A device and method for quickly clamping and automatically positioning aviation blades

Abstract

The present invention relates to the technical field of aviation blade processing, and in particular to an automatic positioning manipulator device and method for rapid clamping of aviation blades. The device includes a blade clamp and an automatic positioning clamp. The blade clamp is used to clamp blades, and includes a base, two tenon clamping blocks, and a limiting fixture. The positioning clamp is used to connect to the end of the robot and to clamp the blade clamp, and includes a connecting frame, a flange seat, an upper positioning block, a side positioning block, a pressure plate, two wedge-shaped chucks, a driving part, and a telescopic part. The present invention can enable the robot to quickly and accurately position and clamp blades, simplify the processing flow of the robot blade processing system, improve production efficiency, and solve the technical problem that the current clamp directly clamps the tenon root position of the blade, which easily wears the tenon groove of the blade, resulting in a significant reduction in the service life of the blade.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation blade processing, and in particular to a device and method for quickly and automatically clamping aviation blades. Background Art

[0002] The aviation industry is often compared to the crown of modern industry, and the aircraft engine is often called the jewel in its crown, the heart of the aircraft. During the operation of aircraft engines, blades are key components of aircraft generators, and the machining quality of aircraft engine blades determines the performance and service life of the aircraft engine. After milling, aircraft blades require grinding and polishing using grinding wheels and belts to reduce the geometric errors generated during milling and improve blade profile accuracy and surface roughness. In recent years, robot-based blade machining systems have become a new development direction, with the method of feeding the blades through a robot clamping fixture becoming a common practice.

[0003] like Figure 1 The figure shows a schematic diagram of the structure of a current aviation blade. A tenon 110 of the blade 100 is provided with a tenon groove 120 on both sides. Traditional robot-based blade processing systems often use simple clamps to directly clamp the tenon 110 of the blade 100. The position of the blade 100 relative to the clamp is random after each clamping. Therefore, after each clamping, the position of the blade 100 relative to the clamp needs to be measured by a scanning device. The scanning device feeds back the position information to the robot so that the robot can correct the processing trajectory according to the position information, thereby ensuring the processing accuracy of the blade 100. This method of measuring once after each clamping not only increases the processing steps in the system processing process and significantly reduces the processing production efficiency, but also places high requirements on the measurement accuracy of the scanning equipment, increasing the difficulty of system control program design. In addition, since the clamping action of the current clamp is simple and the tolerance of the clamp is poor, in order to ensure fast and accurate clamping, the placement accuracy of the blade to be processed must be high. There are also some clamps connected to the end of the robot, which are used to clamp the blades. However, the current clamps directly clamp the tenon root of the blades, which can easily wear the tenon groove of the blades, causing the service life of the blades to be greatly reduced. Summary of the Invention

[0004] Based on this, in order to solve the technical problem that the current clamp directly clamps the tenon root of the blade, which easily wears the tenon groove of the blade and greatly reduces the service life of the blade, it is necessary to provide an aviation blade fast automatic clamping device and method.

[0005] The present invention provides a rapid automatic clamping device for aviation blades, which is used to clamp and position blades in a robot-based blade processing system. The blade processing system is used to control the operation of the robot. Tenon grooves are provided on both sides of the tenon root of the blade. The device includes:

[0006] A blade clamp is used to clamp a blade, and comprises a base, two tenon root clamping blocks, and a limiting fixture; the base is provided with a wedge surface block, and the wedge surface block is provided with two symmetrically arranged wedge surfaces; the two tenon root clamping blocks are relatively arranged at the bottom of the base, and the two tenon root clamping blocks are provided with tenons that match the tenon grooves on opposite sides of the two tenon root clamping blocks, and the tenon is respectively engaged with the tenon teeth of the two tenon root clamping blocks through the tenon grooves on both sides; the limiting fixture is used to limit and fix the tenon root between the two tenon root clamping blocks;

