An automatic assembly system and method for an aeroengine power turbine unit

Abstract

The application discloses an automatic assembling system for an aero-engine power turbine unit body, and has the characteristics that the system comprises a six-axis industrial robot for assembling an assembling object; a high-precision conveying guide rail arranged on one side of the six-axis industrial robot; an A rotary table arranged on a moving platform, the center of the A rotary table being hollow and capable of rotating around an A axis; an A-C rotary table arranged on the moving platform, the center of the A-C rotary table being hollow and capable of rotating around A and C axes; a worker station arranged on one side of the high-precision conveying guide rail; a laser measuring machine arranged above the high-precision conveying guide rail; a pressurizing device arranged above the high-precision conveying guide rail; and a heating box device arranged on the second side of the six-axis industrial robot, wherein the internal heating box device is a programmable heating furnace device. The system effectively improves the stability and precision of the aero-engine power turbine unit body assembling, reduces the unqualified rate of products, and improves the assembling efficiency of the aero-engine power turbine unit body.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic assembly, and more particularly relates to an automatic assembly system and method for a power turbine unit of an aero-engine. BACKGROUND

[0002] An aero-engine is a typical high-complexity, high-precision, and high-integration mechanical system, with a large number of parts, complex coordinated parts, high precision requirements, and extreme working conditions requiring the product to have lightweight heavy load and compact closed structure characteristics. In particular, the power turbine unit, which is a core component of the aero-engine, has the characteristics of high integration, high precision requirements, and a large number of parts and processes. Assembly is one of the most important links in the engine manufacturing process. The high performance requirements and critical material structure characteristics of the aero-engine impose extremely high process precision and stability requirements on the assembly. The assembly technology level and assembly precision directly affect the working condition characteristics of the engine and directly determine the reliability, life, and main performance parameters of the engine. Due to the large number of engine parts, repeated posture adjustments of the engine assembly object are required during the entire engine assembly process to ensure the key precision indicators of assembly. However, the current domestic aero-engine assembly technology level is relatively low, and still relies on traditional manufacturing methods such as simple mechanical welding assembly jigs and manual measurement and visual observation. Therefore, the low assembly efficiency and low qualification rate seriously restrict the development of aero-engines in terms of production cycle, reliability, and life.

[0003] A Chinese patent with publication number CN117001343A discloses a flexible assembly system for an aero-engine, which includes a centering measurement unit (1), a part posture adjustment and centering unit (2), a system base (3), a compressor rotor positioning tool (4), a large nut blind cavity tightening unit (5), and a multi-degree-of-freedom assembly jig (6). The multi-degree-of-freedom assembly jig (6) is fixedly installed on the middle part of the system base (3), the part posture adjustment and centering unit (2) and the centering measurement unit (1) are installed on one side of the system base (3) of the multi-degree-of-freedom assembly jig (6), the centering measurement unit (1) is arranged above the part posture adjustment and centering unit (2), and the part posture adjustment and centering unit (2) and the centering measurement unit (1) are moved along the X-direction track of the system base (3). The large nut blind cavity tightening unit (5) is installed on one side of the system base (3) of the multi-degree-of-freedom assembly jig (6), and the large nut blind cavity tightening unit (5) is moved along the Y-direction track of the system base (3). The compressor rotor positioning tool (4) is installed on the system base (3) between the part posture adjustment and centering unit (2) and the large nut blind cavity tightening unit (5), and the compressor rotor positioning tool (4) is moved along the X-direction track of the system base (3).

