航空复杂曲面工件激光位移测量机器人自动定位打磨系统  

Automatic Positioning and Polishing System of Laser Displacement Measurement Robot for Aviation Complex Curved Surface Workpiece

作　　者：刘殿海[1,2] 周波 习磊[3] 韩勇[3] 陈鸣晖 金超宁 LIU Dianhai;ZHOU Bo;XI Lei;HAN Yong;CHEN Minghui;JIN Chaoning(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang Liaoning 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang Liaoning 110169,China;The 39th Research Institute of China Electronics Technology Group Corporation,Xi′an Shaanxi 710065,China;Nanchang Yanchang Electromechanical Technology Co.,Ltd.,Nanchang Jiangxi 330096,China)

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国电子科技集团公司第三十九研究所,陕西西安710065 [4]南昌市彦畅机电科技有限公司,江西南昌330096

出　　处：《机床与液压》2024年第23期64-69,共6页Machine Tool & Hydraulics

基　　金：国防基础科研项目(JCKY20210C002)。

摘　　要：针对具有回转曲面的大型航空发动机管件部件在高精度加工技术中存在的定位精度不高及难以定位的问题,提出一种基于激光位移传感器的工件精确测定与自动调整位置的方法。通过构建一个机器人打磨中心作为航空发动机关键部件的打磨平台,采用机器人末端夹持非接触式激光位移测量系统进行数据采集,并通过数据拟合的计算径向及角向偏差。为实现非接触式自动化对刀,设计定位夹紧滑块机构,确定每个工位的定位夹紧块移动量。最后,将上述机器人智能加工和智能检测功能通过软件实现创新集成。四工位仿真及三工位实际打磨加工验证表明:该方法能够显著提高大型回转体工件的打磨定位精度、效率及打磨质量。Aiming at the problems of low positioning accuracy and difficult positioning of large aero-engine pipe parts with rotary surface in high precision machining technology,a method of precise measurement and automatic position adjustment of workpiece based on laser displacement sensor was proposed.A robot grinding center was constructed as a grinding platform for the key components of the aero engine,and a non-contact laser displacement measurement system was used to collect data,and the radial and angular deviations were calculated through data fitting.In order to realize non-contact automatic tool setting,the positioning clamping slider mechanism was designed to determine the moving amount of positioning clamping block at each station.Finally,the above robot intelligent processing and intelligent detection functions were innovatively integrated through software.The results of four-station simulation and three-station actual grinding show that this method can significantly improve the precision,efficiency and grinding quality of large rotary workpiece.

关 键 词：自由曲面 航空 自动定位 机器人打磨 

分 类 号：TP391.7[自动化与计算机技术—计算机应用技术]