[0007] The automatic positioning fixture is used to be connected to the end of the robot and to clamp the blade fixture, and comprises a connecting frame, a flange seat, an upper positioning block, a side positioning block, two wedge-shaped chucks, a driving member and a telescopic member; the flange seat is installed on the connecting frame and is used to be connected to the end of the robot; the upper positioning block is arranged at the bottom of the connecting frame and is located above the wedge surface block; the side positioning block and the telescopic member are relatively arranged at the bottom of the connecting frame, and the side positioning block and the telescopic member are respectively located at both ends of the wedge surface block, and the telescopic member is used to abut against the wedge surface block when extended and push the wedge surface block to move against the side positioning block; the two wedge chucks are respectively arranged opposite to the two wedge surfaces 1 of the wedge surface block, and the wedge chucks are provided with a wedge surface 2 adapted to the corresponding wedge surface 1; the driving member is used to drive the two wedge chucks to move synchronously so that the two wedge surfaces 2 are close to or away from the corresponding wedge surface 1;

[0008] Wherein, the blade processing system is used to: first control the robot to drive the automatic positioning fixture to a predetermined position so that the wedge block is located between the two wedge chucks and the two wedge surfaces 2 are respectively opposite to the two wedge surfaces 1; then control the driving member to drive the two wedge chucks to move synchronously so that the two wedge surfaces 2 are close to and press against the corresponding wedge surfaces 1 and drive the wedge block to rise to a predetermined height, control the driving member to stop and control the telescopic member to extend to push the wedge block to move until the wedge block presses against the side positioning block and then controls the telescopic member to retract; then control the driving member to drive the two wedge chucks to move synchronously so that the wedge block continues to rise until the wedge block presses against the upper positioning block; finally, control the telescopic member to extend and press against the wedge block.

[0009] The present invention first clamps and fixes the blade using a blade clamp, then connects the automatic positioning clamp to the end of the robot. The control driver drives two wedge-shaped chucks to position and clamp the wedge block, achieving automatic positioning of the blade in the front-to-back direction. The control driver extends the wedge block to fully contact the side positioning block, achieving accurate automatic positioning of the blade in the horizontal direction. The control driver drives the two wedge-shaped chucks to move so that the wedge block is lifted and fully contacted with the upper positioning block, achieving accurate automatic positioning of the blade in the vertical direction. The present invention enables the robot to quickly and accurately locate and clamp blades, simplifies the processing flow of the robot blade processing system, improves production efficiency, and solves the technical problem that the current clamp directly clamps the blade at the root of the tenon, which easily wears the blade's mortise and tenon, significantly reducing the blade's service life.

[0010] As a further improvement of the above solution, the position limiting fixture includes:

[0011] A fixed limiting plate is fixed to the bottom of the base and is located on one side of the tenon root;

[0012] A wedge-surface limit block, which is detachably mounted on the side of the fixed limit plate facing the tenon root and has a wedge surface three facing the tenon root; and

[0013] The adjusting limit plate is arranged opposite to the fixed limit plate and is located on the other side of the tenon root. It can be detachably mounted on the base. A clamping screw is threadedly connected to the adjusting limit plate and the clamping screw is provided with a pressure head that can press against the tenon root. The connecting direction of the adjusting limit plate and the fixed limit plate is perpendicular to the connecting direction of the two tenon root clamps.

[0014] As a further improvement of the above solution, the blade clamp further includes:

[0015] Two anti-wear plates, the two anti-wear plates are respectively installed on the two wedge surfaces of the wedge surface block;

[0016] And / or, the wear plate is made of hard alloy material.

[0017] As a further improvement of the above solution, the bottom of the connecting frame is integrally formed with relatively arranged mounting plate 1 and mounting plate 2, the side positioning block is detachably mounted on the inner side of mounting plate 1, and the telescopic member is mounted on the inner side of mounting plate 2.

[0018] As a further improvement of the above solution, the telescopic member includes a guide rod cylinder, which is installed on the inner side of the second mounting plate; the blade processing system controls the extension or retraction of the piston rod of the guide rod cylinder;

[0019] And / or, the telescopic member further includes a pressing plate, which is mounted on the piston rod of the guide rod cylinder, and the pressing plate is made of rubber material.

[0020] As a further improvement of the above solution, the driving member includes a parallel air gripper, which is mounted on the top of the connecting frame, and two wedge-shaped chucks are respectively mounted on two jaws of the parallel air gripper.

[0021] As a further improvement of the above solution, the driving member also includes an induction switch, which is installed on the parallel air grippers and is used to send a stop signal when it detects that the distance between the two air grippers reaches its alarm threshold. At this time, the wedge block is lifted upward to a predetermined height, and the blade processing system controls the driving member to stop according to the stop signal.

