An automatic weighing and balancing device for aircraft engine blades and its balancing method

Abstract

The present invention relates to an automatic weighing and balancing equipment for aircraft engine blades and a balancing method thereof, including a transition conveying component, and in sequence along the transportation direction of the transition conveying component, there are a feeding stacking component, a tray positioning component, a fixture storage component, and a receiving stacking component; a handling component is movably arranged on the transition conveying component. The present invention realizes automatic conveying of blades, automatic handling, automatic replacement of detection, automatic tray placing, and automatic stacking through the cooperation of the transition conveying component 、 feeding stacking component 、 tray positioning component 、 fixture storage component 、 receiving stacking component and external equipment such as a PLC controller, etc., to realize automatic transfer of blades, automatic handling, automatic replacement of detection, automatic tray placing, and automatic stacking, thereby replacing manual material transfer, thermal inspection, and thermal stacking, ensuring production quality, reducing production working time, and thus improving the production efficiency of the automatic weighing and balancing equipment for aircraft engine blades.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and in particular to an automatic weighing and balancing equipment for aircraft engine blades and a blade tray arranging method thereof, which are used for automatically arranging trays after detecting aircraft blades. Background Art

[0002] With the development of the aviation industry, the requirements for aircraft blades, which are key components, are getting higher and higher. The traditional detection and sorting of aircraft blades are carried out manually by weighing and then manually arranging them on trays. This process has a high labor intensity, which poses great challenges to the weighing and tray arranging of aircraft blades, a key component, and even the entire aerospace industry.

[0003] In view of this, it is highly necessary to design an automatic weighing and balancing equipment for aircraft engine blades and a blade tray arranging method thereof with high automation to solve the technical problems brought by the above-mentioned detection. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides an automatic weighing and balancing equipment for aircraft engine blades, which has a reasonable structural design, saves costs, has high working efficiency, reduces labor costs and labor intensity, has low production costs, good product quality, high yield, and high equipment utilization rate. Specifically, through the cooperation of equipment such as a transition conveying component, a feeding stacking component, a tray positioning component, a fixture storage component, a receiving stacking component, and an external PLC controller, it realizes automatic conveying of blades, automatic handling, automatic detection replacement, automatic tray arranging, and automatic stacking, thereby replacing manual material transfer, thermal detection, and thermal stacking, ensuring production quality, reducing production working time, and thus improving production efficiency.

[0005] The technical solution of the present invention is as follows: An automatic weighing and balancing equipment for aircraft engine blades includes a transition conveying component, and in the transportation direction of the transition conveying component, there are successively a feeding stacking component, a tray positioning component, a fixture storage component, and a receiving stacking component; a handling component is movably arranged on the transition conveying component; the feeding stacking component is used to place a tray loaded with blades on the transition conveying component, and the transition conveying component transports the tray through the tray positioning component and the receiving stacking component in sequence; the tray positioning component is used to detect whether the material is in place, the fixture storage component is used to detect the mass of each blade, and the receiving stacking component is used to stack and store the materials arranged on the tray; the handling component is used to grab the material and place it on the fixture storage component for detection, and then perform flexible tray arranging according to the detection result.

[0006] As a preferred embodiment, the handling component includes:

[0007] Supports, and adjacent supports are arranged in parallel;

[0008] The guide rail is fixedly arranged on the top of the described support. There is a driving source between adjacent guide rails for driving to provide power.

[0009] The second driving source is movably arranged on the top of the guide rail for providing power. The guide rail can drive the second driving source to move back and forth.

[0010] The fourth driving source is vertically arranged with the second driving source for providing power.

[0011] The execution component is rotatably arranged at the output end of the fourth driving source. The fourth driving source can drive the execution component to move; and

[0012] The position detection component is fixedly arranged on the fourth driving source for providing position information for the rotation of the execution component.

[0013] Wherein: under the action of the guide rail, the second driving source, and the fourth driving source, the movement of the blade in the XYZ space is completed; then, under the position information provided by the position detection component, the execution component adjusts its position in a timely manner to place the blade on the tray.

[0014] As a best implementation manner, the execution component includes:

[0015] The connection base, on which a first installation groove and a second installation groove are arranged in parallel.

[0016] The execution servo motor is installed on the first installation groove through a motor mounting seat for providing rotational power.

[0017] The rotating shaft is fixedly installed on the second installation groove through a rotating shaft seat. The input end of the rotating shaft is connected to the output end of the execution servo motor through a coupling. A sensor is arranged on the coupling for sensing the rotated angle. The execution servo motor can drive the rotating shaft to rotate back and forth; and

[0018] The clamping fixture is detachably connected to the other end of the rotating shaft. The clamping fixture is connected to the output end of the rotating shaft through a robot tool quick change device.

[0019] The position detection component includes a CCD component connection plate for connecting the fourth driving source. One end of the CCD component connection plate is vertically connected with a camera mounting plate. A vision camera is adjustably installed on the camera mounting plate. An annular light source component is adjustably installed on the camera mounting plate. The annular light source component is coaxially arranged with the vision camera. Second light sources are symmetrically and obliquely installed on both sides of the vision camera. The second light sources are connected to the CCD component connection plate through a Z-shaped connection plate arranged in a long strip-shaped space.

[0020] The second drive source and the fourth drive source both adopt servo-driven linear modules; a hollowed-out stiffening rib base is provided on one side of the fourth drive source; a gas collecting panel is provided inside the hollowed-out stiffening rib base; the gas collecting panel is connected to the robot tool quick-change device through a gas path; position sensors are provided corresponding to the starting and ending positions of the movement of the guide rail, the second drive source, and the fourth drive source for sensing the movement state.

[0021] As a best implementation mode, the transition conveying component includes a first double-speed chain device and a second double-speed chain device arranged perpendicular to each other; a switching device is provided at the middle position of the first double-speed chain device; wherein, the first double-speed chain device transports the tray to the switching device station, the switching device jacks it up and conveys it into the second double-speed chain device, and after the tray is arranged, the second double-speed chain device moves in the reverse direction to transport the tray back to the switching device; the switching device places the tray back on the first double-speed chain device and then outputs it; opposed photoelectric sensors are arranged in an array on both the first double-speed chain device and the second double-speed chain device; the opposed photoelectric sensors are fixedly installed on both sides of the first double-speed chain device / second double-speed chain device through the opposed photoelectric sensors.

