An aero-engine power turbine rotor automatic riveting system and a riveting method

Abstract

The application discloses an aero-engine power turbine rotor automatic riveting system and a riveting method, and relates to the technical field of engine assembly and equipment. In the system, the upper riveting working head and the lower riveting working head are arranged on the stand column. The turbine rotating table and the riveting quality detection device are arranged on the horizontal moving table, and the turbine disc is placed on the turbine rotating table in an inclined manner, so that the riveting hole is kept in the vertical direction. The visual detection camera and the force-displacement sensor are used to ensure that the rivet is smoothly inserted and the riveting force is centered with the rivet axis. The force-displacement sensor is used to realize accurate control of the riveting force and the riveting distance. The riveting quality detection device is used to realize step detection after riveting and rivet head size detection. The upper and lower riveting working heads, the horizontal moving platform and the turbine rotating table can be manually adjusted. The functions of automatic riveting of the blade and the turbine disc, step detection after riveting and rivet head size detection are realized, and the overall riveting quality and the production efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engine assembly technology and equipment, in particular to an automatic riveting system and method for an aero-engine power turbine rotor. BACKGROUND

[0002] Today's aircraft propulsion systems are a technological marvel, and the production enterprises of the aviation industry in developed countries are working to modernize the production technology, and most importantly, the blades in the hot gas region of the engine must withstand loads that until recently were similar to the limit. The modernization of turbine blade production has always been the focus of the international aviation industry. The power turbine disk and the crown blade are key precision parts of the aero-engine, and as the performance requirements of the engine increase, higher requirements are placed on the assembly quality of the turbine. For the riveting process between the blades and the disk during assembly, manual operation is currently used. There are problems such as inaccurate riveting impact force and inconsistent quality. The step and rivet head size after riveting also need to be detected manually, which affects the detection efficiency. How to efficiently and accurately rivet the aero-engine power turbine rotor while ensuring sufficient riveting impact force and high-quality riveting, and achieving automatic detection of the step and rivet head size after riveting, there is a lack of corresponding assembly systems in the field. SUMMARY

[0003] In view of the deficiencies of the prior art, the purpose of the present application is to design and develop an automatic riveting system for an aero-engine power turbine rotor, which has the functions of automatic riveting of blades and turbine disks, step detection after riveting, and rivet head size detection. It can ensure sufficient riveting impact force and high-quality riveting, and achieve automatic detection of the step and rivet head size after riveting. The overall riveting quality and production efficiency of the aero-engine power turbine rotor are improved.

[0004] The specific technical solutions adopted by the present application are as follows:

[0005] In the first aspect, the present application provides an automatic riveting system for an aero-engine power turbine rotor, comprising a turbine positioning table and a column, both of which are installed on a rack.

[0006] The turbine positioning platform comprises a first horizontal moving base, a first X-axis moving mechanism, a first horizontal moving drag plate, a second X-axis moving mechanism, a line laser scanning detector and a turbine positioning flange; the first horizontal moving drag plate is installed on the first horizontal moving base through the first X-axis moving mechanism and can realize horizontal movement along the X-axis direction; a mounting frame and a numerical control turntable connected with a motor are fixed on the first horizontal moving drag plate; the turbine positioning flange for fixing the wheel disc and the blade in the target turbine is connected to the numerical control turntable, and the turbine positioning flange can rotate around the axis with the numerical control turntable; the numerical control turntable is placed obliquely, so that the riveting holes of the wheel disc and the blade in the riveting position remain vertical; the line laser scanning detector is installed on the mounting frame through the second X-axis moving mechanism and can realize horizontal movement along the X-axis direction, and is used for detecting the riveting quality of the wheel disc and the blade.

[0007] The upper riveting working head above the target turbine and the lower riveting working head below the target turbine are arranged on the column; the lower riveting working head is connected with the first Y-axis moving mechanism and the first Z-axis moving mechanism, and the upper riveting working head is connected with the second Y-axis moving mechanism and the second Z-axis moving mechanism; the upper riveting working head and the lower riveting working head can realize horizontal movement along the Y-axis direction and vertical movement along the Z-axis direction; the lower riveting working head is used for clamping and inserting the rivet into the riveting hole in the riveting position, and the upper riveting working head is used for completing the riveting of the rivet; the upper riveting working head and the lower riveting working head are vertically arranged and axially centered, and provide the riveting position with a press riveting force parallel to the axis of the rivet.

[0008] As a preferred, the visual detection camera for detecting the riveting position is arranged at the upper riveting working head, the visual detection camera is connected with the operation display screen fixed on the column, and is used for displaying the detected riveting position in real time; the operation display screen is connected with the first X-axis moving mechanism, the second X-axis moving mechanism, the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism and the second Z-axis moving mechanism through the electric control cabinet, and is used for adjusting each moving mechanism according to the detection result of the visual detection camera, so that the upper riveting working head and the lower riveting working head can smoothly complete the riveting work of the riveting hole in the riveting position.

