CN113385900B - Measurement-milling-deburring-grinding-polishing integrated casing machining device and method - Google Patents
Measurement-milling-deburring-grinding-polishing integrated casing machining device and method Download PDFInfo
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- CN113385900B CN113385900B CN202110735692.4A CN202110735692A CN113385900B CN 113385900 B CN113385900 B CN 113385900B CN 202110735692 A CN202110735692 A CN 202110735692A CN 113385900 B CN113385900 B CN 113385900B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention belongs to the field of intelligent machining and manufacturing, and particularly discloses a measurement-milling-deburring-grinding-polishing integrated casing machining device and method, wherein the measurement-milling-deburring-grinding-polishing integrated casing machining device comprises a tool assembly, a quick-change tool support and a robot, wherein the tool assembly comprises four tools: the long overhang measuring tool is used for acquiring the machining allowance of each part of the casing; the long overhanging milling tool is used for milling and roughly processing the casing; the long overhanging deburring tool is used for removing burrs at the edge of the casing; the long overhanging grinding tool is used for finely machining the surface of the inner cavity of the casing; the four tools are independently and movably arranged in the quick-change tool bracket; when the machine is used, the robot is used for replacing and installing different tools to process the machine case. The invention realizes the automatic machining of the machine box by the robot, ensures the stable machining of the machine box from measurement, milling, deburring to grinding and polishing, reduces manual intervention and improves the machining efficiency and the machining quality of the machine box.
Description
Technical Field
The invention belongs to the field of intelligent machining and manufacturing, and particularly relates to a measuring-milling-deburring-grinding-polishing integrated casing machining device and method.
Background
In a new generation of aircraft engine, a casing is one of important parts of the aircraft engine, which is used as a base of the whole engine and is an important part for installing and supporting a rotor and fixing the rotor, and the thrust of the engine acts on an aircraft through the casing; therefore, the case is used as a main bearing part on the aeroengine, has higher requirements on the strength and the processing precision, and the manufacturing technology of the case belongs to the international difficult problem.
The casing is composed of an outer ring, an inner ring and a rectifying plate, most blanks of the casing are sand casting aluminum-magnesium alloy parts, radial spaces of an air passage surface and a support plate surface are small, a cavity bottom is deep, material removal amount is large, machining efficiency is low, integral rigidity is poor due to thin-wall parts and long overhanging cutters, deformation errors are prone to occurring, and allowance detection, cutter path planning and process simulation in the machining process are difficult. In the prior aviation enterprise, the allowance removal and the finishing of the air passage surface and the support plate surface of the casting type casing are mostly carried out manually, the machining efficiency is low, the machining precision cannot be guaranteed, the labor intensity of workers is high, and the working environment is poor. Compared with manual polishing and grinding, the five-axis numerical control machine tool can obviously improve the processing efficiency and quality, but has obvious defects: (1) the cost is high, and millions of RMB are needed for a set of precision machine tools; (2) the variable force adaptive machining capability without specified grinding allowance cannot form a force control closed loop machining circuit.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a measuring-milling-deburring-grinding-polishing integrated casing processing device and method, and aims to realize the automatic integrated processing of measuring, milling, deburring and grinding-polishing of the casing, the whole process does not need manual participation, the processing efficiency and the processing stability are improved, and the cost is lower.
To achieve the above object, according to one aspect of the present invention, there is provided a measurement-milling-deburring-grinding-polishing integrated casing processing apparatus including a tool assembly, a quick-change tool holder, and a robot, wherein:
the tool assembly includes four tools: the device comprises a long overhang measuring tool, a long overhang milling tool, a long overhang deburring tool and a long overhang grinding tool, wherein the long overhang measuring tool is used for acquiring machining allowance of each part of the casing; the long overhanging milling tool is used for milling and roughly processing the casing; the long overhanging deburring tool is used for removing burrs at the edge of the casing; the long overhanging grinding tool is used for carrying out finish machining on the surface of the inner cavity of the casing; the four tools are independently and movably arranged in the quick-change tool bracket; when the quick-change tool support is used, different tools are replaced and installed in the quick-change tool support by the robot to process the casing.
