Robot machining system and control method for ultrasonic surface rolling process of aircraft engine blade

A robot machining control method for ultrasonic surface rolling process of an aircraft engine blade, the method comprising at least:

• step S1:
• providing a robot machining system for ultrasonic surface rolling process of the aircraft engine blade, causing a blade clamp to clamp a tenon portion of the aircraft engine blade, causing a surface to be machined of the aircraft engine blade to face a ultrasonic surface rolling process device, and a flexible follow-up support head supporting an opposite surface to the surface to be machined;
• step S2:
• generating, according to a model of the aircraft engine blade, a zigzag machining trajectory of the ultrasonic surface rolling process device in an equal cross-section method;
• step S3:
• generating a movement trajectory of a lifting support rod according to the zigzag machining trajectory of the ultrasonic surface rolling process device;
• and
• step S4:
• controlling, by a control system according to the zigzag machining trajectory of the ultrasonic surface rolling process device and the movement trajectory of the lifting support rod, the movement of the ultrasonic surface rolling process device and the lifting support rod, so as to complete strengthening of the surface to be machined of the aircraft engine blade.