平衡孔柔性打磨的混合感知与协同控制OA

During the grinding of balance holes,there are many difficulties in their positioning and grinding due to complex curved rotor surface,also,variable stiffness of the component leads to problems during flexible processing.In alignment with automation demands,a hybrid"vision+model+force search"localization technology based on 3D vision and Archimedean spiral force search algorithm was proposed.Initial data was acquired via stereo vision matching,and a balance hole model of turbine rotor was established through 3D point cloud localization and coordinate system unification among the robot,vision and component coordinate systems.By integrating the Archimedean spiral force search algorithm with active flexible control,the robot's path was dynamically adjusted,enabling precise grinding and hole insertion operations on the complex curved surface.Experiments conducted on turbine rotor workshop platform validated the method's effectiveness and feasibility on three aspects,namely localization accuracy,grinding efficiency and processing consistency.The results demonstrated that this technology could significantly enhance processing precision and efficiency,exhibiting robust flexible machining capabilities and reliability in practical applications.This research can provide reference for automatic machining in turbine rotor workshop.