[0022] As a further improvement of the above solution, several positioning holes are opened on the wedge limit block and the wedge limit block is installed on the inner side of the fixed limit plate by screws. Several positioning pins are provided on the inner side of the fixed limit plate and the several positioning pins are respectively inserted into the several positioning holes.

[0023] As a further improvement to the above solution, there are two upper positioning blocks, which are installed parallel to each other at the bottom of the connecting frame and the extending direction of the upper positioning blocks is perpendicular to the connecting direction of the two wedge-shaped chucks.

[0024] The present invention also proposes a robot-based blade processing system for processing aviation blades, comprising a robot, characterized in that it also includes the aforementioned aviation blade rapid clamping automatic positioning device, the flange seat of the aviation blade rapid clamping automatic positioning device being connected to the end of the robot.

[0025] The present invention also provides a method for rapid clamping and automatic positioning of an aviation blade, which is used in the aforementioned rapid clamping and automatic positioning device for an aviation blade, and comprises the following steps:

[0026] S1. Insert the tenon of the blade between the two tenon root clamps and fix the tenon root between the two tenon root clamps by limiting the fixing member;

[0027] S2. Connect the flange of the automatic positioning fixture to the end of the robot and control the robot to drive the automatic positioning fixture to the predetermined position. At this time, the wedge block is located between the two wedge chucks and the two wedge surfaces 2 are opposite the two wedge surfaces 1 respectively;

[0028] S3. The control drive member drives the two wedge chucks to move synchronously so that the two wedge surfaces 2 are close to the corresponding wedge surface 1 and drive the wedge surface block to lift upward;

[0029] S4. When the wedge block is lifted up to a predetermined height, the control drive member stops and controls the telescopic member to extend to push the wedge block to move. When the wedge block and the side positioning block are pressed against each other, the control telescopic member retracts;

[0030] S5. The control drive member drives the two wedge chucks to move synchronously again until the wedge block abuts against the upper positioning block;

[0031] S6. Control the telescopic member to extend again to abut against the wedge block.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention first clamps and fixes the blade by a blade clamp, then connects the automatic positioning clamp to the end of the robot, drives the two wedge-shaped chucks to move by controlling the driving member, and positions and clamps the wedge block through the cooperation of wedge surface one and wedge surface two, thereby realizing automatic positioning of the front and rear positions of the blade in the horizontal direction; pushes the wedge block to be in full contact with the side positioning block by controlling the extension of the telescopic member, thereby realizing accurate automatic positioning of the left and right positions of the blade in the horizontal direction; realizes the lifting movement of the wedge block in the vertical direction by controlling the clamping force between the wedge-shaped chuck and the wedge block, and realizes accurate automatic positioning of the blade in the vertical direction when the wedge block is lifted and moves to be completely in contact with the upper positioning block, thereby realizing accurate automatic positioning of the blade in the vertical direction, thereby realizing accurate positioning and clamping of the blade in the robot coordinate. The present invention enables the robot to quickly and accurately locate and clamp the blade, simplifies the processing flow of the robot blade processing system, improves production efficiency, and solves the problem that the existing robot-based blade processing system uses the clamping claw to clamp the blade, cannot accurately locate it, requires scanning equipment to assist in correcting the trajectory, and requires high precision in the placement of the processed blade.

[0034] 2. The position of the blade fixture with the blade clamped thereon relative to the robot can be adjusted by a telescopic member, has a large tolerance capability, and has a low requirement on the placement accuracy of the blade fixture with the blade clamped thereon.

[0035] 3. The driving part of the present invention adopts parallel air claws, and the telescopic part adopts a guide rod cylinder. The double-cylinder clamping method is used to jointly complete the clamping during blade processing. The clamping force can be adjusted in a large range according to actual processing needs. It has high versatility and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the aviation blade structure;

[0037] Figure 2 This is a schematic structural diagram of a rapid automatic clamping device for aviation blades proposed in Example 1 of the present invention;

[0038] Figure 3 for Figure 2 Schematic diagram of the structure of the middle blade fixture;

[0039] Figure 4 for Figure 3 Another perspective of the diagram;

[0040] Figure 5 for Figure 3 sectional view of

[0041] Figure 6 for Figure 2 Schematic diagram of the structure of the automatic positioning fixture;

[0042] Figure 7 for Figure 1 Application diagram;

[0043] Figure 8 for Figure 7 sectional view of

[0044] Figure 9 for Figure 7 Schematic diagram of part of the structure;

[0045] Figure 10 for Figure 9 sectional view of .

