ROS-based force-location mix control processing system of complex curved surface blades

Abstract

The invention discloses an ROS-based force-location mix control processing system of complex curved surface blades. The ROS-based force-location mix control processing system comprises an industrial robot, a robot control unit, a processing unit, a force / torque sensor and an abrasive belt grinding and polishing machine, wherein the processing unit is used for recording cutter locus planning information and force locus planning information and receiving feedback information of the force / torque sensor in real time, so that the inverse kinematics solution of the cutter locus planning and force locus planning is acquired and send to the robot control unit in real time; the robot control unit is used for converting the received inverse kinematics solution into a cutter locus command and a force locus command to be sent to the industrial robot; the industrial robot is used for clamping blades and driving the blades to move around the abrasive belt grinding and polishing machine according to the command of the robot control unit so as to complete blade grinding. According to the ROS-based force-location mix control processing system of the complex curved surface blades, the force-location mix control of the robot over the abrasive belt grinding of the complex curved surface blades is effectively realized, the material removal rate of the complex curved surface blades is accurately controlled, and the surface integrity of the complex curved surface blades is further improved.

Description

technical field [0001] The invention belongs to the field of robot automatic processing, and in particular relates to a ROS-based force-position hybrid control processing system for complex curved blades, which is suitable for processing aeroengine blades, turbine blade profiles, and intake and exhaust edges by robots. Background technique [0002] As one of the core components of aero-engines and turbines, complex curved surface parts such as blades play a very important role in the performance of the whole machine. Its geometric shape accuracy and surface quality directly determine the work performance and efficiency of the whole machine. Complex curved blades are also typical difficult-to-machine parts in the field of mechanical processing because of their thin blades and large degrees of bending and twisting. Their manufacturing materials are mainly high-temperature alloys and titanium alloys that are difficult to machine. problems such as low efficiency and poor accurac...

AI Technical Summary

Problems solved by technology

However, it is more and more complicated to write programs for the robot to realize the precise control of the position ring and force ring of complex curved blades.

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