Variable-camber engine blade lay-up device and lay-up process method thereof

Abstract

The present application relates to array variable surface engine blade laying equipment and its laying process method, including material transfer robot, workbench and blade mold are arranged in the working area outside the material transfer robot, the blade mold is located in the working area of the material pressing robot, the pressing roller assembly is installed on the execution end of the material pressing robot; The material transfer robot execution end is provided with a material laying executor, the material laying executor includes at least two rows of downwardly arranged suction pipes, and each suction pipe is connected with an external air source; The suction pipes collectively suck the sheet material strip horizontally placed on the workbench, each suction pipe is driven to move by a material suction action unit, so that the adsorbed sheet material strip is spatially deformed into a curved surface, after the pre-deformation of the sheet material strip is completed, then the sheet material strip is moved to above the blade mold by the material transfer robot, the suction pipe is converted to blowing, the sheet material strip is attached to the mold surface and pre-pressed, combined with the action of the material pressing robot, so as to realize the automatic laying of the blade, greatly improve and ensure the efficiency and effect of the blade forming.

Description

Technical Field

[0001] This invention relates to the field of engine blade forming equipment technology, and in particular to an array-type variable curvature engine blade stacking equipment and its stacking process. Background Technology

[0002] Engines, as the power source for vehicles such as airplanes, automobiles, and ships, are the heart of these vehicles, determining their power, economy, stability, and environmental performance. Composite materials, with their superior material properties and lighter weight than metals, offer better power, economy, stability, and environmental benefits. Turbine blades in aircraft engines and turbocharger blades in automobile engines, as crucial components, are increasingly being made from carbon fiber composites. Carbon fiber blades are significantly lighter than metal blades, weighing only half as much as titanium alloys, a remarkable improvement. Furthermore, composite materials are easier to process than metals, allowing for the creation of complex curved surfaces. This enables the blades to better conform to airflow during operation, improving efficiency. In contrast, machining complex curved surfaces into metal blades is extremely difficult, thus reducing engine efficiency.

[0003] Existing composite material engine blades, such as aero-engine blades, are manufactured using a method where sheet materials are stacked on a pre-designed engine blade mold. The engine blade consists of multiple layers of sheet materials. Each layer is cut into different strips before stacking to adapt to and conform to the variable curvature of the engine blade. These strips are then stacked to form a complete blade. After stacking, trimming and deburring processes are performed to remove scraps and burrs, ultimately creating the engine blade product. Currently, the sheet material stacking is done manually, with workers stacking one sheet at a time until the last strip is stacked.

[0004] Existing manual lay-up manufacturing methods have obvious drawbacks:

[0005] 1. Low work efficiency: Since engine blades are composed of several strips, such as aero-engine blades which are composed of more than 3,000 strips, the current stacking technology is manual. After the workers peel off the protective film of the first strip, they stack it according to the position irradiated by the laser. After the stacking is completed, it is smoothed and compacted before the next strip is stacked in sequence. It usually takes months to complete the stacking of engine blades.

[0006] Meanwhile, during the stacking process, workers are prone to making mistakes such as incorrect placement or handling of the sheet material, overlapping, or excessive distance between adjacent sheet material strips. When these errors occur, the sheet material strips need to be corrected before the stacking is repeated, which will consume a lot of manpower and make the stacking time longer.

[0007] 2. Poor product quality: In the above-mentioned correction and repeated stacking, it is often necessary to remove defective sheet strips. During the removal process, the previously stacked sheet strips are often affected, causing new defects such as wrinkles and adhesions. These defects are small and easily overlooked by workers, which will reduce the service life of engine blades in subsequent use, or even cause engine failure.

[0008] 3. Low material utilization: When the above errors occur during the stacking process, the workers remove the incorrectly stacked strips and then re-stack with new strips. The old strips are discarded. A large number of waste strips will be generated during the layer-by-layer stacking of individual blades, resulting in economic waste and environmental pollution. Summary of the Invention

[0009] To address the shortcomings of existing production technologies, the applicant provides a structurally sound array-type variable curvature engine blade stacking equipment and its stacking process, thereby achieving automated blade stacking, greatly improving and ensuring the efficiency and effectiveness of blade forming, and guaranteeing the effective utilization rate of materials.

