grinding and polishing of abrasive belt blades.The main research contents of each chapter in this article are arranged as follows:1.The design of adaptive grinding and polishing system for robot belt blades.Aiming at the problem of difficult processing of aero-engine blades and other structurally complex parts,this article mainly designs an intelligent grinding and polishing unit for the full-surface grinding characteristics of the blade,and introduces its working principle and structural composition,and then introduces the hardware and the whole grinding and polishing system.Software composition,and finally introduced the working process of the whole robot belt blade grinding in detail.2.Modification of the grinding depth model based on the stress strain of the contact wheel and the blade.A simulation contact model is established by ANSYS software and the contact state of the contact wheel blade is analyzed by finite element analysis.The stress and strain model corresponding to each grid point divided by the blade and the contact wheel is obtained,and the stress and strain of the two in the grinding process are obtained.Introduced into the theoretical grinding depth model and an improved grinding depth model is obtained.The effect of the elastic contact state of the contact wheel and the blade on the grinding depth of the blade is verified,and the depth of material removal with the material that does not consider the elastic contact state of the contact wheel is verified.For comparison,the prediction result of the grinding depth model considering contact deformation is more accurate,and the prediction error is reduced from 8.348% to 3%,which improves the prediction accuracy of the modified grinding depth model and verifies the validity of the model.3.Constant force variable speed control of abrasive belt blades based on blade surface margin drive.A solution for robot constant force variable speed grinding and polishing is proposed.According to the Hexagon three-coordinate measurement,the surface profile data of the blade is obtained,and then by matching and aligning the actual model of the blade with the theoretical model,the actual grinding and polishing machining allowance of each point on the surface is obtained.The improved grinding depth model to plan the corresponding speed of the abrasive belt,use the neural network-based impedance control to achieve constant force grinding and polishing.Through simulation experiments,force tracking in a variable stiffness environment can be performed well.Aiming at the uneven distribution of the blade surface allowance,the constant force variable speed grinding and polishing test program based on the material removal rate drive is realized,and the result is obtained by the method of constant rotation speed.The material removal error is 11.3%,while the error of the variable speed grinding and polishing method is5.2%,which proves the effectiveness of the constant force variable speed grinding and polishing solution.4.Test verification of abrasive belt grinding and polishing for aero-engine blade robot.The surface roughness and contour accuracy of the aero-engine blades are processed by the robot belt grinding,and the surface roughness and contour accuracy test experiments are carried out.It is obviously learned that the surface roughness of the blade after grinding with the robot belt obtains improved through the experiment,there is no over-grind and under-grind on the surface,the processing consistency is greatly improved,and the contour accuracy meets the tolerance requirements.