[0022] As a best implementation mode, the first double-speed chain device includes a first transport component and a second transport component arranged in parallel, and an adjacent first transport component and a second transport component are driven by a servo motor; induction components are arranged in an array and can be lifted between the adjacent first transport component and the second transport component;

[0023] The second double-speed chain device includes a third transport component and a fourth transport component arranged in parallel, and an adjacent third transport component and a fourth transport component are driven by a second double-speed chain servo motor; lifting limit parts are arranged in an array on both the third transport component and the fourth transport component; a material blocking block is provided at one end of the adjacent third transport component and the fourth transport component;

[0024] The switching device includes a switching base; the switching base is slidably inserted on the first double-speed chain device through a switching lifting guide shaft; synchronous belt carrying parts are symmetrically provided at the top of the switching base; a driving shaft is connected to the symmetrically arranged synchronous belt carrying parts; the driving shaft is connected to a switching servo motor through a chain transmission device.

[0025] As a best implementation mode, at least two of the tray positioning components are arranged in an array on the transition conveying component; the tray positioning component includes a jacking mechanism bottom plate for support, and jacking support columns for guiding can be detachably connected at four right-angled corners of the jacking mechanism bottom plate. One end of the jacking support column is adjustable with a guide shaft support; a jacking cylinder is fixedly arranged on the jacking mechanism bottom plate to provide power; a jacking mechanism support plate is movably inserted on the jacking mechanism bottom plate, and the jacking cylinder can drive the jacking mechanism support plate to move back and forth; jacking mechanism limit blocks are symmetrically arranged between adjacent the jacking mechanism bottom plate and the jacking mechanism support plate to prevent collision and buffering between the jacking mechanism bottom plate and the jacking mechanism support plate during work; adjacent the jacking mechanism bottom plate and the jacking mechanism support plate are slidably connected through a second guide shaft; positioning pins are symmetrically arranged at the top diagonal corners of the jacking mechanism support plate.

[0026] As a best implementation mode, the fixture storage component includes fixture storage mechanisms arranged in an array, and a weighing mechanism is arranged between adjacent fixture storage mechanisms; a gripper mechanism is arranged in a straight line on one side of the fixture storage mechanism; the fixture storage mechanism is used to store and load aircraft blades of different specifications; the weighing mechanism is used to measure the fixture storage mechanisms loaded with aircraft blades to classify and sort the blades; the gripper mechanism is used to store and grab the fixtures for aircraft blades.

[0027] As a best implementation mode, the fixture storage mechanism includes a fixture storage bottom plate and a fixture storage support plate arranged in parallel; adjacent the fixture storage bottom plate and the fixture storage support plate are connected through a fixture storage vertical plate provided with a rectangular through hole; fixture storage positioning pins with one end in a frustum shape are arranged in an array on the top of the fixture storage support plate; a weighing fixture can be movably inserted corresponding to the fixture storage positioning pins.

[0028] The weighing mechanism includes a weighing bottom plate, a weighing mounting plate, a weighing pushing bottom plate, and a cylinder push plate arranged in parallel; adjacent the weighing bottom plate and the weighing mounting plate are fixedly connected through a weighing vertical plate provided with a square object through hole; adjacent the weighing pushing bottom plate and the cylinder push plate are fixedly connected through a sliding guide shaft and can be slidably inserted on the weighing mounting plate; a weighing module is fixedly arranged at the center position on the top of the weighing mounting plate; the input end of the weighing module is adjustable and installed with a tray provided with arc-shaped long strip holes in a circumferential array, and third positioning pins are symmetrically arranged on the tray; a weighing pushing cylinder is fixedly arranged at the bottom of the weighing bottom plate; the weighing pushing cylinder can drive the weighing pushing bottom plate to move up and down back and forth; weighing pushing bottom plate limit seats with C-shaped chutes are symmetrically arranged on the weighing bottom plate; the weighing pushing bottom plate is movably arranged in the C-shaped chute; fourth positioning pins are symmetrically arranged at the top of the cylinder push plate.

[0029] The clamping mechanism comprises a clamping base; a first clamping jig seat, a second clamping jig seat, a third clamping jig seat, a fourth clamping jig seat, a fifth clamping jig seat and a sixth clamping jig seat are arranged on the top of the clamping base; a first clamping jaw, a second clamping jaw, a third clamping jaw, a fourth clamping jaw, a fifth clamping jaw and a sixth clamping jaw are movably inserted corresponding to the first clamping jaw, the second clamping jaw, the third clamping jaw, the fourth clamping jaw, the fifth clamping jaw and the sixth clamping jaw.

[0030] As the best implementation mode, the material collecting stacking assembly has the same structure as the material discharging stacking assembly and moves in opposite directions during operation; the material collecting stacking assembly includes a material collecting stacking bracket with a material guide strip provided inside; material blocking mechanisms are symmetrically provided on both sides of the material collecting stacking bracket for limiting the position of the material, and a stacking mechanism is provided at the center of the bottom of the material collecting stacking bracket for lifting or lowering the materials inside the material collecting stacking bracket one by one;

[0031] The material blocking mechanism comprises: a material blocking cylinder, which is rotatably arranged on the material receiving and stacking bracket and is used to provide power;

[0032] A tray support seat, fixedly disposed on the material stacking bracket, for supporting; and

[0033] The tray support plate is rotatably arranged on the tray support seat; the material blocking cylinder can drive the tray support plate to swing back and forth;

[0034] The stacking mechanism comprises a servo drive motor; the output end of the servo drive motor is connected to a worm screw lifter through a coupling; the output end of the worm screw lifter is fixedly connected to a lifting base plate; the lifting base plate is fixedly connected to a stacking guide shaft around the lifting base plate; sensors are provided at the beginning and end positions of the stacking guide shaft;

[0035] A photoelectric sensor is provided on the top of the material receiving and stacking bracket; a second photoelectric sensor is provided corresponding to the installation position of the material blocking mechanism.

[0036] The present invention also discloses an automatic balancing method for aircraft engine blades, comprising: when the transition conveying component transports the blade to be tested into the capturing range of the transporting component, obtaining an image of the aircraft blade within the capturing range, and identifying the model information and position information of the aircraft blade; the transporting component automatically and quickly replaces the clamping mechanism according to the model detection information of the aircraft blade; then, according to the position information, the aircraft blades are transported one by one to the weighing mechanism for weight measurement, and the information of each blade is saved and then placed on a jig storage mechanism for temporary storage; finally, the transporting component readjusts the new position information on the pallet according to the weighing information of the blade and then arranges them in an orderly manner.