[0010] The technical solution adopted in this invention is as follows:

[0011] An array-type variable curvature engine blade stacking device includes a material transfer robot. A worktable and a blade mold are configured in the circumferential working area of ​​the material transfer robot. The blade mold is located in the working area of ​​a pressing robot, and a pressure roller assembly is installed at the execution end of the pressing robot. A material spreading actuator is installed at the execution end of the material transfer robot. The material spreading actuator includes at least two rows of downward-facing suction tubes, each of which is connected to an external air source. The suction tubes collectively lift the horizontally placed blade strips on the worktable. Each suction tube is driven to move by a suction action unit, causing the adsorbed blade strips to spatially deform into a curved surface.

[0012] As a further improvement to the above technical solution:

[0013] The suction tubes are arranged in two rows, and the two rows of suction tubes are respectively attached to the opposite edges of the sheet material; the bottom end of each suction tube is set horizontally.

[0014] The lower parts of the two rows of straws bend inwards towards each other, and the two rows of straws are arranged at intervals in the direction of arrangement.

[0015] The structure of the material spreading actuator is as follows: it includes a support installed with the execution end of the material transfer robot, one end of the support extends downward at intervals to form a fixed frame, and a movable frame is slidably installed at the other end of the support. The movable frame moves closer to or away from the fixed frame under the drive of a linear drive mechanism. Multiple suction action units are installed in an orderly manner in the movable frame and the fixed frame. Each suction action unit corresponds to a suction tube, and the suction action unit drives the suction tube to move horizontally, vertically, and in the longitudinal direction.

[0016] When the movable frame moves toward the fixed frame to its limit position, there is a gap between the bottom ends of the two rows of straws.

[0017] The structure of a single suction action unit is as follows: it includes a main frame, a transverse moving frame installed inside the main frame, the transverse moving frame moves transversely relative to the main frame under the action of a transverse drive; a longitudinal moving frame installed inside the transverse moving frame, the longitudinal moving frame moves longitudinally relative to the transverse moving frame under the action of a longitudinal drive; a suction tube is installed through the longitudinal moving frame, a vertical drive is installed on the longitudinal moving frame, and the output end of the vertical drive is fixedly installed with the suction tube.

[0018] The top surface of the workbench is covered with contact protrusions, which are orderly arranged protrusions or ridges, and the top of the contact protrusions contacts the support sheet strip.

[0019] It also includes a vision system, with the camera facing downwards and directly onto the workbench surface.

[0020] A method for stacking array-type variable curvature engine blades using the aforementioned equipment includes the following steps:

[0021] Place the strips of material with the film removed horizontally on the worktable;

[0022] The material transfer robot drives the material spreading actuator to move above the material strip. The material spreading actuator moves down to approach the material strip, and with the help of an external air source, the material strip is picked up by the suction tube.

[0023] When the suction unit works, it drives the corresponding suction tube to move. As each suction tube moves, the sheet material strips suctioned below the suction tube are deformed into a preset curved surface, completing the pre-deformation.

[0024] The material transfer robot drives the material laying actuator to move to a preset position above the blade mold. The material strip is close to the surface of the blade mold, and the suction tube switches from suction to blowing, so that the material strip is adhered to the mold surface and forms a pre-compression.

[0025] The pressing robot drives the pressure roller assembly to roll back and forth on the sheet material strip on the blade mold.

[0026] As a further improvement to the above technical solution:

[0027] It also includes the visual system;

[0028] The vision system identifies the shape of the sheet material strip placed horizontally on the worktable and transmits the curve data of the long sides of the sheet material strip to the controller.

[0029] The suction unit operates, driving the corresponding suction tubes to move so that the configuration of the single row of suction tubes is consistent with the long side curve of the sheet material. Then, in conjunction with the work of the material transfer robot, the material laying actuator is driven to move above the worktable, and the suction tubes pick up the sheet material from the long side edges on both sides.

[0030] The beneficial effects of this invention are as follows:

[0031] This invention features a compact and reasonable structure and is easy to operate. A suction tube picks up the sheet material strip placed horizontally on the worktable. The suction action unit drives the suction tube to move, causing the suctioned sheet material strip to deform into a curved surface. After the sheet material strip is pre-deformed, the material transfer robot then transfers the sheet material strip to the top of the blade mold. The suction tube switches from suction to blowing, and the sheet material strip adheres to the mold surface and is pre-pressed. Combined with the action of the pressing robot, the automated stacking of blades is achieved, which greatly improves and ensures the efficiency and effect of blade forming, and ensures the effective utilization rate of materials.