[0009] As preferred, the first X-axis moving mechanism comprises a first linear rolling guide and a first right-angle reducer; two first linear rolling guides are fixed in parallel and at intervals on the top surface of the first horizontal moving base along the X-axis direction, and the first horizontal moving drag plate is slidingly connected to the two first linear rolling guides; one end of the first right-angle reducer is connected to the output shaft of the servo motor, and the other end is connected to the first horizontal moving drag plate through a ball screw, for providing power for the horizontal movement of the first horizontal moving drag plate along the first linear rolling guide; the second X-axis moving mechanism comprises a seventh linear rolling guide and a detection bracket; two seventh linear rolling guides are fixed in parallel and at intervals on the top surface of the mounting frame along the X-axis direction; the bottom of the detection bracket is slidingly connected to the two seventh linear rolling guides and is connected to the servo motor for providing power through a ball screw, and the upper end is provided with a line laser scanning detector.

[0010] As preferred, the first Y-axis moving mechanism comprises a fourth linear rolling guide, a third horizontal moving base, a third horizontal moving drag plate and a nail taking frame, and the first Z-axis moving mechanism comprises a lower vertical moving base, a fifth linear rolling guide and a lower vertical moving drag plate.

[0011] The back surface of the third horizontal moving base is fixed to the column, the front surface is fixed in parallel and at intervals along the Y-axis direction with two fourth linear rolling guides, and the third horizontal moving drag plate is slidingly connected to the two fourth linear rolling guides; the output shaft of the servo motor is connected to the third horizontal moving drag plate through a ball screw, for providing power for the sliding of the third horizontal moving drag plate along the fourth linear rolling guide; the back surface of the lower vertical moving base is fixed to the third horizontal moving drag plate, the front surface is fixed in parallel and at intervals along the Z-axis direction with two fifth linear rolling guides, and the lower vertical moving drag plate is slidingly connected to the two fifth linear rolling guides; the output shaft of the servo motor is connected to the lower vertical moving drag plate in sequence through a third right-angle reducer and a ball screw, for providing power for the sliding of the lower vertical moving drag plate along the fifth linear rolling guide.

[0012] The lower riveting work head is installed on the lower vertical moving drag plate through a lower riveting chuck support, the third horizontal moving base is provided with a nail taking frame on the side away from the riveting position, and the nail taking frame is used for limiting the movement of the lower riveting work head along the first Y-axis moving mechanism; when the lower riveting work head moves to the nail taking frame, a rivet is placed at the rivet chuck on the top thereof.

[0013] Further, the lower riveting work head comprises a spring sleeve, a clamping block, a mandrel, a taper handle, a limiting pin and a compression spring; the bottom of the taper handle is fixed on the lower riveting chuck support, the top of the taper handle is fixed with the mandrel which is parallel to the Z axis, the mandrel is sequentially sleeved with the compression spring, the clamping block and the spring sleeve from bottom to top; the bottom of the compression spring is fixed on the taper handle, and the top of the compression spring is pressed with the clamping block; the clamping block and the spring sleeve are in interference fit and can move together along the axial direction of the mandrel; the spring sleeve partially protrudes from the top of the mandrel, and the spring sleeve and the mandrel together form a rivet chuck structure for placing and fixing the head of the rivet; the spring sleeve is provided with a slot hole in the radial direction, and the limiting pin is fixed on the mandrel and the head of the limiting pin is in the slot hole, so that the axial movement of the clamping block and the spring sleeve can be limited.

[0014] As preferred, a moving presser for aligning the blade root bottom surface with the turbine disc bottom surface before riveting is further arranged between the upper riveting work head and the lower riveting work head, and the moving presser is fixed on the column through a third Z-axis moving mechanism; the third Z-axis moving mechanism comprises a sixth linear rolling guide, a cylinder, a presser drag plate and a moving presser base; the back of the moving presser base is fixed on the column, and the front of the moving presser base is provided with two sixth linear rolling guides which are fixed in parallel and at intervals along the Z-axis direction, the presser drag plate is slidingly connected to the two sixth linear rolling guides, and the moving presser is fixed on the presser drag plate; the cylinder is used to provide power for the vertical movement of the presser drag plate along the sixth linear rolling guide.

[0015] As preferred, the second Y-axis moving mechanism comprises a second horizontal moving base, a second linear rolling guide and a second horizontal moving drag plate, and the second Z-axis moving mechanism comprises an upper vertical moving base, an upper vertical moving drag plate and a third linear rolling guide;

[0016] the back of the second horizontal moving base is fixed on the column, and the front of the second horizontal moving base is provided with two second linear rolling guides which are fixed in parallel and at intervals along the Y-axis direction, the second horizontal moving drag plate is slidingly connected to the two second linear rolling guides; the output shaft of the servo motor is connected to the second horizontal moving drag plate through a ball screw, and is used to provide power for the sliding of the second horizontal moving drag plate along the second linear rolling guide; the back of the upper vertical moving base is fixed on the second horizontal moving drag plate, and the front of the upper vertical moving base is provided with two third linear rolling guides which are fixed in parallel and at intervals along the Z-axis direction, the upper vertical moving drag plate is slidingly connected to the two third linear rolling guides; the output shaft of the servo motor is connected to a synchronous transmission belt through a second right-angle speed reducer, and the synchronous transmission belt provides power for the sliding of the upper vertical moving drag plate along the third linear rolling guide through a ball screw; the upper riveting work head is fixed on the upper vertical moving drag plate.

[0017] Further, the riveting head of the upper riveting work head is provided with a force-displacement sensor for accurately controlling the riveting force and the riveting distance, and the side of the upper vertical moving base is provided with a grating ruler for measuring the riveting distance along the Z-axis direction.