[0037] The present invention has the following beneficial effects:

[0038] 1) The present invention is applied to the automatic detection in the production process of aircraft blades. Specifically, through the cooperation of equipment such as a transition conveying component, a feeding stacking component, a tray positioning component, a jig storage component, a receiving stacking component, a handling component, and an external PLC controller, it realizes the automatic conveying of blades, automatic handling, automatic detection replacement, automatic tray loading, and automatic stacking, thus replacing manual material transfer, thermal detection, and thermal stacking, ensuring the production quality, reducing the production working time, and improving the production efficiency. The structure of the present invention is simple, cost-saving, and has high working efficiency, reducing the labor cost and labor intensity, having low production cost, good product quality, high finished product rate, and high equipment utilization rate;

[0039] 2) The present invention adopts a convex-shaped design for the transition conveying component, and there are successively a feeding stacking component, a tray positioning component, a jig storage component, and a receiving stacking component along the transportation direction of the transition conveying component, so that the whole structure is more concise, reducing the occupied space of the automatic weighing and balancing equipment for aircraft engine blades while reasonably distributing the production rhythm, improving the operation efficiency of the whole line, and avoiding the situation of full material waiting due to the production efficiency of individual processes being higher than that of other processes;

[0040] 3) The handling component of the present invention adopts a three-axis coordinate gantry structure design, spanning across the transition conveying component. When working, in cooperation with the use of a vision system, it can realize the handling of materials on the transition conveying component or flexible tray loading, and can also realize the adjustment of the tray at any angle on both the left and right sides, preventing the blades from being damaged due to hard collision during installation, while reducing the PLC control difficulty, having a small occupied space, and completing automatic operations;

[0041] 4) The handling component of the present invention uses a linear module as the drive and is designed in the form of a rectangular coordinate structure, having high running accuracy and good stability. With modular design, simple structure, and low cost, it can efficiently complete automatic handling and tray loading work; at the same time, it adopts a robot tool quick change device design, enabling the robot to continuously and quickly replace the end effector for different models of blades, greatly improving the grasping and handling work efficiency of the handling component;

[0042] 5) The transition conveying component of the present invention uses a first double-speed chain device and a second double-speed chain device arranged perpendicular to each other, and the transportation direction is changed between the two through a switching device, making this transition conveying component have a small occupied space, light weight, low energy consumption, greatly reducing the unit weight of the running device, the unit weight of the whole machine, and the power consumption, and being convenient to control. In addition, the transition conveying component of the present invention effectively replaces multiple other structural designs with the same functions, saving investment, reducing daily maintenance and management costs, and having extremely high working efficiency;

[0043] 6) In the present invention, a weighing mechanism is arranged between adjacent jig storage mechanisms, and a jaw mechanism is arranged in a straight line on one side of the jig storage mechanism to construct a jig storage component. When the device is working, the handling component can grasp the blades on the tray at one time and place them on the jig storage mechanism. Then, the jig storage mechanism grasps the blades of the same model one by one and places them on the weighing mechanism for weighing measurement, effectively reducing the need to replace the end effector on the jaw mechanism for each grasping, and effectively improving the production efficiency.

[0044] 7) In the present invention, a weighing push cylinder is provided to drive the weighing push bottom plate to move up and down back and forth, so that the jig storage mechanism and the weighing module are in a separated state when not being measured, ensuring that the weighing module does not always bear the self-weight of the jig storage mechanism and cause irreparable damage, while preventing damage to the weighing module by the handling component, improving the service life of the weighing module and the detection accuracy at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] To further illustrate the embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, mainly used to illustrate the embodiments, and can be combined with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and the advantages of the present invention. The components in the drawings are not drawn to scale, and similar component symbols are usually used to represent similar components.

[0046] Figure 1 Front view of the automatic weighing and balancing equipment for aircraft engine blades of the present invention;

[0047] Figure 2 Schematic three-dimensional structure diagram of the automatic weighing and balancing equipment for aircraft engine blades of the present invention;

[0048] Figure 3 Schematic three-dimensional structure diagram of the handling component of the present invention;

[0049] Figure 4 Schematic three-dimensional structure diagram of the position detection component of the present invention;

[0050] Figure 5 Schematic three-dimensional structure diagram of the transition conveying component of the present invention;

[0051] Figure 6 Schematic three-dimensional structure diagram of the tray positioning component of the present invention;

[0052] Figure 7 Schematic three-dimensional structure diagram of the jig storage component of the present invention;

[0053] Figure 8 Schematic three-dimensional structure diagram of the weighing mechanism of the present invention;

[0054] Figure 9 This is a three-dimensional structural schematic diagram of the stacking component of the present invention. Detailed implementation manners

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0056] In order to enable those skilled in the art of the present technical field to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0057] See Figures 1 to 9 As shown, an automatic weighing and balancing device for aircraft engine blades includes a frame 10, a transition conveying component 1 fixedly arranged on the frame 10, and a feeding stacking component 2, a tray positioning component 3, a jig storage component 5, and a receiving stacking component 6 in sequence along the transportation direction of the transition conveying component 1; a handling component 7 is movably arranged on the transition conveying component 1. Among them, the feeding stacking component 2 is used to place the trays containing blades one by one onto the transition conveying component 1, and during transportation by the transition conveying component 1, it passes through the tray positioning component 3 for positioning and arranging the trays, the jig storage component 5 for detecting and arranging the trays, and the receiving stacking component 6 for stacking and storing. The tray positioning component 3 is used to detect whether the materials are in place, the jig storage component is used to temporarily store the blades to be detected and then perform quality detection on each blade, and the receiving stacking component 6 is used to stack and store the trays with arranged blades. The handling component 7 is used to grab the materials and place them on the jig storage component 5 for detection, and then perform flexible tray arrangement according to the detection results to arrange the blades on the trays in a certain order. In this embodiment, through the cooperation of devices such as the transition conveying component, the feeding stacking component, the tray positioning component, the jig storage component, the receiving stacking component, the handling component, and an external PLC controller, automatic conveying of blades, automatic handling, automatic detection replacement, automatic tray arrangement, and automatic stacking are realized, thereby replacing manual material transfer, thermal process detection, and thermal process stacking, ensuring production quality, reducing production working time, improving production efficiency, and having a relatively high degree of automated production process. Next, the transition conveying component, the feeding stacking component, the tray positioning component, the jig storage component, the receiving stacking component, and the handling component will be introduced in detail.