Preferably, the long overhanging grinding tool comprises a grinding tool controller, and a grinding tool mounting flange, an extension rod assembly, a triaxial force sensor, a grinding and polishing electric spindle and a grinding head which are connected in sequence, wherein the extension rod assembly comprises a plurality of extension rods which are movably mounted in a nested manner, the triaxial force sensor is used for measuring a contact force in a grinding and polishing process, and the grinding tool controller is used for controlling the contact force in the grinding and polishing process.
As a further preferred, the long overhanging grinding tool further comprises a two-degree-of-freedom servo motion platform installed between the grinding tool mounting flange and the extension rod assembly, the two-degree-of-freedom servo motion platform being used for fine adjustment of the position of the grinding head in the lateral and longitudinal directions.
As a further preferred, the long overhanging deburring tool comprises a deburring device mounting flange, a passive deburring device and a rotary file which are connected in sequence, the passive deburring device can float along the radial direction, and the rotating speed of the passive deburring device is controlled by air pressure.
Preferably, the long overhanging milling tool comprises a milling electric spindle, a milling cutter and a spindle controller, wherein a holding clamp is arranged on the milling electric spindle and used for being connected with a robot, the milling cutter is clamped at the tail end of the milling electric spindle, and the spindle controller is used for adjusting the rotating speed of the milling electric spindle.
More preferably, the milling cutter is a long overhanging conical milling cutter, and the length of the milling cutter is 150 mm-300 mm.
As a further preferred option, the long overhang measuring tool comprises a sensor mounting flange and a laser displacement sensor, wherein the laser displacement sensor is mounted at one end of the sensor mounting flange, and the other end of the sensor mounting flange is used for being connected with a robot.
Preferably, the four tools are connected with the robot through a pneumatic quick-change tool, and the robot is a six-joint robot.
According to another aspect of the invention, a measurement-milling-deburring-grinding-polishing integrated casing processing method is provided, which is realized by adopting the casing processing device, and comprises the following steps:
s1, the robot clamps the long overhang measuring tool to perform segmented scanning on the casing to obtain three-dimensional point cloud data of the casing, and further milling allowance of each part of the casing is obtained;
s2, planning a milling path and technological parameters according to the milling allowance, and replacing a clamping long overhanging milling tool by the robot to mill the casing according to the milling path and the technological parameters; then the robot replaces a clamping long overhanging deburring tool to remove burrs on the edge of the casing;
s3, replacing a clamping long overhang measuring tool by a robot, and scanning the milled and deburred case in a segmented manner to obtain three-dimensional point cloud data of the case, so as to obtain grinding and polishing machining allowances of all parts of the case;
s4, planning a grinding and polishing path and technological parameters according to the grinding and polishing allowance, and carrying out grinding and polishing processing on the surface of the deep cavity of the casing according to the grinding and polishing path and the technological parameters by replacing the clamping long overhanging grinding tool by the robot to finish the processing of the casing.
As a further preference, the grinding and polishing process parameters comprise a grinding and polishing contact force, a main shaft rotating speed and a robot feeding speed; in the grinding and polishing process, the grinding and polishing contact force is measured in real time through the triaxial force sensor, and is adjusted through the grinding tool controller.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the invention realizes the integrated and automatic processing of the casing by means of the advantages of low cost, good flexibility, intellectualization, high efficiency and large operation space of the robot and the matching design of the measuring, milling, deburring and grinding-polishing tools which can be movably installed and replaced, the processing process does not need manual participation, the stable processing process from the measuring, milling, deburring to the grinding-polishing of the casing is ensured, the processing efficiency is improved, and the problems of over-polishing of the workpiece, uneven grinding-polishing and the like caused by artificial factors in the processing process are avoided.