[0046] Reference numerals:

[0047] 100, blade; 110, tenon root; 120, mortise groove;

[0048] 200, blade fixture; 210, base; 211, wedge block; 212, boss; 220, tenon root clamp; 221, tenon; 230, position fixing member; 231, fixed position limiting plate; 232, wedge position limiting block; 233, adjustment position limiting plate; 234, pressing screw; 235, pressure head; 236, positioning pin; 237, positioning hole; 238, wedge surface three; 239, bushing; 240, anti-wear plate;

[0049] 300, automatic positioning fixture; 310, connecting frame; 311, mounting plate 1; 312, mounting plate 2; 320, upper positioning block; 330, side positioning block; 340, flange seat; 350, wedge chuck; 351, wedge surface 2; 360, driving part; 361, parallel air gripper; 362, induction switch; 370, telescopic part; 371, guide rod cylinder; 372, pressure plate. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] Example 1

[0052] This embodiment addresses the current robot-based blade processing system, in which the position of the blade relative to the robot needs to be measured again by a scanning device each time a blade is clamped. This not only increases the number of processing steps in the system processing process and significantly reduces processing production efficiency, but also places high measurement accuracy requirements on the scanning device, increasing the difficulty of system control program design. In addition, since the current clamping action is simple and the tolerance of the clamp is poor, in order to ensure fast and accurate clamping and solve the technical problem of high precision requirements for the placement of the processed blade, a rapid automatic clamping device for aviation blades is proposed. The rapid automatic clamping device for aviation blades of this embodiment can realize the rapid and accurate positioning and clamping of blades by the robot, and the positioning is accurate and reliable, eliminating the process of assisting the scanning device in correcting the trajectory in the existing system, thereby improving processing efficiency.

[0053] Please refer to Figure 1 The aviation blade rapid automatic clamping device of this embodiment is used to clamp and position the blade 100 in a robot-based blade processing system. Tenon grooves 120 are provided on both sides of the tenon root 110 of the blade 100. The aviation blade rapid automatic clamping device of this embodiment includes a blade clamp 200 and an automatic positioning clamp 300.

[0054] The blade fixture 200 is used to clamp the blade 100. Figure 3-Figure 5 The blade clamp 200 includes a base 210 , two tenon root clamps 220 and a limiting fixing member 230 .

[0055] The top of the base 210 is equipped with a wedge block 211, which is equipped with two symmetrically arranged wedge surfaces. In other words, the wedge block 211 has an inverted isosceles trapezoidal cross-section. The bottom of the base 210 is integrally formed with two opposing bosses 212. In this embodiment, the base 210 is formed from a casting by milling and grinding. Two tenon clamps 220 are respectively mounted on the two bosses 212 via screws. Tenon teeth 221 are provided on opposite sides of each tenon clamp 220, which match the tenon groove 120 of the tenon 110.

[0056] The position-limiting fixture 230 is used to positionally secure the tenon 110 between the two tenon clamps 220. In this embodiment, the position-limiting fixture 230 includes a fixed position-limiting plate 231, a wedge-surface position-limiting block 232, and an adjustable position-limiting plate 233. The fixed position-limiting plate 231 is positioned between the two bosses 212 and fixed to the bottom of the base 210. The fixed position-limiting plate 231 and the base 210 are integrally formed. Two positioning pins 236 are provided on the inner side of the fixed position-limiting plate 231. Two positioning holes 237 are formed through the wedge-surface position-limiting block 232. The wedge-surface position-limiting block 232 is screwed onto the inner side of the fixed position-limiting plate 231, and the two positioning pins 236 are respectively inserted into the two positioning holes 237. The inner side of the wedge-surface position-limiting block 232 is a wedge-surface 238 that matches the tenon 110. The adjusting limit plate 233 is arranged parallel to the fixed limit plate 231 and its two ends are connected to the two bosses 212 respectively by screws. The connecting direction of the adjusting limit plate 233 and the fixed limit plate 231 is perpendicular to the connecting direction of the two tenon root clamps 220. Two assembly holes are penetrated on the adjusting limit plate 233, and a bushing 239 is installed in the assembly hole with interference fit. The inner thread of the bushing 239 is connected to the tightening screw 234, and a pressure head 235 is provided on the inner side of the tightening screw 234.