[0058] Based on the above embodiments, the handling assembly 7 includes: a support 71, a guide rail 72, a second driving source 73, a fourth driving source 74, an execution member 75, and a position detection member 76. Among them, the adjacent supports 71 are arranged in parallel, which are used to connect the frame 10 while supporting the guide rail 72, the second driving source 73, the fourth driving source 74, the execution member 75, and the position detection member 76; the guide rail 72 is fixedly arranged on the top of one of the supports 71 through fasteners such as screws, and there is a driving source 77 between the adjacent guide rails 72 for driving to provide power; the second driving source 73 is movably arranged on the top of the guide rail 72 to provide power, and the guide rail 72 can drive the second driving source 73 to move; the fourth driving source 74 is arranged perpendicular to the second driving source 73 to provide power, and the second driving source 73 can drive the fourth driving source 74 to move back and forth; the execution member 75 is rotatably arranged at the output end of the fourth driving source 74, and the fourth driving source 74 can drive the execution member 75 to move back and forth; the position detection member 76 is fixedly arranged at the output end of the fourth driving source 74 to provide position information for the rotation of the execution member 75. Specifically, when performing the handling work, after the position of the execution member 75 in the XYZ space is accurately adjusted under the action of the guide rail 72, the second driving source 73, and the fourth driving source 74; then, under the position information provided by the position detection member 76, the execution member 75 timely adjusts its position to place the blade on the tray in a flexible swinging manner. In this embodiment, by adopting a three-axis coordinate gantry structure design, spanning across the transition conveying assembly, and cooperating with the use of the vision system during work, it is possible to achieve material handling on the transition conveying assembly, flexible tray loading, or switching of the execution member 75, and it is possible to adjust the tray at any angle on the left and right sides to prevent damage to the blade caused by hard contact during installation. At the same time, it can also reduce the difficulty of PLC control, occupy less space, and perfectly complete the automated operation.

[0059] On the basis of the above embodiment, the support 71 includes an X-axis bottom plate 711 for placing the guide rail 72, and X-axis brackets 712 made of square steel and metal parts are symmetrically arranged at both ends of the X-axis bottom plate 711, which are used to dock the support 71 on the frame 10, and the adjacent X-axis brackets are provided with bottom plate reinforcement ribs 713, and the bottom plate reinforcement ribs 713 and the X-axis bottom plate 711 are arranged perpendicular to each other, so as to improve the use strength of the X-axis bottom plate 711; the driving source 77 includes an X-axis power bracket 771; the bottom of the X-axis power bracket 771 is provided with a long strip hole for facilitating the adjustment of the position of the driving source; the X-axis An X-axis servo motor 772 is fixedly provided on the inner side of the power bracket 771 for providing power; the output end of the X-axis servo motor 772 is fixedly connected to a dual-axis output reducer 773 for changing the vertical rotation output into horizontal rotation output; the two output ends of the dual-axis output reducer 773 are connected to a long shaft 774 through a coupling transmission; the long shaft 774 and the input end of the guide rail 72 form a transmission connection; in this way, the symmetrically arranged guide rails 72 are driven by the output of a motor to perform synchronous reciprocating movement back and forth, which can not only reduce the development cost, but also ensure the synchronization of the guide rails 72 during operation and improve the handling accuracy.

[0060] On the basis of the above embodiment, the execution component 75 includes: a connection base 751, an execution servo motor 752, a rotating shaft 753 and a clamping fixture 754. Among them, the connection base 751 is provided with a first mounting groove and a second mounting groove in parallel, which are used to support the servo motor 752, the rotating shaft 753 and the clamping fixture 754; the execution servo motor 752 is installed on the first mounting groove through a convex motor mounting seat, which is used to provide rotation adjustment power when the blade swings; the rotating shaft 753 is fixedly installed on the second mounting groove through a convex rotating shaft seat, and the input end of the rotating shaft 753 is connected to the output end of the execution servo motor 752 through a coupling, and a sensor is provided on the coupling for sensing the angle of rotation; the execution servo motor 752 can drive the rotating shaft 753 to rotate back and forth; the clamping fixture 754 is detachably connected to the other end of the rotating shaft 753, and the clamping fixture 754 is connected to the output end of the rotating shaft 753 through a robot tool quick change device. When the detection component 76 detects blades of different models during operation, the clamping fixture 754 on the handling assembly 7 needs to be replaced. At this time, the robot tool quick change device can be disconnected or connected to achieve a quick connection, thereby reducing the time wasted in the entire replacement and further improving work efficiency.

[0061] Based on the above embodiments, the position detection component 76 includes a CCD component connection plate 761 for connecting the fourth driving source 74; one end of the CCD component connection plate 761 is vertically connected with a camera mounting plate 762; a vision camera 762 is adjustably mounted on the camera mounting plate 762; a ring light source component 763 is adjustably mounted on the camera mounting plate 762 for increasing the brightness of the shooting optical path, and the ring light source component 763 is coaxially arranged with the vision camera 762; second light sources 764 are symmetrically and obliquely mounted on both sides of the vision camera 762 for further increasing the shooting brightness and further improving the clarity of the captured image; the second light sources 764 are connected to the CCD component connection plate 761 through Z-shaped connection plates arranged in long strip-shaped spaces; in this embodiment, by setting the vision camera 762, accurate data information is provided for the confirmation of the blade model during entry and the fine adjustment of the blade rotation during blade placement, effectively improving the efficiency of the entire placement.

[0062] Based on the above embodiments, both the second driving source 73 and the fourth driving source 74 adopt servo-driven linear modules; a hollowed-out stiffening rib seat is provided on one side of the fourth driving source 74; a gas collecting panel is provided inside the hollowed-out stiffening rib seat; the gas collecting panel is connected to the robot tool quick-change device through a gas path; position sensors are provided corresponding to the starting and ending positions of the movement of the guide rail 72, the second driving source 73, and the fourth driving source 74 for sensing the movement state.

[0063] Specifically, the handling component in this embodiment uses a linear module as the drive and is designed in the structural form of a Cartesian coordinate, with high running accuracy, good stability, and the entire handling component is modularly designed, with a simple structure and low cost, and can efficiently complete automated handling and placement work; at the same time, the robot tool quick-change device is adopted, enabling the robot to continuously and quickly replace the end effector for different types of blades, greatly improving the grasping, handling, and palletizing work efficiency of the handling component.

