复杂叶片机器人磨抛加工工艺技术研究进展

针对航空、航天、能源等国家战略领域复杂叶片高效高品质加工重大需求,对近年来以工业机器人为装备执行体的机器人磨抛加工技术的研究进展进行了综述。具体围绕叶片机器人磨抛中涉及的加工系统精确标定、测量点云高效匹配、加工轨迹自适应规划,以及柔顺力精密控制等关键工艺技术,系统而全面地分析了国内外已公开发表的相关文献,并以典型的汽轮机叶片和发动机叶片为例,阐述了叶片机器人磨抛工程应用效果。最后从叶片特殊部位一体化加工、磨抛加工颤振抑制、磨抛表面完整性控制、叶片增减材混合加工等方面对该领域未来研究方向进行了展望。     

磨削力的实时采集和数据处理

磨削一般是零件加工的最后一道工序。磨削过程较为复杂，磨削力的大小不仅影响工件的表面质量，而且还影响零件的精度。在磨削机理研究及生产实际中常常需对磨削力进行测试，通过调整磨削用量，修整砂轮，实现在允许的磨削力范围内进行加工。提出了在磨床上安装测力系统，并采用单片机对磨削力信号进行实时采集处理，建立磨削力的经验公式，同时显示并打印结果。     

SiC材料机器人砂带磨削系统设计及试验研究

通过分析SiC材料的加工特点及难点,针对SiC材料成型后加工易产生崩边、开裂等问题,设计并搭建了机器人砂带柔性磨削系统,开展了相关试验研究工作。结果表明, 所搭建的砂带磨削系统可有效避免SiC材料加工过程中的崩边、开裂问题。     

整体叶盘数控砂带磨削技术及其试验

针对航空发动机整体叶盘结构复杂、材料难加工,铣削加工后粗糙度无法达到设计要求,铣削纹理明显,目前的手工抛光难以满足整体叶盘表面质量和型面精度要求的现状,提出了整体叶盘数控砂带磨削技术及其工艺试验。概述了整体叶盘砂带磨削研究进展,分别从新型砂带磨削技术和自适应砂带磨削技术等方面阐述了整体叶盘全型面数控砂带磨削技术。介绍了整体叶盘全型面数控砂带磨削试验装置及其数控磨削加工软件,利用该装置完成了4种不同级别的整体叶盘精密磨削加工试验。结果表明:整体叶盘磨削后,表面粗糙度小于0.4μm,型线精度小于0.05mm,同时型面精度一致性显著提高。     

A trajectory planning method on error compensation of residual height for aero-engine blades of robotic belt grinding

While the traditional trajectory planning methods are used in robotic belt grinding of blades with an uneven machining allowance distribution, it is hard to obtain the preferable profile accuracy and surface quality to meet the high-performance requirements of aero-engine. To solve this problem, a novel trajectory planning method is proposed in this paper by considering the developed interpolation algorithm and the machining allowance threshold. The residual height error obtained from grinding e...     

航空发动机叶片机器人精密砂带磨削研究现状及发展趋势

航空发动机叶片的型面精度及表面完整性对其疲劳寿命和气流动力性等影响巨大。机器人砂带磨削由于其灵活性好、易于调度、通用性强等特点成为提高叶片表面完整性的有效加工方法之一,但是工业机器人一般仅适用于粗加工,而对于半精加工以及精加工,提高机器人的定位精度是决定加工质量的关键问题。因此,对航空发动机叶片机器人砂带磨削研究现状进行归纳总结,为实现叶片精密磨削提供参考。首先,对叶片机器人砂带磨削系统的组成和结构形式进行了论述,从磨削接触廓形、材料去除规律和表面完整性等方面对砂带磨削机理进行了分析;其次,分别从基于CAD模型、数学模型和人工知识学习三方面总结了叶片机器人砂带磨削轨迹规划方法;然后,对叶片机器人砂带磨削运动控制技术研究进行了介绍,并分析了叶片机器人砂带磨削系统及集成技术;最后,对航空发动机叶片机器人砂带磨削研究现状进行了总结,在此基础上对其发展趋势进行了分析。     