[0057] It is worth noting that the tenon clamps 220 and wedge limit blocks 232 of different structural shapes can be matched according to the different structural shapes of the blade tenon 110, and the distance between the two tenon clamps 220 can be adjusted according to the different structural shapes of the blade tenon 110 to adapt to the clamping requirements of different models of blades 100.

[0058] The automatic positioning fixture 300 is used to connect with the end of the robot and to clamp the automatic positioning blade fixture 200. Figure 6 The automatic positioning fixture 300 includes a connecting frame 310 , two upper positioning blocks 320 , a side positioning block 330 , a flange seat 340 , two wedge-shaped chucks 350 , a driving member 360 and a telescopic member 370 .

[0059] The flange mount 340 is screwed to the top of the connecting frame 310 and is used to connect to the robot end. The connecting frame 310 is located above the base 210 and has two opposing mounting plates 1 311 and 2 312 integrally formed at its bottom. Mounting plates 1 311 and 2 312 are located at either end of the wedge block 211. Two upper positioning blocks 320 are screwed to the bottom of the connecting frame 310 and are located above the wedge block 211. The two upper positioning blocks 320 are arranged parallel to each other and perpendicular to mounting plates 1 311 and 2 312.

[0060] The side positioning block 330 is mounted on the side of the mounting plate 1 311 facing the wedge block 211 by screws. The telescopic member 370 is mounted on the side of the mounting plate 212 facing the wedge block 211. The telescopic member 370 is used to abut against the wedge block 211 when extended and push the wedge block 211 to move until it presses against the side positioning block 330. In this embodiment, the telescopic member 370 includes a guide rod cylinder 371 and a pressure plate 372. The pressure plate 372 is mounted on the piston rod of the guide rod cylinder 371. The pressure plate 372 is made of rubber material and has good elasticity. It can reduce the impact load of the guide rod cylinder 371 pushing the wedge block 211 when extended, thereby increasing the service life of the clamp and preventing damage to the tenon root 110 during the pushing process.

[0061] The two wedge chucks 350 are positioned opposite the two wedge surfaces 1 of the wedge block 211. The side of the wedge chucks 350 facing the wedge block 211 is provided with a second wedge surface 351 that matches the corresponding first wedge surface and can abut against the corresponding first wedge surface. A driver 360 is mounted on the top of the connecting frame 310 and is used to drive the two wedge chucks 350 to move synchronously, causing the two second wedge surfaces 351 to move toward or away from the corresponding first wedge surface. In this embodiment, the driver 360 includes parallel air grippers 361 and a sensor switch 362. The two wedge chucks 350 are mounted on the two air grippers of the parallel air grippers 361. The sensor switch 362 is mounted on the parallel air grippers 361 and is used to detect the distance between the two air grippers of the parallel air grippers 361 and to issue a stop signal when the distance between the two air grippers reaches its alarm threshold. When clamping the blade fixture 200, the parallel air gripper 361 contracts and drives the two wedge-shaped chucks 350 to move close to the wedge block 211, so that the two wedge surfaces 351 are respectively fitted with the tops of the two wedge surfaces 1, thereby realizing the horizontal positioning of the wedge block 211. As the parallel air gripper 361 slowly contracts, sliding occurs between the wedge block 211 and the two wedge chucks 350, allowing the wedge block 211 to be lifted upward.

[0062] It is worth noting that anti-wear plates 240 can be installed on the two wedge surfaces 1 of the wedge block 211 respectively to prevent wear of the two wedge surfaces 1 of the wedge block 211 after multiple clamping, thereby avoiding a significant reduction in the positioning accuracy of the blade 100. The anti-wear plates 240 can be installed on the wedge block 211 by screws. The anti-wear plates 240 are made of carbide plates and have good wear resistance.