[0004] The Chinese patent with the publication number CN117001343A realizes the requirements of high efficiency, multiple models and small batch flexible manufacturing of domestic aero-engine, realizes the automatic and digital assembly system of assembly according to the rhythm, but the system adopts full automatic assembly, and for some small and flexible parts with special characteristics, there may be a certain probability that the assembly requirements cannot be met. A high-precision, high-efficiency and high-universal assembly system is needed to further optimize the assembly efficiency and cost. SUMMARY

[0005] In view of the above defects or improvement needs of the prior art, the present application provides an aero-engine power turbine unit automatic assembly system and method, which automatically assembles the aero-engine power turbine unit through cooperation of robots, automatic equipment and manual work, effectively improves the stability and precision of aero-engine power turbine unit assembly, reduces the unqualified rate of products, improves the assembly efficiency of aero-engine power turbine unit, reduces the workstations, simplifies the process, reduces the labor intensity, and improves the production safety.

[0006] According to a first aspect of the present application, an aero-engine power turbine unit automatic assembly system is provided, comprising:

[0007] A six-axis industrial robot for assembling the assembly object;

[0008] A high-precision conveying guide rail arranged on one side of the six-axis industrial robot, the high-precision conveying guide rail being provided with a moving platform for conveying the assembly object to reciprocate between other devices;

[0009] An A turntable arranged on the moving platform, the A turntable being hollow at the center and being capable of rotating around the A axis, for installing the pre-assembly object and providing various installation angles for assembly;

[0010] An AC turntable arranged on the moving platform, the AC turntable being hollow at the center and being capable of rotating around the A and C axes, for installing the formal assembly object and providing more flexible installation angles for assembly;

[0011] A worker station arranged on one side of the high-precision conveying guide rail for completing assembly of parts requiring manual assembly;

[0012] A laser measuring machine arranged above the high-precision conveying guide rail for detecting the assembly precision of parts;

[0013] A pressurizing device arranged above the high-precision conveying guide rail for press or pull assembly of special parts such as power turbine shafts;

[0014] And a heating box device is arranged on the second side of the six-axis industrial robot, the inner heating box device is a programmable heating furnace device, and a guide rail and a heating platform are arranged in the inner heating box device, and the heating platform is arranged on the guide rail to provide heating for hot assembly parts.

[0015] Further, the laser measuring machine comprises a gantry two-degree-of-freedom linear motion platform and a linear laser measuring instrument arranged on the gantry two-degree-of-freedom linear motion platform.

[0016] The gantry two-degree-of-freedom linear motion platform is horizontally arranged on the high-precision conveying rail, and both ends of the gantry two-degree-of-freedom linear motion platform are fixed to the conveying rail support.

[0017] The linear laser measuring instrument is a D laser profile measuring instrument, and the surface data of the assembly part is scanned by a non-contact method.

[0018] Further, the gantry two-degree-of-freedom linear motion platform moves in the horizontal direction perpendicular to the high-precision conveying rail and the vertical direction, and in combination with the forward and backward movement of the high-precision conveying rail, the motion platform has three movement degrees of freedom, and can realize movement adjustment in any direction.

[0019] Further, the pressing device comprises a hydraulic machine arranged at the top of the device, a pull assembly tool arranged at the bottom of the device, and a force meter arranged between the two.

[0020] The pull assembly tool is arranged with a set of the tool at each of the upper end and the lower end of the device.

[0021] Further, the moving platform on the high-precision conveying rail has two, which are located at both ends of the conveying rail and respectively carry the A turntable and the AC turntable, and when the assembly task is performed, the conveying is performed to the specified position to complete the work.

[0022] Further, the system further comprises a clamp quick-change area arranged on the third side of the six-axis industrial robot, an electric cabinet arranged at one corner of the system, a robot part library arranged on the fourth side of the six-axis industrial robot, a control cabinet arranged on the side of the robot part library, and a manual part library arranged behind the worker station.

[0023] Further, a plurality of quick-change clamps required by the six-axis industrial robot assembly parts are arranged in the clamp quick-change area.

[0024] The robot part library is arranged with aero-engine power turbine unit part required by the six-axis industrial robot assembly.

[0025] The manual part library is arranged with aero-engine power turbine unit parts required by manual assembly, and installation tools required by manual assembly such as torque multiplier.