[0018] As preferred, a hand wheel for manually controlling the moving position is arranged on each of the first X-axis moving mechanism, the second X-axis moving mechanism, the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism and the second Z-axis moving mechanism.

[0019] In a second aspect, the present application provides a riveting method using the automatic riveting system for aero-engine power turbine rotor according to any one of the first aspect, which is specifically as follows.

[0020] S1: The target turbine disc and blade are obliquely installed on the numerical control rotary table through the turbine positioning flange, so that the riveting hole in the riveting position is kept vertical; the distance between the linear laser scanning detector and the riveting hole is adjusted through the second X-axis moving mechanism, so that the linear laser scanning detector can detect the riveting quality of each riveting hole after riveting; then the first X-axis moving mechanism is controlled to make the target turbine enter between the upper riveting working head and the lower riveting working head;

[0021] S2: The lower riveting working head is moved to the rivet taking station at the rivet taking rack by controlling the first Y-axis moving mechanism and the first Z-axis moving mechanism, and a rivet is placed at the rivet clamp head on the top of the lower riveting working head; then the situation of the riveting position is automatically detected by the visual detection camera, and the operation display screen is used for real-time monitoring; the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism and the second Z-axis moving mechanism are adjusted for calibration, so that the upper riveting working head and the lower riveting working head are vertically arranged and the axes are centered, and the riveting force of the two is ensured to be parallel to the rivet axis; the alignment of the blade root bottom surface and the turbine disc bottom surface before riveting is realized by the moving presser foot, the rivet is inserted into the riveting hole from bottom to top by the lower riveting working head, and the riveting operation is completed by the upper riveting working head; then the upper riveting working head and the lower riveting working head are reset;

[0022] S3: The target turbine is rotated by the numerical control rotary table, so that the next riveting hole is in the riveting position, and the operation of the step S2 is repeated until the riveting is completed.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] (1) For the riveting process between the blade and the turbine disc in assembly, since the artificial operation has problems such as inaccurate riveting impact force, inconsistent quality, low detection efficiency and the like, the present application realizes the automatic riveting of the blade and the turbine disc, the step detection after riveting, the rivet head size detection and the accurate control of the riveting impact force and the like by designing an automatic riveting system for aero-engine power turbine rotor, thereby improving the overall riveting quality and production efficiency;

[0025] (2) For the problem of inaccurate riveting impact force, the present application installs a force-displacement sensor on the upper riveting head to realize the accurate control of the riveting force;

[0026] (3) In view of the problems of inconsistent riveting quality and low efficiency, the riveting quality detection unit is installed, that is, the line laser scanner is used to realize the riveting step detection and rivet head size detection, and the line laser scanner has the characteristics of high measurement accuracy and repeatability and fast detection speed.

[0027] In summary, the present application has the functions of automatic and accurate riveting of blades and turbine discs, riveting step detection, rivet head size detection and the like, and greatly improves the overall riveting quality and production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a whole appearance view of the automatic riveting system of the turbine rotor;

[0029] Figure 2 It is a structural schematic view of the turbine positioning table;

[0030] Figure 3 It is a layout view of the column and the upper and lower riveting work heads;

[0031] Figure 4 and Figure 5 It is a structural schematic view of the upper riveting work head;

[0032] Figure 6 It is a rivet taking station schematic view of the lower riveting work head;

[0033] Figure 7 It is a riveting station schematic view of the lower riveting work head;

[0034] Figure 8 It is a structural schematic view of the rivet clamp head;

[0035] In the figure: 1 rack, 2 turbine positioning table, 3 first X-axis moving mechanism, 4 stand, 6 upper riveting work head, 7 lower riveting work head, 9 operation display screen, 11 first horizontal moving base, 12 servo motor, 13 hand wheel, 14 first straight angle reducer, 15 first straight line rolling guide rail, 16 second X-axis moving mechanism, 17 seventh straight line rolling guide rail, 18 detection support, 19 line laser scanning detector, 20 turbine positioning flange, 21 numerical control rotary table, 22 mounting frame, 23 first horizontal moving drag plate, 27 second horizontal moving base, 28 second straight line rolling guide rail, 29 second horizontal moving drag plate, 30 upper vertical moving base, 31 riveting head, 32 visual detection camera, 34 upper vertical moving drag plate, 35 force-displacement sensor, 36 grating ruler, 40 second straight angle reducer, 41 synchronous transmission belt, 42 third straight line rolling guide rail, 43 fourth straight line rolling guide rail, 45 third horizontal moving base, 46 nail taking frame, 48 fifth straight line rolling guide rail, 49 third horizontal moving drag plate, 50 lower vertical moving base, 51 lower vertical moving drag plate, 52 third straight angle reducer, 53 lower riveting chuck support, 54 rivet chuck, 55 moving presser foot, 56 sixth straight line rolling guide rail, 57 air cylinder, 58 presser foot drag plate, 59 moving presser foot base, 60 spring sleeve, 61 clamping block, 62 mandrel, 63 taper handle, 64 limit nail, 65 compression spring. DETAILED DESCRIPTION

[0036] The present application will be further described and illustrated in conjunction with the accompanying drawings and specific embodiments. The technical features of each embodiment of the present application can be combined accordingly without conflict.