[0064] Based on the above embodiments, the transition conveying assembly 1 includes a first double-speed chain device 11 and a second double-speed chain device 12 that are perpendicularly arranged; a switching device 13 is provided at the central position of the first double-speed chain device 11; wherein, the first double-speed chain device 11 transports the tray to the working position of the switching device 13, and the switching device 13 jacks it up and conveys it into the second double-speed chain device 12. After the tray is arranged, the second double-speed chain device 12 moves in the reverse direction to transport the tray back onto the switching device 13; the switching device 13 places the tray back onto the first double-speed chain device 11 and then outputs it; on both the first double-speed chain device 11 and the second double-speed chain device 12, opposed photoelectric sensors 14 are arrayed for sensing the movement state of the tray; the opposed photoelectric sensors 14 are fixedly installed on both sides of the first double-speed chain device 11 / second double-speed chain device 12 through opposed photoelectric sensors.

[0065] Based on the above embodiments, the first double-speed chain device 11 includes a first transport component 111 and a second transport component 112 that are arranged in parallel. Between the adjacent first transport component 111 and second transport component 112, a servo motor 113 is used for driving to ensure the consistency of the working rhythms on both sides; between the adjacent first transport component 111 and second transport component 112, induction components 114 are arrayed and can be lifted for sensing the arrival of the tray and limiting it at the same time; the first transport component 111 and the second transport component 112 are mirror images of each other; the first transport component 111 includes symmetrically arranged support pieces; between the adjacent support pieces, rotatable guide wheels are arrayed, and the guide wheels are in transmission connection with the servo motor 113;

[0066] The second double-speed chain device 12 includes a third transport component 121 and a fourth transport component 122 that are arranged in parallel. Between the adjacent third transport component 121 and fourth transport component 122, a second double-chain servo motor 123 is used for driving; on both the third transport component 121 and the fourth transport component 122, lifting limit parts 124 are arrayed for limiting and fixing the tray in the vertical direction when the tray is lifted by the tray positioning assembly 3; at one end of the adjacent third transport component 121 and fourth transport component 122, a stop block is provided;

[0067] The switching device 13 includes a switching base; the switching base 133 is slidably inserted on the first double-speed chain device 11 through a switching lifting guide shaft 131; symmetrically arranged synchronous belt carrying parts 132 are provided at the top of the switching base; a driving shaft of the symmetrically arranged synchronous belt carrying parts 132 is connected; the driving shaft is connected with a switching servo motor through a chain transmission device; a switching lifting cylinder 134 is detachably connected to the bottom of the switching base 133, and the switching lifting cylinder 134 can drive the synchronous belt carrying part 132 to lift and lower, so that it can be kept flush with the first double-speed chain device 11 or the second double-speed chain device 12, thus facilitating the switching of the moving direction of the tray.

[0068] Specifically, in this embodiment, the transition conveying assembly is composed of a first double-speed chain device and a second double-speed chain device which are arranged perpendicular to each other, and the transportation direction between the two is changed through a switching device, so that the transition conveying assembly has the advantages of small occupied space, light weight, low energy consumption, greatly reduced unit weight and overall unit weight and power consumption of the operating device, convenient control. In addition, the transition conveying assembly of the present invention effectively replaces multiple other structural designs with the same function, saves investment, reduces daily maintenance and management costs, and has extremely high working efficiency.

[0069] On the basis of the above embodiment, at least two of the tray positioning assemblies 3 are arranged in an array on the transition conveying assembly 1; the tray positioning assembly 3 includes a jacking mechanism bottom plate 31 for support, and jacking support columns 32 for guiding can be detachably connected to four right angles of the jacking mechanism bottom plate 31, and a guide shaft support 33 can be adjusted at one end of the jacking support column 32; a jacking cylinder 34 is fixedly arranged on the jacking mechanism bottom plate 31 for providing power; a jacking mechanism support plate 35 is movably inserted on the jacking mechanism bottom plate 31, and the jacking cylinder 34 can drive the jacking mechanism support plate 35 to move back and forth; jacking mechanism limit blocks 36 are symmetrically arranged between adjacent jacking mechanism bottom plates 31 and the jacking mechanism support plate 35 for preventing the jacking mechanism bottom plate 31 and the jacking mechanism support plate 35 from colliding and buffering during work; adjacent jacking mechanism bottom plates 31 and the jacking mechanism support plate 35 are slidably connected through a second guide shaft 36; positioning pins 37 are symmetrically arranged at the top diagonal corners of the jacking mechanism support plate 35.

[0070] Specifically, during work, the jacking cylinder 34 acts to drive the jacking mechanism bottom plate 31 to jack up, so that the positioning pin 37 just inserts into the tray, and then continues to hold it up until it sandwiches the tray with the lifting limit part 124 to fix the tray, completing the positioning, preventing the tray from moving excessively and finding out the situation of poor tray arrangement, and further improving the production efficiency.

[0071] Based on the above embodiments, the fixture storage component 5 includes fixture storage mechanisms 51 arranged in an array, and a weighing mechanism 52 is provided between adjacent fixture storage mechanisms 51; a jaw mechanism 53 is arranged in a straight line on one side of the fixture storage mechanism 51; the fixture storage mechanism 51 is used to store and load aircraft blades of different specifications; the weighing mechanism 52 is used to measure the fixture storage mechanism 51 loaded with aircraft blades to classify and sort the blades; the jaw mechanism 53 is used to store and grab the fixtures for aircraft blades.

[0072] Based on the above embodiments, the fixture storage mechanism 51 includes a fixture storage bottom plate 511 and a fixture storage support plate 512 arranged in parallel; the adjacent fixture storage bottom plate 511 and fixture storage support plate 512 are connected by a fixture storage vertical plate 513 provided with a rectangular through hole; at the top of the fixture storage support plate 512, fixture storage positioning pins 514 with one end in a frustum shape are arranged in an array; a weighing fixture 515 can be movably inserted corresponding to the fixture storage positioning pins 514.