[0063] The aviation blade rapid clamping automatic positioning device of this embodiment, the parallel air claw 361, the guide rod cylinder 371, the robot and the induction switch 362 are all connected to the blade processing system. Figure 7-10 , the working principle of this embodiment is as follows:

[0064] (1) First, the tenon grooves 120 on both sides of the tenon root 110 of the blade 100 are aligned with the two tenon root clamps 220 respectively, and the tenon root 110 is inserted between the two tenon root clamps 220 until one side of the tenon root 110 is in contact with the wedge surface 3 238. At this time, the tenon root 110 is respectively engaged with the tenon teeth 221 of the two tenon root clamps 220 through the tenon grooves 120 on both sides. The adjusting limit plate 233 is placed on the other side of the tenon root 110 and installed on the two bosses 212 by screws. The two tightening screws 234 are rotated until the pressure head 235 of the tightening screw 234 is in contact with the tenon root 110. The size of the tightening force on the tenon root 110 of the blade 100 is adjusted by adjusting the length of the tightening screw 234 screwed into the bushing 239.

[0065] (2) The flange seat 340 is connected to the end of the robot. The blade processing system controls the robot to drive the automatic positioning fixture 300 to move to a predetermined position so that the wedge block 211 is located between the two wedge chucks 350 and the two wedge surfaces 351 are respectively opposite to the two wedge surfaces 1. At this time, the parallel air claws 361 are in an open state.

[0066] (3) The blade processing system then controls the parallel air grippers 361 to contract and drive the two wedge chucks 350 to move synchronously, so that the two wedge surfaces 351 are close to each other and press against the corresponding wedge surfaces, thereby driving the wedge surface block 211 to move upward. The automatic centering function of the parallel air grippers 361 gradually adjusts the wedge surface block 211 to the center position in the front-to-back direction, thereby achieving the basic positioning of the blade 100 in the front-to-back direction.

[0067] (4) When the induction switch 362 detects that the distance between the two air grippers of the parallel air gripper 361 reaches its alarm threshold, a stop signal is issued. At this time, the wedge block 211 is lifted up to a predetermined height and does not contact the upper positioning block 320. The blade processing system controls the parallel air gripper 361 to stop contracting and controls the guide rod cylinder 371 to extend. The pressure plate 372 abuts against the wedge block 211 and pushes the wedge block 211 toward the side positioning block 330 until the wedge block 211 abuts against the side positioning block 330. Then, the blade processing system controls the guide rod cylinder 371 to retract.

[0068] (5) Then, the blade processing system controls the parallel air claws 361 to continue to contract and drive the two wedge-shaped chucks 350 to move synchronously so that the wedge surface block 211 continues to lift upward until the wedge surface block 211 presses against the upper positioning block 320, thereby achieving the positioning and clamping of the blade 100 in the vertical direction.

[0069] (6) Finally, the blade processing system controls the guide rod cylinder 371 to extend again, so that the pressure plate 372 abuts against the wedge block 211, and the wedge block 211 is clamped by the pressure plate 372 and the side positioning block 330, thereby achieving the positioning and clamping of the blade 100 in the left and right directions.

[0070] Example 2

[0071] This embodiment provides a method for rapid clamping and automatic positioning of aviation blades, which is used in the rapid clamping and automatic positioning device for aviation blades in Example 1. The method includes the following steps.

[0072] S1. Insert the tenon 110 of the blade between the two tenon clamps 220 and fix the tenon 110 between the two tenon clamps 220 by the limiting fixing member 230 .

[0073] S2. Connect the flange seat 340 of the automatic positioning fixture 300 to the end of the robot, and control the robot to drive the automatic positioning fixture 300 to move to a predetermined position. At this time, the wedge block 211 is located between the two wedge chucks 350 and the two wedge surfaces 2 351 are respectively opposite to the two wedge surfaces 1.

[0074] S3. Control the driving member 360 to drive the two wedge-shaped chucks 350 to move synchronously so that the two wedge surfaces 351 approach and press against the corresponding wedge surface 1, and drive the wedge surface block 211 to move upward.

[0075] S4. When the wedge block 211 is lifted to a predetermined height, the driving member 360 is controlled to stop and the telescopic member 370 is controlled to extend to push the wedge block 211 to move. When the wedge block 211 is pressed against the side positioning block 330, the telescopic member 370 is controlled to retract.

[0076] S5. Control the driving member 360 to drive the two wedge-shaped chucks 350 to move synchronously again until the wedge surface block 211 abuts against the upper positioning block 320.

[0077] S6. Control the telescopic member 370 to extend again to abut against the wedge block 211.