[0037] It should be noted that, unless otherwise specified, the directions indicated by the X-axis, Y-axis and Z-axis in the present application are shown by the coordinate axes in the drawings, and will not be described in detail hereinafter. Figure 1

[0038] As shown in Figure 1 , an automatic riveting system for an aero-engine power turbine rotor is provided, characterized in that it comprises a rack 1 and a stand 4, which constitute the external frame structure of the system, and a turbine positioning table 2 is fixed on the rack 1 by bolt connection. The structure and connection mode of each component will be described in detail hereinafter.

[0039] As shown in Figure 1 and 2 ​As shown, the turbine positioning table 2 is used to reasonably arrange the riveting quality detection device and the numerical control rotary table, and to realize the horizontal movement of the riveting quality detection device and the numerical control rotary table. The turbine positioning table 2 mainly comprises a first horizontal movement base 11, a first X-axis movement mechanism 3, a first horizontal movement drag plate 23, a second X-axis movement mechanism 16, a line laser scanning detector 19 and a turbine positioning flange 20. Among them, the first horizontal movement drag plate 23 is installed on the first horizontal movement base 11 through the first X-axis movement mechanism 3, and the first horizontal movement drag plate 23 can realize horizontal movement along the X-axis direction on the first horizontal movement base 11. The first horizontal movement drag plate 23 is fixed with a mounting bracket 22 and a numerical control rotary table 21 connected with a motor. The numerical control rotary table 21 is connected with the turbine positioning flange 20, which is used to fix the disc and blade of the target turbine, and is convenient for subsequent riveting operation of the disc and blade. The turbine positioning flange 20 can rotate around the shaft with the numerical control rotary table 21 to realize riveting of each riveting hole on the target turbine in turn. The numerical control rotary table 21 is placed obliquely, that is, its axial direction has a certain deflection angle with the Z-axis, because the rivet position of the turbine itself is inclined, and through the oblique placement of the numerical control rotary table 21, the riveting hole of the disc and blade in the riveting position can be kept in vertical state.

[0040] In the embodiment, the first X-axis movement mechanism 3 comprises a first linear rolling guide 15 and a first right-angle reducer 14. Two first linear rolling guides 15 are fixed in parallel and at intervals on the top surface of the first horizontal movement base 11 along the X-axis direction, and the first horizontal movement drag plate 23 is slidingly connected to the two first linear rolling guides 15. One end of the first right-angle reducer 14 is connected with the output shaft of the servo motor 12, and the other end is connected with the first horizontal movement drag plate 23 through a ball screw, which is used to provide power for the horizontal movement of the first horizontal movement drag plate 23 along the first linear rolling guide 15. When the servo motor 12 drives the ball screw to rotate through the first right-angle reducer 14, the first horizontal movement drag plate 23 can slide along the two first linear rolling guides 15.

[0041] As shown in Figure 1 and 2 The line laser scanning detector 19 is installed on the mounting bracket 22 through the second X-axis movement mechanism 16, and can realize horizontal movement along the X-axis direction on the mounting bracket 22, which is used to detect the riveting quality of the disc and blade.

[0042] In the embodiment, the second X-axis moving mechanism 16 comprises a seventh linear rolling guide 17 and a detection bracket 18. Two seventh linear rolling guides 17 are fixed on the top surface of the mounting frame 22 in parallel and at intervals along the X-axis direction. The bottom of the detection bracket 18 is slidingly connected to the two seventh linear rolling guides 17 and connected to the servo motor 12 for providing power through a ball screw, and the upper end is provided with a line laser scanning detector 19. The line laser scanning detector 19 is used for detecting the quality of riveting, i.e. to realize the step detection after riveting and the rivet head size detection, the automatic detection of the distance between the blade root end surface and the turbine disc surface, with high measurement accuracy and repeatability, and fast detection speed.

[0043] As shown in Figure 3 , the column 4 is provided with an upper riveting working head 6 above the target turbine and a lower riveting working head 7 below the target turbine. The lower riveting working head 7 is connected with a first Y-axis moving mechanism and a first Z-axis moving mechanism, which can realize horizontal movement along the Y-axis direction and vertical movement along the Z-axis direction. The upper riveting working head 6 is connected with a second Y-axis moving mechanism and a second Z-axis moving mechanism, which can realize horizontal movement along the Y-axis direction and vertical movement along the Z-axis direction. The lower riveting working head 7 is used for clamping and inserting a rivet into a riveting hole at a riveting position, and the upper riveting working head 6 is used for completing riveting of the rivet. The upper riveting working head 6 and the lower riveting working head 7 are vertically arranged and axially centered, which provides a riveting position with a press riveting force parallel to the rivet axis, and this layout facilitates the loading of the rivet and the automatic completion of the riveting process.

[0044] In the embodiment, as shown in Figure 4 and 5 , a visual detection camera 32 is arranged at the upper riveting working head 6, which is used for detecting the riveting position, and at the same time, the visual detection camera 32 is connected with an operation display screen 9 fixed on the column 4, which is used for displaying the detected riveting position in real time, ensuring smooth insertion of the rivet and axial centering of the press riveting force, and realizing precise riveting. The operation display screen 9 is connected with the first X-axis moving mechanism 3, the second X-axis moving mechanism 16, the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism and the second Z-axis moving mechanism through an electric control cabinet, and is used for adjusting each moving mechanism according to the detection result of the visual detection camera 32, so that the upper riveting working head 6 and the lower riveting working head 7 can smoothly complete the riveting work of the riveting hole at the riveting position. Of course, in actual use, manual control can also be adopted, i.e. a hand wheel 13 for manually controlling the moving position is arranged on each of the first X-axis moving mechanism 3, the second X-axis moving mechanism 16, the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism and the second Z-axis moving mechanism, so as to avoid the normal operation of the system in special cases such as power failure.