[0073] Based on the above embodiments, the weighing mechanism 52 includes a weighing bottom plate 521, a weighing mounting plate 522, a weighing push bottom plate 523, and a cylinder push plate 524 arranged in parallel; the adjacent weighing bottom plate 521 and weighing mounting plate 522 are fixedly connected by a weighing vertical plate 525' provided with a square through hole; the adjacent weighing push bottom plate 523 and cylinder push plate 524 are fixedly connected by a sliding guide shaft 525 and can be slidably inserted into the weighing mounting plate 522; a weighing module 526 is fixedly arranged at the center of the top of the weighing mounting plate 522; at the input end of the weighing module 526, a tray 527 with arc-shaped long holes arranged in an adjustable circumferential array is installed, and third positioning pins 8 are symmetrically arranged on the tray 527; a weighing push cylinder 528 is fixedly arranged at the bottom of the weighing bottom plate 521; the weighing push cylinder 528 can drive the weighing push bottom plate 523 to move up and down back and forth; weighing push bottom plate limit seats 529 with C-shaped chutes are symmetrically arranged on the weighing bottom plate 521; the weighing push bottom plate 523 is movably located in the C-shaped chute; fourth positioning pins 9 are symmetrically arranged at the top of the cylinder push plate 524. Specifically, in this embodiment, by setting the weighing push cylinder to drive the weighing push bottom plate to move up and down back and forth, it is realized that the fixture storage mechanism and the weighing module are in a separated state when not being measured, ensuring that the weighing module will not always bear the self-weight of the fixture storage mechanism and cause irreparable damage, and at the same time preventing damage to the weighing module by the placement and handling component, improving the service life of the weighing module and the detection accuracy.

[0074] Based on the above embodiments, the jaw mechanism 53 includes a jaw placement base 531; on the top of the jaw placement base 531, there are a first jaw fixture base, a second jaw fixture base, a third jaw fixture base, a fourth jaw fixture base, a fifth jaw fixture base, and a sixth jaw fixture base; corresponding to the first jaw fixture base, the second jaw fixture base, the third jaw fixture base, the fourth jaw fixture base, the fifth jaw fixture base, and the sixth jaw fixture base, a first jaw, a second jaw, a third jaw, a fourth jaw, a fifth jaw, and a sixth jaw are movably inserted.

[0075] Specifically, the present invention constructs a fixture storage component by arranging a weighing mechanism between adjacent fixture storage mechanisms and arranging a jaw mechanism in a straight line on one side of the fixture storage mechanism. When it works, the handling component can grab the blades on the tray at one time and place them on the fixture storage mechanism, and then the fixture storage mechanism grabs the blades of the same model one by one and places them on the weighing mechanism for weighing measurement, effectively reducing the need to replace the end effector on the jaw mechanism for each grab and then perform the grab, effectively improving the production efficiency.

[0076] Based on the above embodiments, the material receiving and stacking component 6 has the same structure as the material feeding and stacking component 2, and the moving directions are opposite during operation; the material receiving and stacking component 6 includes a material receiving and stacking support 61 with guide strips arranged inside; on both sides of the material receiving and stacking support 61, there are symmetrically arranged material blocking mechanisms 62 for limiting and supporting the materials, and at the center position of the bottom of the material receiving and stacking support 61, there is a stacking mechanism 63 for lifting or lowering the materials inside the material receiving and stacking support 61 one by one;

[0077] The material blocking mechanism 62 includes: a material blocking cylinder 621 is rotatably arranged on the material receiving and stacking support 61 through a cylinder mounting seat 624 for providing power;

[0078] a tray support seat 622, fixedly arranged on the material stacking support 61 for support; and

[0079] a tray support plate 623, rotatably arranged on the tray support seat 622; the material blocking cylinder 621 can drive the tray support plate 623 to swing back and forth;

[0080] The stacking mechanism 63 includes a servo drive motor 631; the output end of the servo drive motor 631 is connected with a turbo screw jack 632 through a coupling; the output end of the turbo screw jack 632 is fixedly connected with a lifting bottom plate 633; the four sides of the lifting bottom plate 633 are fixedly connected with connecting stacking guide shafts 634; sensors 635 are arranged at both the beginning and the end of the stacking guide shaft.

[0081] A photoelectric sensor is provided at the top of the receiving and stacking bracket 61; a second photoelectric sensor is provided corresponding to the installation position of the material blocking mechanism 62. The present invention also discloses an automatic trimming method for aircraft engine blades, including when the transition conveying component transports the blades to be measured into the capture range of the handling component, acquiring the images of the aircraft blades within the capture range, and identifying the model information and position information of the aircraft blades; automatically and quickly replacing the jaw mechanism by the handling component according to the model detection information of the aircraft blades; then, after weighing each aircraft blade one by one according to the position information and saving the information of each blade, placing it in the fixture storage mechanism for temporary storage; finally, after the handling component adjusts its new position information on the tray according to the weighing information of the blades, arranging them in an orderly manner.

[0082] The present invention works as follows: At the beginning, the feeding and stacking component 2 places the stacked pallets onto the transition conveying component 1 one by one. The pallet is transported to the switching device 13 through the first double-speed chain device 11. At this time, the switching device 13 lifts the pallet and transports it to the second double-speed chain device 12. It is transported to the working station of the tray positioning component 3 through the second double-speed chain device 12, and is lifted and positioned by the tray positioning component 3. To further improve the working efficiency in the current example, three pallets can be fed at one time on the second double-speed chain device 12. After positioning, the handling component 7 starts to act. Under the action of the guide rail 72, the second driving source 73, and the fourth driving source 74, the position detection component 76 moves above the pallet to read the type and position information of the blades on the pallet. Then, the entire handling component 7 transports the blades on the pallet to the fixture storage mechanism 51 one by one according to the recognized structure. During the handling process, the corresponding gripping execution component 75 will be quickly replaced according to the recognized structure without manual operation. Then, the handling component 7 grabs the fixture storage mechanism 51 one by one and places it on the weighing mechanism 52 for measurement. Finally, the handling component 7 arranges the blades on the pallet in an orderly manner according to the measured structure. During the arrangement process, the position detection component 76 acts in coordination to flexibly rotate and adjust the grabbed blades into the pallet; then the tray positioning component 3 acts in the reverse direction to place the pallet back onto the second double-speed chain device 12. The second double-speed chain device 12 transports the pallet with the arranged blades back to the switching device 13. The switching device 13 acts in the reverse direction to place the pallet back onto the first double-speed chain device 11. The first double-speed chain device 11 transports the pallet with the arranged blades to the receiving and stacking component 6 for stacking and storing. In summary, through the cooperation of equipment such as the transition conveying component, the feeding and stacking component, the tray positioning component, the fixture storage component, the receiving and stacking component, the handling component, and the external PLC controller, automatic blade conveying, automatic handling, automatic detection replacement, automatic palletizing, and automatic stacking are realized, thus replacing manual material transfer, thermal process detection, and thermal process stacking, ensuring the production quality, reducing the production working time, and thus improving the production efficiency. The structure of the present invention is simple, cost-saving, and has high working efficiency, reducing the labor cost and labor intensity, having low production cost, good product quality, high yield, and high equipment utilization rate.