2. The invention designs an extension rod component, a three-axis force sensor and a two-degree-of-freedom servo motion platform in a long overhanging grinding tool, wherein the grinding tool is made into a form that the long overhanging can reach the cavity bottom by designing the extension rod, and the number of the extension rods can be flexibly increased or reduced, so that the grinding tool is suitable for casing cavities with different depths; real-time monitoring and adjustment of contact force in the grinding and polishing process are achieved through a triaxial force sensor, a force control closed-loop processing circuit is formed, and meanwhile, fine adjustment is carried out on the positions of a grinding head of a two-degree-of-freedom servo motion platform in the transverse direction and the longitudinal direction, so that the precision in the last step of grinding and polishing is guaranteed; in addition, the grinding and polishing path cut in and out is planned after the preorder processing is finished, over-polishing or under-polishing is prevented when the grinding tool initially contacts the workpiece and leaves the workpiece after the grinding and polishing are finished, and the processing quality is improved.
3. The invention designs the passive deburring device which can float along the radial direction in the deburring tool, and the passive deburring device can play a role in buffering when the file removes burrs at the edge of the case, so that a workpiece and a cutter are prevented from being damaged.
4. The milling cutter is designed into the long overhanging conical milling cutter, so that the interference of the conical milling cutter when the conical milling cutter extends into the cavity bottom of the casing can be avoided, meanwhile, the length of the conical milling cutter which can extend can be ensured, and the requirements of the complex cavity of the casing on the interference avoidance, rigidity and dynamics can be met.
Drawings
FIG. 1 is a flow chart of a measurement-milling-deburring-grinding-polishing integrated casing processing method according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a measurement-milling-deburring-polishing integrated casing processing device according to an embodiment of the invention;
FIG. 3 is a schematic structural view of a long overhang measuring tool according to an embodiment of the present invention;
FIG. 4 is a schematic view of a long overhang milling tool according to an embodiment of the present invention;
FIG. 5 is a schematic view of a long overhang abrasive article in accordance with an embodiment of the present disclosure;
FIG. 6 is a schematic structural view of a long overhang deburring tool according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an incision grinding and polishing path according to an embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 11-a six-joint robot, 12-a long overhanging deburring tool, 13-a long overhanging grinding tool, 14-a long overhanging milling tool, 15-a quick-change robot side connecting piece, 16-a quick-change robot side, 17-a long overhanging measuring tool, 18-a quick-change tool support, 19-a casing, 21-a quick-change tool side, 22-a quick-change tool side connecting piece, 23-a sensor mounting flange, 24-a laser displacement sensor, 31-a long overhanging conical milling cutter, 32-a milling electric spindle, 33-a milling electric spindle holding clamp, 41-a grinding head, 42-a polishing electric spindle, 43-a polishing electric spindle holding clamp, 44-a polishing electric spindle holding clamp connecting piece, 45-a triaxial force sensor, 46-a first extension rod, 47-a second extension rod, and 48-an extension rod mounting plate, 49-two-degree-of-freedom servo motion platform, 50-Y axis servo motor, 51-X axis servo motor, 52-grinding tool mounting flange, 61-rotary file, 62-passive deburring device and 63-deburring device mounting flange.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The measurement-milling-deburring-grinding-polishing integrated casing processing device provided by the embodiment of the invention comprises a six-joint robot 11, a quick-change tool, a tool assembly and a quick-change tool bracket 18, as shown in fig. 2, wherein:
the quick-change tool comprises a quick-change robot side 16 and a quick-change tool side 21, the quick-change robot side is mounted at the tail end of the six-joint robot 11, and the quick-change machining tool is replaced by connecting with different quick-change tool sides.