[0045] In the embodiment, as shown in Figure 4 and 5As shown, the second Y-axis moving mechanism connected with the upper riveting working head 6 mainly comprises a second horizontal moving base 27, second linear rolling guide rails 28 and a second horizontal moving drag plate 29, and the second Z-axis moving mechanism connected with the upper riveting working head 6 mainly comprises an upper vertical moving base 30, an upper vertical moving drag plate 34 and third linear rolling guide rails 42. The structure and connection mode of the second Y-axis moving mechanism and the second Z-axis moving mechanism are as follows:

[0046] The back of the second horizontal moving base 27 is fixed on the column 4, and the front is fixed with two second linear rolling guide rails 28 in parallel and at intervals along the Y-axis direction, and the second horizontal moving drag plate 29 is slidingly connected on the two second linear rolling guide rails 28. The output shaft of the servo motor 12 is connected with the second horizontal moving drag plate 29 through a ball screw, for providing power for the sliding of the second horizontal moving drag plate 29 along the second linear rolling guide rails 28. In actual use, when the servo motor 12 drives the ball screw to rotate, the second horizontal moving drag plate 29 can slide along the two second linear rolling guide rails 28. The back of the upper vertical moving base 30 is fixed on the second horizontal moving drag plate 29, and the front is fixed with two third linear rolling guide rails 42 in parallel and at intervals along the Z-axis direction, and the upper vertical moving drag plate 34 is slidingly connected on the two third linear rolling guide rails 42. The output shaft of the servo motor 12 is connected with the synchronous transmission belt 41 through a second right-angle reducer 40, and the synchronous transmission belt 41 provides power for the sliding of the upper vertical moving drag plate 34 along the third linear rolling guide rails 42 through a ball screw. In actual use, when the output shaft of the servo motor 12 drives the ball screw to rotate through the second right-angle reducer 40 and the synchronous transmission belt 41, the upper vertical moving drag plate 34 can slide along the two third linear rolling guide rails 42. The upper riveting working head 6 is fixed on the upper vertical moving drag plate 34 and can move together with the upper vertical moving drag plate 34.

[0047] In a preferred embodiment of the present application, a force-displacement sensor 35 is arranged at the riveting head 31 of the upper riveting working head 6, which can realize accurate control of the riveting force and the riveting distance, and control the size of the riveting head after riveting from the riveting process. In addition, a grating ruler 36 for measuring the riveting distance is arranged on the side of the upper vertical moving base 30 along the Z-axis direction. Both the force-displacement sensor and the grating ruler can be connected with the electric control cabinet, and the detected data is reflected on the operation display screen 9 in real time, and then feedback is made to adjust the moving mechanisms.

[0048] In the embodiment, as shown in Figure 6 and 7The first Y-axis moving mechanism connected with the lower riveting working head 7 mainly comprises a fourth linear rolling guide 43, a third horizontal moving base 45, a third horizontal moving slide plate 49 and a nail taking frame 46. The first Z-axis moving mechanism connected with the lower riveting working head 7 mainly comprises a lower vertical moving base 50, a fifth linear rolling guide 48 and a lower vertical moving slide plate 51. The structure and connection mode of the first Y-axis moving mechanism and the first Z-axis moving mechanism are as follows:

[0049] The back of the third horizontal moving base 45 is fixed on the column 4. Two fourth linear rolling guides 43 are fixed on the front of the third horizontal moving base 45 in parallel and at intervals along the Y-axis direction. The third horizontal moving slide plate 49 is slidably connected on the two fourth linear rolling guides 43. The output shaft of the servo motor 12 is connected with the third horizontal moving slide plate 49 through a ball screw, which is used to provide power for the sliding of the third horizontal moving slide plate 49 along the fourth linear rolling guide 43. In actual use, when the output shaft of the servo motor 12 drives the ball screw to rotate, the third horizontal moving slide plate 49 can slide along the two fourth linear rolling guides 43. The back of the lower vertical moving base 50 is fixed on the third horizontal moving slide plate 49. Two fifth linear rolling guides 48 are fixed on the front of the lower vertical moving base 50 in parallel and at intervals along the Z-axis direction. The lower vertical moving slide plate 51 is slidably connected on the two fifth linear rolling guides 48. The output shaft of the servo motor 12 is connected with the lower vertical moving slide plate 51 through a third right-angle reducer 52 and a ball screw in sequence, which is used to provide power for the sliding of the lower vertical moving slide plate 51 along the fifth linear rolling guide 48. In actual use, when the output shaft of the servo motor 12 drives the ball screw to rotate through the third right-angle reducer 52, the lower vertical moving slide plate 51 can slide along the two fifth linear rolling guides 48.