[0083] The above are only the embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An automatic weighing and balancing equipment for aircraft engine blades, characterized in that: It includes a transition conveying component (1), and in the transportation direction of the transition conveying component (1), there are a feeding stacking component (2), a tray positioning component (3), a fixture storage component (5), and a receiving stacking component (6) in sequence; a handling component (7) is movably arranged on the transition conveying component (1); the feeding stacking component (2) is used to place the tray loaded with blades on the transition conveying component (1), and the transition conveying component (1) transports it through the tray positioning component (3) and the receiving stacking component (6) in sequence; the tray positioning component (3) is used to detect whether the material is in place, the fixture storage component is used to detect the mass of each blade, and the receiving stacking component (6) is used to stack and store the arranged materials; the handling component (7) is used to grab the material and place it on the fixture storage component (5) for detection, and then perform flexible palletizing according to the detection result; wherein: the handling component (7) adjusts the position of the blade in a timely manner according to the provided position information and places it in the tray The handling component (7) includes an execution component (75), which is rotatably arranged at the output end of a fourth driving source (74), and the fourth driving source (74) can drive the execution component (75) to move; and a position detection component (76), which is fixedly arranged on the fourth driving source (74) and is used to provide position information for the rotation of the execution component (75); The fixture storage component (5) includes a fixture storage mechanism (51) arranged in an array, and a weighing mechanism (52) is arranged between adjacent fixture storage mechanisms (51); a jaw mechanism (53) is arranged in a straight line on one side of the fixture storage mechanism (51); the fixture storage mechanism (51) is used to store aircraft blades of different specifications; the weighing mechanism (52) is used to measure the fixture storage mechanism (51) loaded with aircraft blades to classify and sort the blades; the jaw mechanism (53) is used to store the fixtures for grabbing aircraft blades; The jaw mechanism (53) includes a jaw placement base (531); at the top of the jaw placement base (531), there are a first jaw fixture seat, a second jaw fixture seat, a third jaw fixture seat, a fourth jaw fixture seat, a fifth jaw fixture seat, and a sixth jaw fixture seat; corresponding to the first jaw fixture seat, the second jaw fixture seat, the third jaw fixture seat, the fourth jaw fixture seat, the fifth jaw fixture seat, and the sixth jaw fixture seat, a first jaw, a second jaw, a third jaw, a fourth jaw, a fifth jaw, and a sixth jaw are movably inserted; When the position detection component (76) detects different types of blades, the clamping fixture (754) on the handling component (7) needs to be replaced, and at this time, rapid connection can be achieved by simply cutting off or connecting the robot tool quick change device.

2. The automatic weighing and balancing equipment for aircraft engine blades according to claim 1, characterized in that: The handling component (7) further includes: a support (71), and adjacent supports (71) are arranged in parallel; The guide rail (72) is fixedly arranged on the top of the said support (71). There is a driving source between adjacent guide rails (72) for driving to provide power. The second driving source (73) is movably arranged on the top of the guide rail (72) for providing power. The guide rail (72) can drive the second driving source (73) to move. The fourth driving source (74) is vertically arranged with the second driving source (73) for providing power. Wherein: under the action of the guide rail (72), the second driving source (73), and the fourth driving source (74), the movement of the blade in the XYZ space is completed. Then, under the position information provided by the position detection component (76), the execution component (75) adjusts the position in a timely manner to place the blade on the tray.

3. The automatic weighing and balancing equipment for aircraft engine blades according to claim 2, characterized in that: The execution component (75) includes: A connecting base (751) on which a first mounting groove and a second mounting groove are arranged in parallel. An execution servo motor (752) is mounted on the first mounting groove through a motor mounting seat for providing rotational power. A rotating shaft (753) is fixedly mounted on the second mounting groove through a rotating shaft seat. The input end of the rotating shaft (753) is connected to the output end of the execution servo motor (752) through a coupling. A sensor is arranged on the coupling for sensing the rotated angle. The execution servo motor (752) can drive the rotating shaft (753) to rotate back and forth; and A clamping fixture (754) is detachably connected to the other end of the rotating shaft (753). The clamping fixture (754) is connected to the output end of the rotating shaft (753) through a robot tool quick change device. The position detection component (76) includes a CCD component connecting plate (761) for connecting the fourth driving source (74). One end of the CCD component connecting plate (761) is vertically connected with a camera mounting plate (762). A vision camera (765) is adjustably mounted on the camera mounting plate (762). An annular light source component (763) is adjustably mounted on the camera mounting plate (762). The annular light source component (763) is coaxially arranged with the vision camera (765). Second light sources (764) are symmetrically and obliquely mounted on both sides of the vision camera (765). The second light sources (764) are connected to the CCD component connecting plate (761) through a Z-shaped connecting plate arranged in a long strip-shaped space. Both the second driving source (73) and the fourth driving source (74) adopt servo-driven linear modules. A hollowed-out reinforcing rib seat is arranged on one side of the fourth driving source (74). An air collecting panel is arranged inside the hollowed-out reinforcing rib seat. The air collecting panel is connected to the robot tool quick change device through an air path. Position sensors are arranged at the starting and ending positions of the movement of the guide rail (72), the second driving source (73), and the fourth driving source (74) for sensing the movement state.

4. The automatic weighing and balancing equipment for aircraft engine blades according to claim 1, characterized in that: The transition conveying assembly (1) includes a first double-speed chain device (11) and a second double-speed chain device (12) which are arranged perpendicular to each other; a switching device (13) is provided at the middle position of the first double-speed chain device (11); wherein, the first double-speed chain device (11) transports the tray to the working position of the switching device (13), and the switching device (13) jacks it up and conveys it into the second double-speed chain device (12). After the tray loading is completed, the second double-speed chain device (12) moves in the reverse direction to transport the tray back to the switching device (13); the switching device (13) places the tray back on the first double-speed chain device (11) and then outputs it; both the first double-speed chain device (11) and the second double-speed chain device (12) are arrayed with opposed photoelectric sensors (14); the opposed photoelectric sensors (14) are fixedly installed on both sides of the first double-speed chain device (11) / second double-speed chain device (12).