一种机器人砂带磨削的路径规划方法(英文)

机器人砂带磨削系统具有弹性接触和宽行加工两个显著优点,被广泛应用在具有复杂工件的终加工领域,提高表面质量和加工效率。有关在曲率约束下的磨削路径规划研究较为少见。由于工件与接触轮之间存在复杂的弹性接触,因此,机器人磨削路径可以利用接触运动学的一般方法来求解。机器人砂带磨削过程且需要满足一般的砂带磨削工艺要求,其中最重要的是保证接触轮与工件的局部几何特征贴合。在曲率较小的局部,相邻刀位点的弧长加大,以保证加工效率。相反地,在曲率较大的局部,相邻刀位点的弧长较小,以保证加工精度。利用一系列平面与目标曲面相截,得到相应的截平面的轮廓曲线。对于任意一条轮廓线,优化相邻刀位点之间的弧长,在曲率较大的局部增加一个中间刀位点。本文提出了一种包含弧长优化和主曲率匹配的磨削路径生产方法,通过离线仿真验证了有效性,并利用该方法提高了曲面的磨削质量。该路径规划方法为生成光顺且精确的机器人曲面磨削路径提供了理论依据。     

Grain erosion wear properties and grinding performance of porous aggregated cubic boron nitride abrasive wheels

Cubic boron nitride (cBN) superabrasive grinding wheels exhibit unique advantages in the grinding of difficult-to-cut materials with high strength and toughness, such as titanium alloys and superalloys. However, grinding with multilayered metallic cBN superabrasive wheels faces problems in terms of grain wear resistance, the chip storage capability of the working layers and the stability and controllability of the dressing process. Therefore, in this work, novel metallic cBN superabrasive wheels with aggregated cBN (AcBN) grains and open pore structures were fabricated to improve machining efficiency and surface quality. Prior to the grinding trials, the air-borne abrasive blasting process was conducted and the abrasive blasting parameters were optimized in view of wear properties of cBN grains and metallic matrix materials. Subsequently, the comparative experiments were performed and then the variations in grinding force and force ratio, grinding temperature, tool wear morphology and ground surface quality of the multilayered AcBN grinding wheels were investigated during machining Ti–6Al–4V alloys. In consideration of the variations of grain erosion wear volume and material removal rate per unit of pure metallic matrix materials as the abrasive blasting parameters changes, the optimal abrasive blasting parameters were identified as the SiC abrasive mesh size of 60# and the abrasive blasting distance and time of 60 mm and 15 s, respectively. The as-developed AcBN grains exhibited better fracture toughness and impact resistance than monocrystalline cBN (McBN) grains because of the existence of metal-bonded materials amongst multiple cBN particles that decreased crack propagation inside whole grains. The metallic porous AcBN wheels had lower grinding forces and temperature and better ground surface quality than vitrified McBN wheels due to the constant layer-by-layer exposure of cBN particles in the working layer of AcBN wheels.     

航空发动机叶片加工变形控制技术研究现状

叶片的加工精度及其稳定性对航空发动机的性能有直接的影响,然而,其加工难度较大,型面轮廓精度和表面质量很难稳定地达到设计要求。为此,国内外研究者提出了许多叶片加工变形的控制方法。在深入分析叶片变形形成机理的基础上,对现有的叶片加工变形控制方法进行分类总结和分析,阐述了不同叶片变形控制方法的原理和特点。同时,结合目前叶片的结构特点、材料特性和主要加工工艺难题指出,控制叶片型面的加工残余应力变形是实现20μm级叶片型面加工精度的关键,并且指出利用超硬砂轮悬臂高速磨削加工是实现中小型叶片型面综合变形控制的有效方法之一。     

磨粒磨损对砂带磨削TC17表面完整性的影响研究

砂带磨粒磨损直接影响磨削表面质量进而影响构件综合服役性能.以表面完整性为评估指标,对砂带磨损前后钛合金的表面加工质量进行了试验研究,揭示了砂带磨粒磨损对磨削TC17表面粗糙度、残余应力和表面硬度的影响规律及机制.结果表明,磨粒磨损后由于高度均匀化、单位面积切削磨粒数增加、磨削深度减小,使得表面粗糙度减小、纹理均匀细腻,...     