[0050] The lower riveting working head 7 is installed on the lower vertical moving slide plate 51 through a lower riveting chuck support 53. The third horizontal moving base 45 is provided with the nail taking frame 46 on the side away from the riveting position. The nail taking frame 46 is used to limit the movement of the lower riveting working head 7 along the first Y-axis moving mechanism. When the lower riveting working head 7 moves to the nail taking frame 46, a rivet is placed at the rivet chuck 54 on the top of the lower riveting working head 7. This rivet placing process can be automatically completed or manually completed.

[0051] In a preferred embodiment of the present application, as Figure 8As shown, the lower riveting work head 7 is used to ensure the correct placement and secure fixation of the rivet, mainly including a spring sleeve 60, a clamping block 61, a mandrel 62, a taper handle 63, a limiting pin 64 and a compression spring 65. The bottom of the taper handle 63 is fixed on the lower riveting chuck support 53, and the top is fixed with the mandrel 62 which is parallel to the Z axis. The mandrel 62 is externally sleeved with the compression spring 65, the clamping block 61 and the spring sleeve 60 from bottom to top. The bottom of the compression spring 65 is fixed on the taper handle 63, and the top is pressed with the clamping block 61. The clamping block 61 and the spring sleeve 60 are in interference fit, and can move axially along the mandrel 62. The spring sleeve 60 partially protrudes from the top of the mandrel 62, and together with the mandrel 62 forms a rivet chuck 54 structure for placing and fixing the head of the rivet. Of course, the rivet chuck 54 is also provided with a passage for the rivet to enter. The spring sleeve 60 is radially provided with a slot, and the limiting pin 64 is fixed on the mandrel 62 and its head is in the slot, which can limit the axial movement of the clamping block 61 and the spring sleeve 60. Since the compression spring 65 is always in a compressed state, it can always provide an upward force to the rivet during the actual riveting process, thereby completing the riveting operation.

[0052] In this embodiment, as shown in Figure 6 and 7 The upper riveting work head 6 and the lower riveting work head 7 are also provided with a moving presser foot 55, which is used to align the blade root bottom surface with the turbine disc bottom surface before riveting. The moving presser foot 55 is fixed on the column 4 through a third Z-axis moving mechanism. Specifically, the third Z-axis moving mechanism includes a sixth linear rolling guide rail 56, a gas cylinder 57, a presser foot drag plate 58 and a moving presser foot base 59. The back of the moving presser foot base 59 is fixed on the column 4, and the front is provided with two sixth linear rolling guide rails 56 which are fixed in parallel and spaced apart along the Z-axis direction. The presser foot drag plate 58 is slidingly connected to the two sixth linear rolling guide rails 56, and the moving presser foot 55 is fixed on the presser foot drag plate 58. The gas cylinder 57 is used to provide power for the vertical movement of the presser foot drag plate 58 along the sixth linear rolling guide rail 56.

[0053] The riveting method using the above-mentioned automatic riveting system for aero-engine turbine rotor is as follows:

[0054] S1: The target turbine disc and blade are installed on the numerical control turntable 21 through the turbine positioning flange 20, so that the riveting hole in the riveting position is kept vertical. The distance between the linear laser scanning detector 19 and the riveting hole is adjusted through the second X-axis moving mechanism 16, so that the linear laser scanning detector 19 can detect the riveting quality of each riveting hole after riveting. Then, the first X-axis moving mechanism 3 is controlled to make a certain riveting hole of the target turbine enter between the upper riveting work head 6 and the lower riveting work head 7.

[0055] S2: by controlling the first Y-axis moving mechanism and the first Z-axis moving mechanism, the lower riveting work head 7 is moved to the rivet taking station at the rivet taking rack 46 and a rivet is placed at the rivet clamp 54 on the top of the lower riveting work head 7. Then the situation of the riveting position is automatically detected by the visual detection camera 32 and monitored in real time by the operation display screen 9, and the upper riveting work head 6 and the lower riveting work head 7 are vertically arranged and axially centered by adjusting the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism and the second Z-axis moving mechanism, so as to ensure that the riveting force of the two is parallel to the axis of the rivet. The alignment of the blade root bottom surface and the turbine disc bottom surface before riveting is realized by the moving presser foot 55, the rivet is inserted into the riveting hole from bottom to top by the lower riveting work head 7, and the riveting operation is completed by the upper riveting work head 6. Then the upper riveting work head 6 and the lower riveting work head 7 are reset, and here the reset means that the upper riveting work head 6 moves upward along the Z-axis and the lower riveting work head 7 moves to the rivet taking station, so as to facilitate the placement of the next rivet.

[0056] S3: by rotating the target turbine by the numerical control rotary table 21, the next riveting hole is located at the riveting position, and the operation of step S2 is repeated until the riveting is completed.

[0057] The above-described embodiment is only a preferred scheme of the present application, and is not used to limit the present application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, any technical scheme obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.