[0032] The present invention also includes the following advantages:

[0033] Mechanized and intelligent sheet stacking completely replaces manual stacking and rolling, enabling continuous operation around the clock and making the stacking process controllable and less prone to errors.

[0034] Each suction unit corresponds to a suction tube, enabling each suction tube to move independently in the horizontal, vertical, and longitudinal directions. This allows for the suction of sheet materials with different edge shapes and pre-deformation of different curved surfaces, enhancing the flexibility and applicability of use.

[0035] After the suction tubes adsorb the sheet material strips, the sheet material strips are pre-deformed by moving the suction tubes. Then, the pre-deformed sheet material strips are pre-pressed and placed on the blade mold. By placing the pre-deformed sheet material strips on the blade mold, the fit between the sheet material strips and the blade mold can be effectively guaranteed, and the deformation of the sheet material strips can be controlled, which helps to ensure the layup effect. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the present invention.

[0037] Figure 2 This is a schematic diagram of the material laying actuator of the present invention.

[0038] Figure 3 This is an exploded view of the material laying actuator of the present invention.

[0039] Figure 4 This is a schematic diagram showing the state of the moving frame in the material laying actuator of the present invention when it moves to the limit position.

[0040] Figure 5 This is a schematic diagram of the material suction unit of the present invention.

[0041] Figure 6 This is an exploded view of the material suction unit of the present invention.

[0042] Figure 7This is a schematic diagram of the structure of the worktable of the present invention.

[0043] Figure 8 This is a schematic diagram showing the state of the material feeding actuator of the present invention when it picks up the sheet material from the worktable.

[0044] Figure 9 This is a schematic diagram showing the state of the sheet material after it has been pre-deformed by the material spreading actuator of the present invention.

[0045] Figure 10 This is a schematic diagram of the pressing robot of the present invention rolling the strip of material on the blade mold.

[0046] Figure 11 This is a schematic diagram of the laying of the sheet material strips on the blade mold of the present invention.

[0047] The components include: 1. Blade mold; 2. Pressing robot; 3. Workbench; 4. Material spreading actuator; 5. Vision system; 6. Material transfer robot; 7. Pressure roller assembly; 8. Sheet strips;

[0048] 30. Contact the convex part;

[0049] 40. Suction tube; 41. Support; 42. Linear drive mechanism; 43. Fixed frame; 44. Suction action unit; 45. Moving frame; 46. Guide assembly; 401. Support plate;

[0050] 441. Main frame; 442. Lateral moving frame; 443. Longitudinal moving frame; 444. Vertical drive; 445. Lateral drive; 446. Longitudinal drive; 4411. Vertical plate; 4431. Extension plate. Detailed Implementation

[0051] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0052] like Figure 1 and Figure 2 As shown, the array-type variable curvature engine blade stacking equipment of this embodiment includes a material transfer robot 6. The material transfer robot 6 is equipped with a worktable 3 and a blade mold 1 in its circumferential working area. The blade mold 1 is located in the working area of ​​the pressing robot 2. The pressing robot 2 is equipped with a pressure roller assembly 7 at its execution end. The material transfer robot 6 is equipped with a material spreading actuator 4 at its execution end. The material spreading actuator 4 includes at least two rows of downward-facing suction pipes 40. Each suction pipe 40 is connected to an external air source. The suction pipes 40 together pick up the sheet material strip 8 placed horizontally on the worktable 3. Each suction pipe 40 is driven to move by the suction action unit 44, causing the adsorbed sheet material strip 8 to deform into a curved surface in space.

[0053] In this embodiment, the suction tube 40 picks up the sheet material strip 8 placed horizontally on the workbench 3. The suction action unit 44 drives the suction tube 40 to move, causing the suction sheet material strip 8 to deform into a curved surface in space. After the pre-deformation of the sheet material strip 8 is completed, the transfer robot 6 then transfers the sheet material strip 8 to the top of the blade mold 1. The suction tube 40 switches from suction to blowing, and the sheet material strip 8 adheres to the mold surface and is pre-pressed. Combined with the action of the pressing robot 2, the automated stacking of blades is realized.