[0078] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component. When a component is considered to be "fixed to" another component, it may be directly fixed to the other component or there may be a central component.

[0079] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0080] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A rapid clamping and automatic positioning device for an aviation blade, which is used for clamping and positioning a blade (100) in a blade processing system based on a robot, wherein the blade processing system is used to control the operation of the robot, and a tenon root (110) of the blade (100) is provided with a tenon groove (120) on both sides; characterized in that: The device comprises: A blade clamp (200) is used for clamping a blade, and comprises a base (210), two tenon root clamping blocks (220) and a limiting fixing member (230); the base (210) is provided with a wedge surface block (211), and the wedge surface block (211) is provided with two symmetrically arranged wedge surfaces; the two tenon root clamping blocks (220) are relatively arranged at the bottom of the base (210), and the two tenon root clamping blocks (220) are provided with tenon teeth (221) adapted to the tenon groove (120) on opposite sides, and the tenon root (110) is respectively engaged with the tenon teeth (221) of the two tenon root clamping blocks (220) through the tenon grooves (120) on both sides thereof; the limiting fixing member (230) is used to limit and fix the tenon root (110) between the two tenon root clamping blocks (220); The automatic positioning fixture (300) is used to connect with the end of the robot and to clamp the blade fixture (200), and comprises a connecting frame (310), an upper positioning block (320), a side positioning block (330), a flange seat (340), two wedge-shaped chucks (350), a driving member (360) and a telescopic member (370); the upper positioning block (320) is arranged at the bottom of the connecting frame (310) and is located above the wedge surface block (211); the side positioning block (330) and the telescopic member (370) are relatively arranged at the bottom of the connecting frame (310) and the side positioning block (330) and the telescopic member (370) are respectively located at the wedge surface block At both ends of the robot (211), the telescopic member (370) is used to abut against the wedge block (211) when extended and push the wedge block (211) to move against the side positioning block (330); the flange seat (340) is installed on the connecting frame (310) and is used to connect with the end of the robot; the two wedge chucks (350) are respectively arranged opposite to the two wedge surfaces 1 of the wedge block (211) and the wedge chucks (350) are provided with wedge surfaces 2 (351) adapted to the corresponding wedge surfaces 1; the driving member (360) is used to drive the two wedge chucks (350) to move synchronously so that the two wedge surfaces 2 (351) are close to or away from the corresponding wedge surface 1; The blade processing system is used to: first control the robot to drive the automatic positioning fixture (300) to move to a predetermined position so that the wedge block (211) is located between the two wedge chucks (350) and the two wedge surfaces (351) are respectively opposite to the two wedge surfaces (1); then control the driving member (360) to drive the two wedge chucks (350) to move synchronously so that the two wedge surfaces (351) are close to the corresponding wedge surfaces (1) and drive the wedge block (211) to be lifted up to a predetermined height, and then control The driving member (360) stops and controls the telescopic member (370) to extend to push the wedge block (211) to move until the wedge block (211) and the side positioning block (330) are pressed against each other, and then the telescopic member (370) is controlled to retract; the driving member (360) is then controlled to drive the two wedge-shaped chucks (350) to move synchronously so that the wedge block (211) continues to be lifted upward until the wedge block (211) and the upper positioning block (320) are pressed against each other; and finally, the telescopic member (370) is controlled to extend and press against the wedge block (211).

2. The automatic positioning device for rapid clamping of aviation blades according to claim 1 is characterized in that: The position limiting fixing member (230) comprises: A fixed limiting plate (231) is fixed to the bottom of the base (210) and is located on one side of the tenon root (110); A wedge surface limiting block (232) is detachably mounted on a side of the fixed limiting plate (231) facing the tenon root (110), and a side thereof facing the tenon root (110) is a wedge surface three (238) adapted to the tenon root (110); and An adjusting limit plate (233) is arranged opposite to the fixed limit plate (231) and is located on the other side of the tenon root (110). The adjusting limit plate (233) is detachably mounted on the base (210). A clamping screw (234) is threadedly connected to the adjusting limit plate (233), and the clamping screw (234) is provided with a pressure head (235) that can press against the tenon root (110). The connecting direction of the adjusting limit plate (233) and the fixed limit plate (231) is perpendicular to the connecting direction of the two tenon root clamping blocks (220).