Claims

1. An automatic riveting system for aero-engine power turbine rotors, characterized in that, Including a turbine positioning platform (2) and a column (4) both mounted on the frame (1); The turbine positioning platform (2) includes a first horizontal moving base (11), a first X-axis moving mechanism (3), a first horizontal moving slide (23), a second X-axis moving mechanism (16), a line laser scanning detector (19), and a turbine positioning flange (20); the first horizontal moving slide (23) is mounted on the first horizontal moving base (11) through the first X-axis moving mechanism (3), and can realize horizontal movement along the X-axis direction; a mounting bracket (22) and a number of motors are fixed on the first horizontal moving slide (23). CNC turntable (21); the CNC turntable (21) is connected to a turbine positioning flange (20) for fixing the wheel disk and blades in the target turbine. The turbine positioning flange (20) can rotate around the axis with the CNC turntable (21); the CNC turntable (21) is placed at an angle so that the riveting holes of the wheel disk and blades in the riveting position remain vertical; the line laser scanning detector (19) is installed on the mounting frame (22) through the second X-axis moving mechanism (16) and can realize horizontal movement along the X-axis direction to detect the riveting quality of the wheel disk and blades; The column (4) is provided with an upper riveting head (6) located above the target turbine and a lower riveting head (7) located below the target turbine; the lower riveting head (7) is connected to a first Y-axis moving mechanism and a first Z-axis moving mechanism, and the upper riveting head (6) is connected to a second Y-axis moving mechanism and a second Z-axis moving mechanism. Both the upper riveting head (6) and the lower riveting head (7) can achieve horizontal movement along the Y-axis direction and vertical movement along the Z-axis direction; the lower riveting head (7) is used to clamp and insert the rivet into the riveting hole at the riveting position, and the upper riveting head (6) is used to complete the riveting of the rivet. The upper riveting head (6) and the lower riveting head (7) are arranged vertically and their axes are aligned, providing a riveting force parallel to the rivet axis at the riveting position; The lower riveting head (7) includes a spring sleeve (60), a clamping block (61), a mandrel (62), a tapered shank (63), a limiting pin (64), and a compression spring (65). The bottom of the tapered shank (63) is fixed on the lower riveting head support (53), and the top is fixed with a mandrel (62) whose axial direction is parallel to the Z-axis. The mandrel (62) is fitted with a compression spring (65), a clamping block (61), and a spring sleeve (60) from bottom to top. The bottom of the compression spring (65) is fixed on the tapered shank (63). A clamping block (61) is pressed on the top; the clamping block (61) and the spring sleeve (60) are interference fit and can move together along the axial direction of the mandrel (62); the spring sleeve (60) protrudes from the top of the mandrel (62) and together they form a rivet chuck (54) structure for placing and fixing the rivet head; the spring sleeve (60) has a slot in the radial direction, and the limiting pin (64) is fixed on the mandrel (62) with its head in the slot, which can limit the axial movement of the clamping block (61) and the spring sleeve (60).

2. The automatic riveting system for aero-engine power turbine rotor according to claim 1, characterized in that, The upper riveting head (6) is equipped with a visual inspection camera (32) for detecting the riveting position. The visual inspection camera (32) is connected to the operation display screen (9) fixed on the column (4) for real-time display of the detected riveting position. The operation display screen (9) is connected to the first X-axis moving mechanism (3), the second X-axis moving mechanism (16), the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism and the second Z-axis moving mechanism through the electrical control cabinet. It is used to adjust each moving mechanism according to the detection result of the visual inspection camera (32) so that the upper riveting head (6) and the lower riveting head (7) can smoothly complete the riveting work of the riveting hole in the riveting position.

3. The automatic riveting system for aero-engine power turbine rotor according to claim 1, characterized in that, The first X-axis moving mechanism (3) includes a first linear rolling guide rail (15) and a first right-angle reducer (14); two first linear rolling guide rails (15) are fixed parallel to each other along the X-axis direction on the top surface of the first horizontal moving base (11), and the first horizontal moving slide (23) is slidably connected to the two first linear rolling guide rails (15); one end of the first right-angle reducer (14) is connected to the output shaft of the servo motor (12), and the other end is connected to the first horizontal moving slide (23) through a ball screw, for providing power to the first horizontal moving base (11). The moving slide (23) provides power by moving horizontally along the first linear rolling guide (15); the second X-axis moving mechanism (16) includes a seventh linear rolling guide (17) and a detection bracket (18); the top surface of the mounting bracket (22) is fixed with two seventh linear rolling guides (17) parallel to each other along the X-axis direction; the bottom of the detection bracket (18) is slidably connected to the two seventh linear rolling guides (17) and connected to the servo motor (12) for providing power through a ball screw, and the upper end is provided with a line laser scanning detector (19).

4. The automatic riveting system for aero-engine power turbine rotor according to claim 1, characterized in that, The first Y-axis moving mechanism includes a fourth linear rolling guide (43), a third horizontal moving base (45), a third horizontal moving slide (49), and a nail picker (46). The first Z-axis moving mechanism includes a lower vertical moving base (50), a fifth linear rolling guide (48), and a lower vertical moving slide (51). The back of the third horizontal moving base (45) is fixed to the column (4), and two fourth linear rolling guides (43) are fixed parallel to each other along the Y-axis on the front. The third horizontal moving slide (49) is slidably connected to the two fourth linear rolling guides (43). The output shaft of the servo motor (12) is connected to the third horizontal moving slide (49) through a ball screw, which is used to provide power for the sliding of the third horizontal moving slide (49) along the fourth linear rolling guides (43). The lower vertical moving base The back of the seat (50) is fixed to the third horizontal moving slide (49), and two fifth linear rolling guides (48) are fixed parallel to each other along the Z-axis on the front. The lower vertical moving slide (51) is slidably connected to the two fifth linear rolling guides (48). The output shaft of the servo motor (12) is connected to the lower vertical moving slide (51) in sequence through the third right angle reducer (52) and the ball screw, which is used to provide power for the lower vertical moving slide (51) to slide along the fifth linear rolling guides (48). The lower riveting head (7) is mounted on the lower vertical moving slide (51) via the lower riveting chuck support (53). The third horizontal moving base (45) is provided with a nail picker (46) on the side away from the riveting position. The nail picker (46) is used to limit the movement of the lower riveting head (7) along the first Y-axis moving mechanism. When the lower riveting head (7) moves to the nail picker (46), a rivet is placed at the rivet chuck (54) on its top.