[0054] In this embodiment, after the suction tube 40 adsorbs the sheet material strip 8, the sheet material strip 8 is pre-deformed by moving each suction tube 40, and then the pre-deformed sheet material strip 8 is pre-pressed and placed on the blade mold 1. By placing the pre-deformed sheet material strip 8 on the blade mold 1, the fit between the sheet material strip 8 and the blade mold 1 can be effectively guaranteed, and the deformation of the sheet material strip 8 can be controlled, which helps to ensure the layup effect.

[0055] The straws 40 are arranged in two rows, and the two rows of straws 40 are respectively adsorbed on the opposite edges of the sheet material strip 8 to achieve stable and reliable adsorption of the sheet material strip 8 and effectively ensure pre-deformation after adsorption; the bottom opening of each straw 40 is set horizontally to effectively ensure the contact and fit between the straw opening and the sheet material strip 8.

[0056] In actual production and use, the suction tubes 40 can be arranged in three or four rows as needed. The two rows on the edge are adsorbed on the edge of the sheet material strip 8, and the remaining suction tubes 40 are adsorbed on the middle of the sheet material strip 8. The suction tubes 40 can be moved by the suction action unit 44 to flexibly shape the sheet material strip 8 into a preset, relatively complex spatial curved surface, which is conducive to subsequent stacking.

[0057] In this embodiment, taking into account the size and deformation requirements of a single sheet material strip 8, as well as the structure and volume of the material laying actuator 4, the suction tubes 40 are simplified to two rows, corresponding to the adsorption of the two sides of the sheet material strip 8.

[0058] The lower parts of the two rows of suction tubes 40 are bent inwards towards each other, which facilitates the use of narrow-sized sheet material strips 8; the two rows of suction tubes 40 are arranged at intervals in the arrangement direction, which helps to realize the spatial curved surface in the pre-deformation and ensures reliable and stable adsorption of sheet material strips 8.

[0059] like Figure 3As shown, the structure of the material spreading actuator 4 is as follows: it includes a support 41 installed at the execution end of the material transfer robot 6. One end of the support 41 extends downward at intervals to form a fixed frame 43. A movable frame 45 is slidably installed at the other end of the support 41. The movable frame 45 moves closer to or further away from the fixed frame 43 under the drive of the linear drive mechanism 42. Multiple suction action units 44 are installed in an orderly manner in the movable frame 45 and the fixed frame 43. The suction action unit 44 corresponds one-to-one with the suction pipe 40. The suction action unit 44 drives the suction pipe 40 to move horizontally, vertically, and longitudinally.

[0060] In this embodiment, the suction action unit 44 corresponds one-to-one with the suction tube 40, thereby enabling each suction tube 40 to move independently in the horizontal, vertical and longitudinal directions, matching the suction of edge strips 8 with different shapes, as well as the pre-deformation of different curved surfaces, improving the flexibility and applicability of use.

[0061] In this embodiment, the top of the movable frame 45 and the bottom surface of the support 41 are fitted together by a concave-convex structure to form a guide component 46, such as a dovetail-shaped concave-convex fitting structure or a T-shaped concave-convex fitting structure. On the one hand, this enables the movable frame 45 to be installed on the support 41, and on the other hand, it helps the movable frame 45 to move smoothly and reliably relative to the support 41.

[0062] In this embodiment, the linear drive mechanism 42 is horizontally mounted on the side of the support 41. The end of the movable frame 45 extends toward the output end of the linear drive mechanism 42 and has a connecting part. The linear drive mechanism 42 is activated to drive the movable frame 45 to move horizontally toward or away from the fixed frame 43, so as to be suitable for adsorption of sheet materials 8 of different widths.

[0063] like Figure 4 As shown, when the movable frame 45 moves toward the fixed frame 43 to its limit position, there is a gap between the bottom ends of the two rows of suction tubes 40, which enables the adsorption of small-sized and wide sheet strips 8.