Prediction on grinding force during grinding powder metallurgy nickel-based superalloy FGH96 with electroplated CBN abrasive wheel

In this article, a grinding force model, which is on the basis of cutting process of single abrasive grains combined with the method of theoretical derivation and empirical formula by analyzing the formation mechanism of grinding force, was established. Three key factors have been taken into accounts in this model, such as the contact friction force between abrasive grains and materials, the plastic deformation of material in the process of abrasive plowing, and the shear strain effect of material during the process of cutting chips formation. The model was finally validated by the orthogonal grinding experiment of powder metallurgy nickel-based superalloy FGH96 by using the electroplated CBN abrasive wheel. Grinding force values of prediction and experiment were in good consistency. The errors of tangential grinding force and normal grinding force were 9.8% and 13.6%, respectively. The contributions of sliding force, plowing force and chip formation force were also analyzed. In addition, the tangential forces of sliding, plowing and chip formation are 14%, 19% and 11% of the normal forces on average, respectively. The pro-posed grinding force model is not only in favor of optimizing the grinding parameters and improving grinding efficiency, but also contributes to study some other grinding subjects (e.g. abrasive wheel wear, grinding heat, residual stress).     

叶片型面砂带磨削技术的现状和发展趋势

叙述了国内外叶片型面砂带磨削的各种技术,分析了一些叶片材料的砂带磨削性能,并介绍了一些典型的叶片砂带磨床.     

叶片型面刀位计算方法分析

为实现汽轮机７００ｍｍ扭叶片型面的数控砂带磨削精加工,通过分析研究有关现有文献的刀位计算方法,提出采用鞍形曲面法,对由离散型值点给出的汽轮机扭叶片,可以确定其宽行线接触加工的刀位轨迹,以实现叶片型面的数控砂带磨削精加工。     

High precision and efficiency robotic milling of complex parts:Challenges,approaches and trends

Due to the advantages of large workspace, low cost and the integrated vision/force sensing, robotic milling has become an important way for machining of complex parts. In recent years,many scholars have studied the problems existing in the applications of robotic milling, and lots of results have been made in the dynamics, pose planning, deformation control etc., which provides theoretical guidance for high precision and high efficiency of robotic milling. From the perspective of complex parts r...     

单颗磨粒磨削实验及其数值模拟的研究进展

单颗磨粒磨削是研究复杂磨削机理的重要手段,本文从单颗磨粒磨削过程和磨粒形状的角度阐述了磨削基础理论;概述了国内外学者以实验研究单颗磨粒的材料去除、切削力行为;基于数值模拟,探讨了不同工艺参数对单颗磨粒磨削力、磨削温度、工件表面质量的影响规律。最后就这一方向的深入研究工作做了展望。     

航空发动机叶片柔性抛光技术

 基于发动机叶片结构特点及其抛光工艺要求,为实现叶片型面及阻尼台自动化抛光,满足其型面及进排气边尺寸、粗糙度等质量要求,消除叶片型面波纹对抛光工艺的影响,对砂带柔性抛光工艺装备技术进行研究,提出基于抛光力控制的砂带柔性磨头抛光工艺方法,并对其抛光工艺过程、抛光力控制进行研究,通过对叶片自动化抛光编程及抛光轨迹路径规划技术研究,最终实现发动机叶片高效柔性抛光工艺。抛光试验结果表明,柔性自动化抛光后叶片型面尺寸精度可达±0.06 mm,粗糙度低于R_a0.4,与传统手工抛光方法相比,大大提高其抛光效率及表面质量稳定性,降低劳动强度,且减少粉尘污染。     