5. The automatic riveting system for aero-engine power turbine rotor according to claim 1, characterized in that, Between the upper riveting head (6) and the lower riveting head (7), there is a movable presser foot (55) for aligning the root surface of the riveted blade with the bottom surface of the turbine disk. The movable presser foot (55) is fixed to the column (4) by a third Z-axis moving mechanism. The third Z-axis moving mechanism includes a sixth linear rolling guide rail (56), a cylinder (57), a presser foot slide (58), and a movable presser foot base (59). The back of the movable presser foot base (59) is fixed to the column (4), and the front is provided with two sixth linear rolling guide rails (56) fixed parallel to each other along the Z-axis direction. The presser foot slide (58) is slidably connected to the two sixth linear rolling guide rails (56), and the movable presser foot (55) is fixed to the presser foot slide (58). The cylinder (57) is used to provide power for the vertical movement of the presser foot slide (58) along the sixth linear rolling guide rail (56).

6. The automatic riveting system for aero-engine power turbine rotor according to claim 1, characterized in that, The second Y-axis moving mechanism includes a second horizontal moving base (27), a second linear rolling guide (28), and a second horizontal moving slide (29). The second Z-axis moving mechanism includes an upper vertical moving base (30), an upper vertical moving slide (34), and a third linear rolling guide (42). The back of the second horizontal moving base (27) is fixed to the column (4), and two second linear rolling guides (28) are fixed parallel to each other along the Y-axis on the front. The second horizontal moving slide (29) is slidably connected to the two second linear rolling guides (28). The output shaft of the servo motor (12) is connected to the second horizontal moving slide (29) through a ball screw to provide power for the sliding of the second horizontal moving slide (29) along the second linear rolling guides (28). The back of the upper vertical moving base (30) is fixed to the second horizontal moving base (4). On the translating slide (29), two third linear rolling guides (42) are fixed parallel to each other along the Z-axis direction on the front side. The upper vertical moving slide (34) is slidably connected to the two third linear rolling guides (42). The output shaft of the servo motor (12) is connected to the synchronous transmission belt (41) via the second right-angle reducer (40). The synchronous transmission belt (41) provides power for the upper vertical moving slide (34) to slide along the third linear rolling guides (42) through the ball screw. The upper riveting head (6) is fixed on the upper vertical moving slide (34).

7. The automatic riveting system for an aero-engine power turbine rotor according to claim 6, characterized in that, The riveting head (6) is provided with a force-displacement sensor (35) at the riveting joint (31) for accurate control of riveting force and riveting distance, and the side of the upper vertical moving base (30) is provided with a grating ruler (36) for measuring the riveting distance along the Z-axis direction.

8. The automatic riveting system for aero-engine power turbine rotor according to claim 1, characterized in that, The first X-axis moving mechanism (3), the second X-axis moving mechanism (16), the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism, and the second Z-axis moving mechanism are each provided with a handwheel (13) for manually controlling the moving position.

9. A riveting method using the automatic riveting system for aero-engine power turbine rotors according to any one of claims 1 to 8, characterized in that, Specifically as follows: S1: The target turbine's disk and blades are tilted and mounted on the CNC turntable (21) via the turbine positioning flange (20), so that the riveting holes in the riveting position are kept vertical; the distance between the line laser scanning detector (19) and the riveting hole is adjusted by the second X-axis moving mechanism (16), so that the line laser scanning detector (19) can detect the riveting quality of each riveting hole after riveting; then the first X-axis moving mechanism (3) is controlled to send the target turbine between the upper riveting head (6) and the lower riveting head (7); S2: By controlling the first Y-axis moving mechanism and the first Z-axis moving mechanism, the lower riveting head (7) is moved to the nail-removing position at the nail-removing frame (46), and the rivet is placed at the rivet chuck (54) at the top of the lower riveting head (7); then the visual inspection camera (32) automatically detects the riveting position, and the operation display screen (9) monitors it in real time. By adjusting the first Y-axis moving mechanism, the first Z-axis moving mechanism, the second Y-axis moving mechanism and the second Z-axis moving mechanism, the upper riveting head (6) and the lower riveting head (7) are vertically arranged and their axes are aligned, ensuring that the riveting force of both is parallel to the rivet axis; the moving presser foot (55) is used to align the root surface of the riveting blade with the bottom surface of the turbine disk, and the lower riveting head (7) is used to insert the rivet into the riveting hole from bottom to top, and the upper riveting head (6) is used to complete the riveting operation; then the upper riveting head (6) and the lower riveting head (7) are reset. S3: Rotate the target turbine using the CNC rotary table (21) to position the next riveting hole at the riveting position, and repeat step S2 until the riveting is completed.

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