[0064] like Figure 5 and Figure 6 As shown, the structure of a single suction action unit 44 is as follows: it includes a main frame 441, a transverse moving frame 442 installed inside the main frame 441, the transverse moving frame 442 moves laterally relative to the main frame 441 under the action of the transverse drive 445; a longitudinal moving frame 443 is installed inside the transverse moving frame 442, the longitudinal moving frame 443 moves longitudinally relative to the transverse moving frame 442 under the action of the longitudinal drive 446; a suction tube 40 is installed through the longitudinal moving frame 443, a vertical drive 444 is installed on the longitudinal moving frame 443, and the output end of the vertical drive 444 is fixedly installed with the suction tube 40, so that the suction tube 40 is driven to move laterally, longitudinally, and vertically respectively through the actions of the transverse drive 445, the longitudinal drive 446, and the vertical drive 444.

[0065] In this embodiment, a vertical plate 4411 extends upward from the top surface of the main frame 441. A horizontal drive 445 is rotatably mounted on the vertical plate 4411. The output end of the horizontal drive 445 is rotatably mounted on the horizontal moving frame 442. Through the action of the horizontal drive 445, the horizontal moving frame 442 is driven to move horizontally relative to the main frame 441.

[0066] In this embodiment, a longitudinal drive 446 is installed on the side of the transverse moving frame 442. The output end of the longitudinal drive 446 is horizontally inserted into the transverse moving frame 442 and then fitted with the longitudinal moving frame 443. Through the action of the longitudinal drive 446, the longitudinal moving frame 443 is driven to move longitudinally relative to the transverse moving frame 442.

[0067] In this embodiment, an extension plate 4431 extends laterally from the top surface of the longitudinal moving frame 443. A vertical drive 444 is installed on the extension plate 4431. A support plate 401 extends laterally from the outer wall of the straw 40 located inside the longitudinal moving frame 443. A long slot is opened on the side of the longitudinal moving frame 443 for the support plate 401 to move vertically relative to each other. The output end of the vertical drive 444 is mounted on the support plate 401 with its output facing downward. Through the action of the vertical drive 444, the straw 40 is driven to move vertically relative to the longitudinal moving frame 443.

[0068] In this embodiment, the main frames 441 of each suction action unit 44 are arranged sequentially in the fixed frame 43 and the movable frame 45, forming the arrangement of the double-row suction pipes 40 in the material laying actuator 4.

[0069] like Figure 7 As shown, the top surface of the workbench 3 is covered with contact protrusions 30, which are orderly arranged protrusions or ridges, and the top of the contact protrusions 30 contacts the support sheet material strip 8.

[0070] In this embodiment, by arranging contact protrusions 30 on the top surface of the workbench 3, the top surface of the workbench 3 supports the sheet material strip 8 while minimizing the contact area, so as to prevent the bottom surface of the sheet material strip 8 from sticking to the workbench 3 and ensure that the material laying actuator 4 can smoothly and stably adsorb the sheet material strip 8.

[0071] It also includes vision system 5, with its lens facing downwards and directly onto the surface of workbench 3.

[0072] In this embodiment, the shape and size of the sheet material strip 8 placed on the workbench 3 are captured by the vision system 5 and fed back to the control system in a timely manner, which facilitates the overall control of the stacking work by the control system and enables timely matching and verification with the blade mold 1 and the blade design mold.

[0073] In this embodiment, the straw 40 is connected to an external air pump, and the operation of the air pump enables the straw 40 to suck and blow.

[0074] In this embodiment, the pressing robot 2, the transferring robot 6, and the vision system 5 can all be commercially available standard products that can achieve the degree of freedom, travel range, and working accuracy during the material laying process. For example, the transferring robot 6 can be a six-degree-of-freedom robot, which has three translational movements (up, down, left, right, and forward / backward) and three rotational degrees of freedom (pitch, roll, and yaw) relative to the base. The pressing robot 2 can also be a similar six-axis robot.

[0075] The pressure roller assembly 7, mounted on the end of the pressure robot 2, is composed of a flexible roller and a roller frame. The flexible roller can rotate around its own axis.

[0076] The stacking equipment in this embodiment uses mechanization and intelligence to stack the sheets, completely replacing manual stacking and rolling. It can not only achieve uninterrupted operation around the clock, but also make the stacking operation controllable and less prone to errors.