[0026] Further, the control cabinet is connected with all sensors and controllers on the six-axis industrial robot, and communicates with external devices and systems, so as to realize communication between the robot and other automatic devices.

[0027] According to a second aspect of the present application, an automatic assembling method of an aero-engine power turbine unit is provided, comprising the following steps:

[0028] S100, pre-assembly: fixing the assembly object on the A turntable, rotating to adjust the installation angle around the A axis, and moving back and forth between the worker station, the six-axis industrial robot and the laser measuring machine along the high-precision conveying rail, completing the assembly of other to-be-installed parts, and detecting the assembled parts;

[0029] S200, dynamic balance test and marking: the pre-assembled assembly object is transferred to the test station by the transfer trolley for dynamic balance and run-out test, and after the test is qualified, the assembled parts are marked, and then the assembly object is disassembled;

[0030] S300, formal assembly: fixing the dynamic balance and marked assembly object on the A-C turntable, rotating to adjust the installation angle around the A and C axes, and moving back and forth between the worker station, the six-axis industrial robot and the laser measuring machine along the high-precision conveying rail, completing the assembly of other to-be-installed parts, and detecting the assembled parts.

[0031] Further, part of the steps in S300 comprises:

[0032] S301, the A-C turntable moves to the worker station, the worker fixes the assembly object on the A-C turntable, the A-C turntable moves to the robot station, and the six-axis industrial robot replaces the clamp for clamping the bearing in the clamp quick-change area, and clamps the 3# bearing assembly in the robot part library;

[0033] S302, the robot places the 3# bearing assembly in the heating box device for heating, and after heating is completed, the robot clamps the 3# bearing assembly and installs it to the corresponding installation position of the exhaust case on the A-C turntable;

[0034] S303, the robot replaces the power one-two rotor universal centering clamp in the clamp quick-change area, clamps the power two rotor in the robot part library and installs it to the exhaust case with the 3# bearing assembly, the A-C turntable moves to the worker station along the high-precision conveying rail, and the worker fixes the power two rotor with a temporary fixing tool;

[0035] S304, the A-C turntable is turned over by 180° along the A axis, moves to the laser measuring machine station, and measures the related axial dimension;

[0036] S305, A-C turntable moves to the robot station, the robot changes the clamp in the clamp quick changer area, takes the bearing clamp, takes the 3# bearing rear half ring in the robot part library, and places it on the heating platform. After heating, the robot takes the 3# bearing rear half ring and installs it to the corresponding installation position of the exhaust manifold of the A-C turntable;

[0037] S306, A-C turntable moves to the worker station, the worker takes the torque multiplier in the manual part library, installs the compression nut using the torque multiplier, and puts it back after installation is completed.

[0038] S307, A-C turntable moves to the robot station, the robot changes the custom brake shaft clamp in the clamp quick changer area, takes the power turbine shaft in the robot part library, and installs it to the corresponding installation position of the exhaust manifold of the A-C turntable. A-C turntable moves to the pressurizing equipment, and is pulled and assembled by the pressurizing equipment.

[0039] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects:

[0040] 1. The aviation engine power turbine unit body automatic assembly system of the present application can effectively improve the stability and precision of aviation engine power turbine unit body assembly, reduce the product rejection rate, improve the assembly efficiency of aviation engine power turbine unit body, reduce the workstations, simplify the process, reduce the labor intensity, and improve the production safety.

[0041] 2. The aviation engine power turbine unit body automatic assembly system of the present application fixes the laser measuring machine above the high-precision conveying guide rail, measures the assembly object without dismounting it, and can perform laser measurement at any time during assembly. The steps are completely controlled by an automatic program, realizing the automation of the measurement link and ensuring the assembly precision.

[0042] 3. The aviation engine power turbine unit body automatic assembly system of the present application can provide two degrees of freedom of rotation direction for the A-C turntable, so that the assembly object has more flexible assembly angles. For some parts that are not easy to assemble, the assembly difficulty can be reduced, the part assembly efficiency can be improved, and the assembly precision of these parts can be further ensured. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a whole structure schematic view of the aviation engine power turbine unit body automatic assembly system of the embodiment of the present application.