The tool assembly comprises a long overhang measuring tool 17, a long overhang milling tool 14, a long overhang deburring tool 12 and a long overhang grinding tool 13, and specifically:
the long overhang measuring tool 17 is used for scanning the surface of the casing 19 in a segmented manner to obtain three-dimensional point cloud data, reconstructing a three-dimensional model of a casing blank according to the three-dimensional point cloud data, and calculating machining allowance of each part of the casing according to the registration of the reconstructed three-dimensional model and a designed casing model. As shown in fig. 3, the long overhang measuring tool 17 comprises a sensor mounting flange 23 for fixedly mounting the laser displacement sensor, a laser displacement sensor 24, a quick-change tool side 21 for connecting the sensor mounting flange and the quick-change tool side, and a quick-change tool side connector 22 for quickly fixedly connecting or disconnecting the quick-change tool side to or from the quick-change robot side.
The long overhang milling tool 14 is used for roughing the casing, and can remove a large amount of material of the casing. As shown in fig. 4, the long overhanging milling tool 14 includes a milling electric spindle 32, a milling electric spindle holding clamp 33, a long overhanging tapered milling cutter 31, a spindle controller, a quick-change tool side and a quick-change tool side connector, wherein the milling electric spindle is connected with the quick-change tool side connector through the milling electric spindle holding clamp, the long overhanging tapered milling cutter is clamped at the end of the milling electric spindle, the length of the milling electric spindle is preferably 150mm to 300mm, and the requirements of interference avoidance, rigidity and dynamics of a complex cavity of a casing can be met; the spindle controller is used for adjusting the rotating speed of the milling electric spindle; the quick-change tool side connecting piece is used for connecting the milling electric spindle holding clamp and the quick-change tool side, and the quick-change tool side is used for being fixedly connected or separated with the quick-change robot side.
The long overhang deburring tool 12 is used for deburring the edge of the casing. As shown in fig. 6, the long overhanging deburring tool 12 comprises a passive deburring device 62 which is floatable in the radial direction and whose rotational speed is controlled by air pressure, a deburring device mounting flange 63, a rotary file 61, a quick-change tool side and a quick-change tool side coupling member, the passive deburring device being connected to the quick-change tool side coupling member through the deburring device mounting flange; the rotary file is clamped on the passive deburring device and used for deburring the edge of the casing; the quick-change tool side connecting piece is used for connecting the deburring device mounting flange and the quick-change tool side, and the quick-change tool side is used for being fixedly connected or separated with the quick-change robot side.
The long overhang grinding tool 13 is used for finish machining of the surface of the inner cavity of the casing, and small material removal can be achieved. As shown in fig. 5, the long overhanging grinding tool 13 includes a grinding tool controller, a quick-change tool side connector, a grinding tool mounting flange 52, a two-degree-of-freedom servo motion platform 49, an extension rod assembly, a three-axis force sensor 45, a grinding and polishing electric spindle clamp connector 44, a grinding and polishing electric spindle clamp 43, a grinding and polishing electric spindle 42, and a cylindrical grinding head 41, which are connected in sequence, wherein the two-degree-of-freedom servo motion platform 49 includes an X-axis servo motor 51 and a Y-axis servo motor 50, and the X-axis servo motor controls the linear motion of the two-degree-of-freedom servo motion platform along the X direction; the Y-axis servo motor controls the linear motion of the two-degree-of-freedom servo motion platform along the Y direction; the two-degree-of-freedom servo motion platform converts the rotary motion of the servo motor into linear motion through a ball screw in the two-degree-of-freedom servo motion platform. The extension rod assembly comprises a first extension rod 46 and a second extension rod 47 which are movably mounted, the second extension rod is mounted on the two-degree-of-freedom servo motion platform through an extension rod mounting plate, the grinding tool is made into a long overhanging cavity bottom type through the extension rod assembly, and the casing cavities with different depths can be adapted by increasing or reducing the number of the extension rods. The triaxial force sensor is used for measuring contact force in the grinding and polishing process. The grinding and polishing electric main shaft holding and clamping connecting piece is used for fixing the grinding and polishing electric main shaft holding and clamping, the grinding and polishing electric main shaft holding and clamping is used for fixing the grinding and polishing electric main shaft, the grinding and polishing electric main shaft drives the cylindrical grinding head to rotate so as to realize grinding of the casing, and the cylindrical grinding head is formed by bonding an abrasive belt ring, a rubber ring and a cylindrical rod. The grinding tool controller is used for controlling the contact force in the grinding and polishing process. The quick-change tool side connecting piece is used for connecting the grinding tool mounting flange and the quick-change tool side, and the quick-change tool side is used for being quickly and fixedly connected or separated with the quick-change robot side.