[0077] The layup process method of the array-type variable curvature engine blade layup equipment in this embodiment includes the following steps:

[0078] Place the strip of material 8 with the film removed horizontally on the workbench 3;

[0079] The material transfer robot 6 drives the material spreading actuator 4 to move above the sheet material strip 8. The material spreading actuator 4 moves downwards to approach the sheet material strip 8, and with the help of an external air source, the suction tube 40 picks up the sheet material strip 8. Figure 8 As shown;

[0080] When the suction unit 44 operates, it moves the corresponding suction tube 40. As each suction tube 40 moves, the sheet material 8 suctioned below the suction tube 40 deforms into a preset curved surface, completing the pre-deformation. Figure 9 As shown;

[0081] The material transfer robot 6 drives the material laying actuator 4 to move to a preset position above the blade mold 1. The sheet material strip 8 is close to the surface of the blade mold 1. The suction tube 40 turns from suction to blowing, so that the sheet material strip 8 is attached to the mold surface and forms a pre-compression.

[0082] The pressing robot 2 drives the pressure roller assembly 7 to perform back-and-forth rolling pressing on the sheet material strip 8 on the blade mold 1. Figure 10 As shown.

[0083] It also includes the vision system 5;

[0084] The vision system 5 identifies the shape of the sheet material strip 8 placed horizontally on the worktable 3 and transmits the curve data of the long sides of the sheet material strip 8 to the controller.

[0085] When the suction unit 44 operates, it drives the corresponding suction tube 40 to move, so that the configuration of the single row of suction tubes 40 is consistent with the long side curve of the sheet material strip 8. Then, in conjunction with the operation of the transfer robot 6, the material laying actuator 4 is driven to move above the worktable 3, and the suction tubes 40 pick up the sheet material strip 8 from the long side edges on both sides, realizing curve fitting and suction.

[0086] According to the forming requirements of the blade, the blade strip 8 is usually cut into strip-shaped structures with irregular edges, and the blade strip 8 has a protective film on both sides.

[0087] In actual layup, the engine blade layup process is as follows:

[0088] a. The staff removes the film from both sides of the sheet material strip 8 and places it on the workbench 3;

[0089] b. The vision system 5 identifies the shape of the sheet material strip 8 and transmits the two long-side curve data of the sheet material strip 8 to the material transfer robot 6 and the control system;

[0090] c. Since the data model of the engine mold is known, the position of each sheet 8 is known, and the curves of the mold positions where the two sides of each sheet 8 are located are known. The control system collects and processes this information.

[0091] d. The control system plans the action of the linear drive mechanism 42 and the position of the suction tube 40 in the up-down, left-right and front-back directions before and after suction by comprehensively processing the curve of the sheet material strip 8 and the curved surface of the mold, and transmits the motion data to the motion unit of the material laying actuator 4.

[0092] e. The control system controls the motion unit in the material laying actuator 4 to fit the shape of the two sides of the sheet material strip 8. The material transfer robot 6 drives the material laying actuator 4 to the place where the sheet material strip 8 is placed above the workbench 3 and picks up the sheet material strip 8.

[0093] f. After the material laying actuator 4 picks up the sheet material strip 8 along its edge shape, it moves to the air above the blade mold 1 and begins a secondary curved surface movement to fit the corresponding curved surface of the mold position where the laid sheet material strip 8 is located.

[0094] g. The material transfer robot 6 drives the material laying actuator 4 and the sheet material strip 8 to move downward to the position of the sheet material strip 8 on the blade mold 1, so that after the sheet material strip 8 is attached to the surface of the blade mold 1, the suction tube 40 turns from suction to blowing, so that the sheet material strip 8 and the mold surface have a certain pre-pressure.

[0095] h. The pressing robot 2 drives the flexible roller on the pressing roller assembly 7 to start pressing the sheet material 8 that has been placed in the correct position, and presses it back and forth multiple times.

[0096] like Figure 11 The image shown is an illustration of the effect after multiple sheet strips 8 are stacked and pressed onto the blade mold 1.

[0097] This invention enables automated blade stacking, greatly improving and ensuring the efficiency and effectiveness of blade forming, while also guaranteeing the effective utilization of materials.