3. The automatic positioning device for rapid clamping of aviation blades according to claim 1, characterized in that: The blade clamp (200) further includes: Two anti-wear plates (240), the two anti-wear plates (240) are respectively mounted on the two wedge surfaces of the wedge surface block (211); And / or, the anti-wear plate (240) is made of hard alloy material.

4. The automatic positioning device for rapid clamping of aviation blades according to claim 1, characterized in that: The bottom of the connecting frame (310) is integrally formed with a mounting plate 1 (311) and a mounting plate 2 (312) arranged opposite to each other, the side positioning block (330) is detachably mounted on the inner side of the mounting plate 1 (311), and the telescopic member (370) is mounted on the inner side of the mounting plate 2 (312); And / or, the telescopic member (370) includes a guide rod cylinder (371), the guide rod cylinder (371) is installed on the inner side of the second mounting plate (312); the blade processing system controls the extension or retraction of the piston rod of the guide rod cylinder (371); And / or, the telescopic member (370) further includes a pressing plate (372), the pressing plate (372) is mounted on the piston rod of the guide rod cylinder (371), and the pressing plate (372) is made of rubber material.

5. The rapid clamping and automatic positioning device for aviation blades according to claim 1 is characterized in that: The driving member (360) includes a parallel air claw (361), which is mounted on the top of the connecting frame (310), and two wedge-shaped chucks (350) are respectively mounted on two clamping claws of the parallel air claw (361).

6. The automatic positioning device for rapid clamping of aviation blades according to claim 5, characterized in that: The driving member (360) further includes an inductive switch (362), which is mounted on the parallel air grippers (361) and is used to send a stop signal when detecting that the distance between the two air grippers reaches an alarm threshold. At this time, the wedge block (211) is lifted upward to a predetermined height, and the blade processing system controls the driving member (360) to stop according to the stop signal.

7. The automatic positioning device for rapid clamping of aviation blades according to claim 2, characterized in that: A plurality of positioning holes (237) are provided on the wedge surface limiting block (232), and the wedge surface limiting block (232) is mounted on the inner side of the fixed limiting plate (231) by screws. A plurality of positioning pins (236) are provided on the inner side of the fixed limiting plate (231), and the plurality of positioning pins (236) are respectively inserted into the plurality of positioning holes (237).

8. The automatic positioning device for rapid clamping of aviation blades according to claim 1, characterized in that: There are two upper positioning blocks (320), which are installed parallel to each other at the bottom of the connecting frame (310), and the extending direction of the upper positioning blocks (320) is perpendicular to the connecting direction of the two wedge-shaped chucks (350).

9. A robot-based blade processing system for processing aviation blades, comprising a robot, characterized in that: It also includes an aviation blade rapid clamping automatic positioning device as described in any one of claims 1 to 8, wherein the flange seat (340) of the aviation blade rapid clamping automatic positioning device is connected to the end of the robot.

10. A method for rapid clamping and automatic positioning of aviation blades, characterized in that: The device is used for the automatic positioning device for rapid clamping of aviation blades according to any one of claims 1 to 8, and comprises the following steps: S1. Insert the tenon root (110) of the blade into between the two tenon root clamps (220) and fix the tenon root (110) between the two tenon root clamps (220) by the limiting fixing member (230); S2. Connect the flange seat (340) of the automatic positioning fixture (300) to the end of the robot, and control the robot to drive the automatic positioning fixture (300) to move to a predetermined position. At this time, the wedge surface block (211) is located between the two wedge-shaped chucks (350) and the two wedge surfaces (351) are respectively opposite to the two wedge surfaces; S3. The control driving member (360) drives the two wedge-shaped chucks (350) to move synchronously so that the two wedge surfaces (351) are close to the corresponding wedge surface and drive the wedge surface block (211) to lift upward; S4. When the wedge block (211) is lifted upward to a predetermined height, the driving member (360) is controlled to stop and the telescopic member (370) is controlled to extend to push the wedge block (211) to move. When the wedge block (211) is pressed against the side positioning block (330), the telescopic member (370) is controlled to retract. S5. The control driving member (360) drives the two wedge-shaped chucks (350) to move synchronously again until the wedge surface block (211) abuts against the upper positioning block (320); S6. Control the telescopic member (370) to extend again to abut against the wedge block (211).

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