[0044] Figure 2A turntable structure schematic diagram of an automatic assembly system of an aero-engine power turbine unit body for an embodiment of the present application;

[0045] Figure 3 A-C turntable structure schematic diagram of an automatic assembly system of an aero-engine power turbine unit body for an embodiment of the present application;

[0046] Figure 4 Laser measuring machine structure schematic diagram of an automatic assembly system of an aero-engine power turbine unit body for an embodiment of the present application;

[0047] Figure 5 Pressurizing equipment structure schematic diagram of an automatic assembly system of an aero-engine power turbine unit body for an embodiment of the present application;

[0048] Figure 6 Step schematic diagram of an automatic assembly method of an aero-engine power turbine unit body for an embodiment of the present application;

[0049] Figure 7 Flow chart of an automatic assembly method of an aero-engine power turbine unit body for an embodiment of the present application;

[0050] Figure 8 Particular step schematic diagram of step S300 of an automatic assembly method of an aero-engine power turbine unit body for an embodiment of the present application;

[0051] Figure 9 Particular flow chart of formal assembly part of an automatic assembly method of an aero-engine power turbine unit body for an embodiment of the present application.

[0052] In all the drawings, same reference signs represent same technical features, specifically: 1-six-axis industrial robot, 2-clamp quick-change area, 3-electric cabinet, 4-robot part library, 5-control cabinet, 6-A turntable, 7-worker station, 8-manual part library, 9-laser measuring machine, 91-gantry type two-degree-of-freedom linear motion platform, 92-linear laser measuring instrument, 10-pressurizing equipment, 101-include hydraulic machine, 102-dynamometer, 103-pull-on tooling, 11-high-precision conveying guide rail, 12-A-C turntable, 13-heating box equipment. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0054] AsFigure 1 As shown, the embodiment of the application provides an automatic assembly system for an aero-engine power turbine unit, which comprises a six-axis industrial robot 1 for assembling the engine, a fixture quick-change area 2 for placing fixtures required by the six-axis industrial robot 1 for assembly, an electrical cabinet 3 for providing electrical energy for the system, a robot parts library 4 for placing parts required by the robot for assembly, a control cabinet 5 for controlling the operating state of the entire system, an A turntable 6 for providing a pre-assembly platform for the system, a worker station 7 for manually performing assembly tasks, a manual parts library 8 for placing parts required for manual assembly, a laser measuring machine 9 for detecting assembly accuracy, a pressurizing device 10 for installing power shafts and power rotors, a high-precision conveying guide rail 11 for conveying the assembly body, an A-C turntable 12 for providing a formal assembly platform for the system, and a heating box device 13 for heating assembly parts. The aero-engine power turbine unit is assembled in a manner of cooperation between the robot and manual work, and the robot and manual work are divided according to the characteristics of robot and manual assembly and project requirements. For processes with high assembly stability requirements, narrow assembly space, and complex structure, robot assembly is adopted; for small and flexible parts, manual assembly is adopted considering assembly efficiency and object characteristics, so as to improve assembly efficiency and ensure the assembly effect of parts that are not easy to operate.

[0055] The six-axis industrial robot 1 is placed in the middle of the system, which facilitates it to complete a series of operations such as part grabbing, part assembly, and fixture switching. Each joint of the six-axis industrial robot 1 is driven by a servo motor, the load can reach 60 kg, and the end is provided with a fixture quick-change device, which facilitates quick switching of the fixture, quickly completes the operation of combining and replacing different types of fixtures, and grabs different parts to perform corresponding assembly actions, so as to avoid slowing down the assembly rhythm due to switching of the fixture.