The quick-change tool support is used for storing the long overhang measuring tool, the long overhang milling tool, the long overhang deburring tool and the long overhang grinding tool, and can be adjusted according to the number and the placement requirements of the tools to adapt to different types of tools; when the six-joint robot is used, different tools are replaced and installed in the quick tool replacing bracket to process the casing.
The measurement-milling-deburring-grinding-polishing integrated casing processing device is adopted for casing processing, and as shown in figure 1, the method comprises the following steps:
s1, planning a non-interference measurement path by adopting secondary development software according to the three-dimensional model of the casing;
s2, the six-joint robot clamping long overhang measuring tool scans the casing in a segmented mode according to an interference-free measuring path to obtain three-dimensional point cloud data of the casing, a three-dimensional model of a casing blank is reconstructed by using the three-dimensional point cloud data, and milling allowance of each part of the casing can be calculated according to matching of the three-dimensional model and a casing drawing;
s3, milling parameters are formulated according to the milling allowance, a milling path is planned by adopting secondary development software, and the six-joint robot clamps the long overhanging milling tool to mill the casing according to the milling path and the technological parameters;
s4, planning a deburring path by adopting secondary development software, and clamping a long overhanging deburring tool by a six-joint robot to remove burrs on the edge of the casing;
s5, measuring the milled and deburred casing by using a six-joint robot clamping long overhang measuring tool to obtain grinding and polishing machining allowance;
s6, formulating grinding and polishing process parameters according to the grinding and polishing allowance, and planning a cutting-in and cutting-out grinding and polishing path, wherein the grinding and polishing path can prevent over-polishing or under-polishing when a grinding tool initially contacts a workpiece and leaves the workpiece after the grinding and polishing are finished, as shown in fig. 7; and (3) clamping the long overhanging grinding tool by the six-joint robot, and grinding and polishing the surface of the deep cavity of the casing according to the grinding and polishing path and the technological parameters to remove the machined tool lines on the surface.
Furthermore, the grinding and polishing process parameters comprise grinding and polishing contact force, spindle rotating speed and feeding speed of the six-joint robot, the grinding and polishing contact force is measured in real time through a three-axis force sensor in the grinding and polishing process, and the grinding and polishing contact force is adjusted through a grinding tool controller.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A measurement-milling-deburring-grinding-polishing integrated casing machining device is characterized by comprising a tool assembly, a quick-change tool support (18) and a robot, wherein:
the tool assembly includes four tools: the device comprises a long overhang measuring tool (17), a long overhang milling tool (14), a long overhang deburring tool (12) and a long overhang grinding tool (13), wherein the long overhang measuring tool (17) is used for obtaining machining allowance of all parts of the casing; the long overhanging milling tool (14) is used for milling and roughing the casing; the long overhanging deburring tool (12) is used for removing burrs on the edge of the casing; the long overhanging grinding tool (13) is used for carrying out finish machining on the surface of the inner cavity of the casing; the four tools are independently and movably arranged in the quick-change tool bracket (18); when the robot is used, different tools are replaced and installed from the quick-change tool bracket (18) for machining a casing;
the long overhanging grinding tool (13) comprises a grinding tool controller, and an extension rod assembly, a three-axis force sensor (45), a grinding and polishing electric spindle (42) and a grinding head (41) which are sequentially connected, wherein the extension rod assembly comprises a plurality of nested and movably-mounted extension rods, the three-axis force sensor (45) is used for measuring contact force in the grinding and polishing process, and the grinding tool controller is used for controlling the contact force in the grinding and polishing process;
the long overhanging deburring tool (12) comprises a deburring device mounting flange (63), a passive deburring device (62) and a rotary file (61) which are connected in sequence, wherein the passive deburring device (62) can float along the radial direction, and the rotating speed of the passive deburring device is controlled by air pressure.