[0098] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. An array-type variable curvature engine blade stacking device, comprising a material handling robot (6), characterized in that: The material transfer robot (6) is equipped with a workbench (3) and a blade mold (1) in the working area around its periphery. The blade mold (1) is located in the working area of ​​the pressing robot (2). The pressing robot (2) is equipped with a pressure roller assembly (7) at its execution end. The material transfer robot (6) is equipped with a material spreading actuator (4) at its execution end. The material spreading actuator (4) includes at least two rows of downward-facing suction pipes (40). Each suction pipe (40) is connected to an external air source. The suction pipes (40) together suck up the sheet material strip (8) placed horizontally on the workbench (3). Each suction pipe (40) is driven to move by the suction action unit (44), causing the suction sheet material strip (8) to deform into a curved surface in space. The structure of the material spreading actuator (4) is as follows: it includes a support (41) installed at the execution end of the material transfer robot (6), one end of the support (41) extends downward at intervals to form a fixed frame (43), and a movable frame (45) is slidably installed at the other end of the support (41). The movable frame (45) moves closer to or further away from the fixed frame (43) under the drive of the linear drive mechanism (42). Multiple suction action units (44) are installed in order in the movable frame (45) and the fixed frame (43). The suction action units (44) correspond one-to-one with the suction tube (40). The suction action units (44) drive the suction tube (40) to move horizontally, vertically, and in the vertical direction. The straws (40) are arranged in two rows, and the two rows of straws (40) are respectively attached to the opposite edges of the sheet strip (8); the bottom opening of each straw (40) is horizontal; It also includes a vision system (5), with the lens of the vision system (5) facing downwards and directly onto the surface of the workbench (3).

2. The array-type variable curvature engine blade stacking equipment as described in claim 1, characterized in that: The lower parts of the two rows of straws (40) are bent inwards towards each other, and the two rows of straws (40) are arranged at intervals in the arrangement direction.

3. The array-type variable curvature engine blade stacking equipment as described in claim 1, characterized in that: When the movable frame (45) moves toward the fixed frame (43) to its limit position, there is a gap between the bottom ends of the two rows of suction tubes (40).

4. The array-type variable curvature engine blade stacking equipment as described in claim 1, characterized in that: The structure of a single suction action unit (44) is as follows: it includes a main frame (441), a transverse moving frame (442) is installed inside the main frame (441), the transverse moving frame (442) moves laterally relative to the main frame (441) under the drive of the transverse drive (445); a longitudinal moving frame (443) is installed inside the transverse moving frame (442), the longitudinal moving frame (443) moves longitudinally relative to the transverse moving frame (442) under the drive of the longitudinal drive (446); a suction tube (40) is installed through the longitudinal moving frame (443), a vertical drive (444) is installed on the longitudinal moving frame (443), and the output end of the vertical drive (444) is fixedly installed with the suction tube (40).

5. The array-type variable curvature engine blade stacking equipment as described in claim 1, characterized in that: The top surface of the workbench (3) is covered with contact protrusions (30), which are orderly arranged protrusions or ridges. The top of the contact protrusions (30) contacts the support sheet (8).

6. A method for stacking array-type variable curvature engine blades according to claim 1, characterized in that: Includes the following steps: Place the strip of sheet material (8) with the film removed horizontally on the workbench (3); The vision system (5) identifies the shape of the sheet material strip (8) placed horizontally on the worktable (3) and transmits the curve data of the long sides of the sheet material strip (8) to the controller. The suction action unit (44) works, driving the corresponding suction tube (40) to move, so that the configuration of the single row of suction tubes (40) is consistent with the long side curve of the sheet material strip (8). Then, combined with the work of the material transfer robot (6), the material laying actuator (4) is driven to move to the top of the worktable (3), and the sheet material strip (8) is sucked up from the long side edges of both sides by the suction tube (40). When the suction unit (44) works, it drives the corresponding suction tube (40) to move. As each suction tube (40) moves, the sheet material strip (8) adsorbed below the suction tube (40) is spatially deformed into a preset curved surface, thus completing the pre-deformation. The material transfer robot (6) drives the material laying actuator (4) to move to a preset position above the blade mold (1), the sheet material strip (8) is close to the surface of the blade mold (1), and the suction tube (40) turns from suction to blowing, so that the sheet material strip (8) and the mold surface are adhered and pre-pressed. The pressing robot (2) drives the pressing roller assembly (7) to perform back-and-forth rolling on the sheet material strip (8) on the blade mold (1).

Images