[0056] The fixture quick-change area 2 is placed on one side of the six-axis industrial robot 1, and a plurality of quick-change fixtures required by the six-axis industrial robot 1 for assembling parts are placed. When the robot installs different parts, the fixtures including a general centering fixture for one-two stage rotors and a custom power shaft fixture are quickly switched. The assembly effect of the device is ensured while the assembly rhythm is maintained.

[0057] The electrical cabinet 3 is located at a corner of the system, and the electrical equipment is centrally controlled and protected, the distribution of electrical energy, the control of the circuit, the protection of each electrical equipment, and the guarantee of electrical safety are realized, and the operating state and parameters of the equipment are monitored in real time, which facilitates equipment maintenance and management. In addition, the installation position of the electrical cabinet 3 is cool and dry and well ventilated, which effectively avoids problems in the operation process.

[0058] The robot part library 4 is placed on the other side of the six-axis industrial robot 1, and is used to place the aero-engine power turbine unit part that needs to be assembled by the six-axis industrial robot 1, so as to facilitate the robot to switch the clamp, grasp and complete the installation operation.

[0059] The control cabinet 5 is placed on the side of the robot part library 4, and is connected with all the sensors and controllers on the six-axis industrial robot 1, controls and operates the same, centrally manages the core functions of the six-axis industrial robot 1 including movement, sensing, execution and feedback, ensures that the robot can normally operate and complete the assembly task, communicates with external devices and systems, realizes interconnection with other devices, receives the signals of the sensors on the robot, monitors the state of the same in real time, prevents the automatic disorder of the same from causing damage to other parts of the device and causing greater losses. The control cabinet 5 also controls the operating state of other devices, cooperates with the operation of the robot, and achieves the purpose of rapid assembly.

[0060] As shown in Figure 2 The A turntable 6 is customized, the center of the turntable is hollow, can realize through assembly in the vertical direction, and serves as a pre-assembly tooling platform of the aero-engine power turbine unit. The A turntable 6 has a rotation freedom around the A-axis direction. In the assembly process, after the assembly object is installed on the A turntable 6, the A turntable 6 is rotated around the A-axis, the part is turned over, a plurality of installation angles are provided for subsequent assembly, and subsequent pre-assembly is facilitated.

[0061] As shown in Figure 3 The A-C turntable 12 is also customized, and the center of the turntable is hollow, can realize through assembly in the vertical direction, and serves as an assembly tooling platform of the aero-engine power turbine unit. The A-C turntable 12 has rotation freedom around the A-axis and the C-axis. In the assembly process, after the assembly object is installed on the A-C turntable 12, the A-C turntable 12 is rotated around the A-axis and the C-axis, the part is rotated in multiple directions at the same time, a more convenient angle is provided for subsequent assembly, and rotation is more flexible, which effectively enhances the assembly precision and efficiency.

[0062] As shown in Figure 4As shown, the laser measuring machine 9 comprises a gantry two-degree-of-freedom linear motion platform 91 and a linear laser measuring instrument 92 mounted on the gantry two-degree-of-freedom linear motion platform 91, wherein the gantry two-degree-of-freedom linear motion platform 91 can move in the horizontal direction perpendicular to the high-precision conveying rail 11 and the vertical direction, and in combination with the movement of the assembly body before and after the lower end of the device, the motion platform has three moving degrees of freedom, and can realize movement at any position. The linear laser measuring instrument 92 is a 3D laser profile measuring instrument, which scans the surface data of each aspect of the assembly body in a non-contact manner, and transmits the data to the control cabinet 5, compares the profile data with the set value, and outputs an analysis report to detect the precision of the part assembly and control the assembly effect.