整体叶盘抛光技术的研究现状及发展趋势

整体叶盘的表面质量和型面精度对航空发动机的气流动力性和使用性能影响巨大,而抛光是保证整体叶盘最终表面质量及型面精度的关键技术。针对目前国外对整体叶盘抛光技术及装备的严格保密、国内整体叶盘的抛光仍然广泛采用人工打磨的现状,对整体叶盘的抛光技术研究现状及发展趋势进行归纳总结,为整体叶盘的抛光及其自动化的发展提供参考。首先,概述了整体叶盘抛光加工的必要性及其重要性,分别从整体叶盘结构特性、材料特性和曲面特性等方面分析了整体叶盘的抛光工艺,并介绍了整体叶盘抛光工艺要求。然后,就整体叶盘磨料流加工、电解加工、砂带抛光等方面概述了国内外整体叶盘抛光技术及装备的研究现状,在此基础上提出了制约整体叶盘型面抛光技术发展的关键问题及其研究内容和解决方案。最后,根据整体叶盘的技术现状及核心关键问题指出了整体叶盘抛光技术的发展趋势。     

航空发动机钛材料磨削技术研究现状及展望

钛材料主要指钛合金、钛铝金属间化合物和钛基复合材料,具有密度低、强度高、抗氧化与蠕变性能好等优异特性,在航空发动机领域具有广泛应用前景。钛材料属于典型的难加工材料。磨削是高效精密加工钛材料的重要方法,可以获得良好的加工精度和表面质量。首先概述了钛材料在航空发动机中的应用及其磨削工艺技术总体情况。随后,从磨削力与磨削温度、砂轮磨损、材料去除机理、表面完整性等方面阐述了钛材料磨削技术的研究进展,并总结了针对钛材料磨削关键问题提出的新工艺和新方法。最后,对钛材料磨削技术未来的研究方向进行了展望。     

Grinding force and surface quality in creep feed profile grinding of turbine blade root of nickel-based superalloy with microcrystalline alumina abrasive wheels

Creep feed profile grinding of the fir-tree blade root forms of single crystal nickel-based superalloy was conducted using microcrystalline alumina abrasive wheels in the present study. The grinding force and the surface quality in terms of surface topography, subsurface microstructure, microhardness and residual stress obtained under different grinding conditions were evaluated comparatively. Experimental results indicated that the grinding force was influenced significantly by the competing predominance between the grinding parameters and the cross-sectional root workpiece profile. In addition, the root workpiece surface, including the root peak and valley regions, was produced with the large difference in surface quality due to the nonuniform grinding loads along the root workpiece profile in normal section. Detailed results showed that the surface roughness, subsurface plastic deformation and work hardening level of the root valley region were higher by up to 25%, 20% and 7% in average than those obtained in the root peak region, respectively, in the current investigation. Finally, the superior parameters were recommended in the creep feed profile grinding of the fir-tree blade root forms. This study is helpful to provide industry guidance to optimize the machining process for the high-valued parts with complicated profiles.     

整体叶盘弹性磨具抛光轨迹关键规划方法

为使得弹性磨具(砂布轮)在抛光中和叶片型面有效切合,提高抛光质量和抛光效率,研究了弹性磨具抛光轨迹规划方法,给出了抛光行距、抛光步长、刀轴矢量的计算方法。该抛光轨迹规划方法使得柔性主轴机构在抛光过程中保持合理的位姿,确保弹性磨具不仅与叶片型面有效贴合,而且使得弹性磨具抛光力方向与抛光点位法矢方向基本一致。试验结果表明:抛光后叶片表面粗糙度小于0.4μm,叶型轮廓度在公差范围内,能够满足整体叶盘叶片型面抛光要求。