2. The integrated measurement-milling-deburring-polishing cartridge processing apparatus according to claim 1, wherein the long overhanging grinder (13) further comprises a two-degree-of-freedom servo motion platform (49) mounted on the extension bar assembly, the two-degree-of-freedom servo motion platform (49) being used for fine adjustment of the position of the grinding head (41) in the lateral and longitudinal directions.
3. The integrated measuring-milling-deburring-polishing machine casing machining device according to claim 1, characterized in that the long overhanging milling tool (14) comprises an electric milling spindle (32), a milling cutter and a spindle controller, wherein the electric milling spindle (32) is provided with a holding clamp for connecting with a robot, the milling cutter is clamped at the tail end of the electric milling spindle, and the spindle controller is used for adjusting the rotating speed of the electric milling spindle.
4. The integrated measurement-milling-deburring-grinding-polishing casing machining device according to claim 3, wherein the milling cutter is a long overhanging conical milling cutter, and the length of the milling cutter is 150mm to 300 mm.
5. The integrated measuring-milling-deburring-polishing machine casing processing device according to claim 1, characterized in that the long overhang measuring tool (17) comprises a sensor mounting flange (23) and a laser displacement sensor (24), wherein the sensor mounting flange (23) is provided with the laser displacement sensor (24) at one end, and is connected with a robot at the other end.
6. The integrated measurement-milling-deburring-grinding-polishing cartridge machining device according to any one of claims 1 to 5, wherein four tools are connected to the robot through a pneumatic quick-change tool, and the robot is a six-joint robot.
7. A measurement-milling-deburring-grinding-polishing integrated casing machining method which is realized by the casing machining device according to any one of claims 1 to 6, and is characterized by comprising the following steps of:
s1, the robot clamps the long overhang measuring tool to perform segmented scanning on the casing to obtain three-dimensional point cloud data of the casing, and further milling allowance of each part of the casing is obtained;
s2, planning a milling path and technological parameters according to the milling allowance, and replacing a clamping long overhang milling tool by the robot to mill the casing according to the milling path and the technological parameters; then the robot changes the clamping long overhanging deburring tool to remove burrs on the edge of the casing;
s3, replacing a clamping long overhang measuring tool by a robot, and scanning the milled and deburred casing in a segmented manner to obtain three-dimensional point cloud data of the casing, so as to obtain grinding and polishing machining allowance of each part of the casing;
s4, planning a grinding and polishing path and technological parameters according to the grinding and polishing allowance, and carrying out grinding and polishing processing on the surface of the deep cavity of the casing according to the grinding and polishing path and the technological parameters by replacing the clamping long overhanging grinding tool by the robot to finish the processing of the casing.
8. The integrated measurement-milling-deburring-grinding-polishing casing machining method according to claim 7, wherein the grinding-polishing process parameters include grinding-polishing contact force, spindle rotation speed and robot feed speed; in the grinding and polishing process, the grinding and polishing contact force is measured in real time through the triaxial force sensor, and is adjusted through the grinding tool controller.
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| CN113828805A (en) * | 2021-11-26 | 2021-12-24 | 北京新风航天装备有限公司 | Closed automatic cutting robot cutting device for capsule coating with rotary symmetric structure |
| CN115685883A (en) * | 2022-10-31 | 2023-02-03 | 厦门大学 | Robot three-dimensional engraving and milling system and method based on CAM software |
| CN115741021A (en) * | 2022-12-23 | 2023-03-07 | 中建材凯盛机器人（上海）有限公司 | Composite gripper device for realizing automatic assembly of float glass gripper |
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| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
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