5. The aircraft engine blade automatic weighing and balancing equipment according to claim 4, characterized in that: The first double-speed chain device (11) includes a first transport component (111) and a second transport component (112) arranged in parallel, and an adjacent first transport component (111) and a second transport component (112) are driven by a servo motor (113); induction components are arrayed and vertically movable between the adjacent first transport component (111) and the second transport component (112); The second double-speed chain device (12) includes a third transport component (121) and a fourth transport component (122) arranged in parallel, and an adjacent third transport component (121) and a fourth transport component (122) are driven by a second double-speed chain servo motor (123); lifting limit parts are arrayed on both the third transport component (121) and the fourth transport component (122); a stop block is provided at one end of the adjacent third transport component (121) and the fourth transport component (122); The switching device (13) includes a switching base; the switching base is slidably inserted on the first double-speed chain device (11) through a switching lifting guide shaft; synchronous belt carrying parts are symmetrically arranged at the top of the switching base; the symmetrically arranged synchronous belt carrying parts are connected by a driving shaft; the driving shaft is connected with a switching servo motor through a chain transmission device.

6. The aircraft engine blade automatic weighing and balancing equipment according to claim 1, characterized in that: At least two of the tray positioning components (3) are arranged in an array on the transition conveying component (1); the tray positioning component (3) includes a jacking mechanism bottom plate (31) for support, and jacking support columns (32) for guiding can be detachably connected to four right-angled corners of the jacking mechanism bottom plate (31), and a guiding shaft support (33) can be adjusted at one end of the jacking support column (32); a jacking cylinder (34) is fixedly arranged on the jacking mechanism bottom plate (31) for providing power; a jacking mechanism support plate (35) is movably inserted on the jacking mechanism bottom plate (31), and the jacking cylinder (34) can drive the jacking mechanism support plate (35) to move back and forth; jacking mechanism limit blocks (36) are symmetrically arranged between adjacent the jacking mechanism bottom plate (31) and the jacking mechanism support plate (35) for preventing the jacking mechanism bottom plate (31) and the jacking mechanism support plate (35) from colliding and buffering during work; adjacent the jacking mechanism bottom plate (31) and the jacking mechanism support plate (35) are slidably connected through a second guiding shaft; positioning pins (37) are symmetrically arranged at the top diagonal corners of the jacking mechanism support plate (35).

7. The automatic weighing and balancing equipment for aircraft engine blades according to claim 1, characterized in that: the fixture storage mechanism (51) includes a fixture storage bottom plate (511) and a fixture storage support plate (512) arranged in parallel; the adjacent fixture storage bottom plate (511) and the fixture storage support plate (512) are connected through a fixture storage vertical plate (513) provided with a rectangular through hole; fixture storage positioning pins (514) with one end in a frustum shape are arranged in an array on the top of the fixture storage support plate (512); a weighing fixture (515) can be movably inserted corresponding to the fixture storage positioning pins (514); The weighing mechanism (52) includes a weighing bottom plate (521), a weighing mounting plate (522), a weighing push bottom plate (523), and a cylinder push plate (524) that are arranged in parallel; between the adjacent weighing bottom plate (521) and the weighing mounting plate (522), they are fixedly connected through a weighing vertical plate (525') provided with a square object through hole; between the adjacent weighing push bottom plate (523) and the cylinder push plate (524), they are fixedly connected through a sliding guide shaft (525), and are slidably inserted on the weighing mounting plate (522); at the center position of the top of the weighing mounting plate (522), a weighing module (526) is fixedly provided; at the input end of the weighing module (526), a tray (527) with arc-shaped long strip holes is adjustably installed in a circumferential array, and third positioning pins are symmetrically arranged on the tray (527); at the bottom of the weighing bottom plate (521), a weighing push cylinder (528) is fixedly provided; the weighing push cylinder (528) can drive the weighing push bottom plate (523) to move up and down back and forth; on the weighing bottom plate (521), weighing push bottom plate limit seats (529) with C-shaped chutes are symmetrically provided; the weighing push bottom plate (523) is movably located in the C-shaped chutes; at the top of the cylinder push plate (524), fourth positioning pins are symmetrically arranged.

8. The automatic weighing and balancing equipment for aircraft engine blades according to claim 1, characterized in that: The receiving and stacking component (6) has the same structure as the feeding and stacking component (2), and the moving directions are opposite during operation; the receiving and stacking component (6) includes a receiving and stacking bracket (61) with guide strips provided inside; on both sides of the receiving and stacking bracket (61), baffle mechanisms (62) are symmetrically provided for limiting and supporting materials, and at the center position of the bottom of the receiving and stacking bracket (61), a stacking mechanism (63) is provided for lifting or lowering the materials inside the receiving and stacking bracket (61) one by one; The baffle mechanism (62) includes: a baffle cylinder rotatably arranged on the receiving and stacking bracket (61) for providing power; a tray support seat fixedly arranged on the receiving and stacking bracket (61) for support; and a tray support plate rotatably arranged on the tray support seat; the baffle cylinder can drive the tray support plate to swing back and forth reciprocally; The stacking mechanism (63) includes a servo drive motor; the output end of the servo drive motor is connected with a turbo screw jack through a coupling; the output end of the turbo screw jack is fixedly connected with a lifting bottom plate; stacking guide shafts are fixedly connected around the lifting bottom plate; sensors are arranged at both the beginning and end positions of the stacking guide shafts; An optoelectronic sensor is arranged at the top of the receiving and stacking bracket (61); a second optoelectronic sensor is arranged corresponding to the installation position of the baffle mechanism (62).

9. The balancing method of an automatic weighing and balancing equipment for aircraft engine blades according to claim 1, characterized in that: When the transition conveying assembly transports the blade to be measured into the capture range of the handling assembly, obtain the image of the aircraft blade within the capture range, and identify the model information and position information of the aircraft blade; automatically perform a quick replacement jaw mechanism for the handling assembly according to the model detection information of the aircraft blade; After that, according to the position information, the aircraft blades are transported one by one to the weighing mechanism for weight measurement, and after saving and recording the information of each blade, they are placed in the fixture storage mechanism for temporary storage; finally, after the handling assembly re-adjusts its new position information on the tray according to the blade weighing information, it is arranged in an orderly manner.

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