[0063] The high-precision conveying rail 11 is arranged on the third side of the six-axis industrial robot 1, the A turntable 6 and the A-C turntable 12 are both mounted on the moving platform above the conveying rail, and the laser measuring machine 9 is fixed above the conveying rail and does not move with the conveying rail. During pre-assembly, the assembly object is mounted on the A turntable 6, the A turntable 6 on the moving platform is driven by the high-precision conveying rail 11 to move back and forth between the worker station 7, the six-axis industrial robot 1 and the laser measuring machine 9, so that the system completes the steps of manual assembly, robot assembly and laser measurement of the aero-engine power turbine unit body in a predetermined order, and ensures smooth connection between each step. During formal assembly, the assembly object is mounted on the A-C turntable 12, and the assembly is completed according to the above steps.

[0064] Preferably, after the pre-assembly of the assembly object is completed, the high-precision conveying rail 11 moves the assembly object on the A turntable 6 to the end of the conveying rail, transfers the assembly object to the transfer trolley, and then transports the assembly object to the transfer trolley for dynamic balance test and marking, and then transports the assembly object back to the A-C turntable 12 for formal assembly.

[0065] The worker station 7 is located on one side of the high-precision conveying rail 11 and is opposite the six-axis industrial robot 1, and is a position for the worker to perform the assembly task. The manual part library 8 is arranged beside the worker station 7, and places the aero-engine power turbine unit body parts that need to be manually assembled, and installation tools including torque multipliers required for manual assembly. The worker takes the parts and tools in the manual part library 8 on the turntable to perform manual assembly.

[0066] As Figure 5As shown, the pressing device 10 is fixed above the high-precision conveying rail 11, including a hydraulic machine 101 fixed on the top of the device, a pull-on tooling 103 arranged on the bottom of the device, and a force meter 102 arranged between the two. The pull-on tooling 103 is arranged in two sets at the upper and lower ends of the pressing device, and two pull-on toolings 103 are used to fix and clamp the shaft or power rotor to be installed during assembly, and the hydraulic machine 101 is used to tension and install the shaft or power rotor. The force meter 102 measures the tension of the device in real time to prevent the input force during assembly from being too large to affect the assembly effect and ensure the assembly accuracy and performance of the parts.

[0067] The heating box device 13 is arranged on the fourth side of the six-axis industrial robot 1. The device is a programmable heating furnace device, and a heating platform is arranged in the device. The heating platform is arranged on a rail and can extend the heating box body along the rail to provide heating function for bearing and other heat-mounted parts. The device is connected with a communication and temperature control module to realize automatic temperature control function and automatic lifting, rail extension and other functions. The heated parts are sent in and out, and then assembled by the six-axis industrial robot 1.

[0068] The clamp quick-change area 2, the robot part library 4, the high-precision conveying rail 11 and the heating box device 13 are arranged around the six-axis industrial robot 1 to surround the robot at the center position, so that the robot has sufficient operation space and facilitates all operations to be completed and ensures the assembly efficiency of the system.

[0069] As shown in the drawings, Figures 6-7 In another embodiment of the present application, an automatic assembly method of an aero-engine power turbine unit is provided, which comprises the following steps:

[0070] S100, pre-assembly: fixing the assembly object on the A turntable 6, rotating and adjusting the installation angle around the A axis, and moving back and forth between the worker station 7, the six-axis industrial robot 1 and the laser measuring machine 9 along the high-precision conveying rail 11 to complete the assembly of other parts to be installed, and detecting the assembled parts;

[0071] S200, dynamic balance test and marking: the pre-assembled assembly object is transferred to the test station by the transfer trolley for dynamic balance and run-out test, and after the test is qualified, the assembled parts are marked, and then disassembled;

[0072] S300, formal assembly: fixing the dynamic balance and marked assembly object on the A-C turntable 12, rotating and adjusting the installation angle around the A and C axes, and moving back and forth between the worker station 7, the six-axis industrial robot 1 and the laser measuring machine 9 along the high-precision conveying rail 11 to complete the assembly of other parts to be installed, and detecting the assembled parts.

[0073] As shown in the drawings,Figures 8-9 As shown, the partial assembly step of step S300 includes:

[0074] S301, the A-C turntable 12 moves to the worker station 7, the worker fixes the exhaust case outlet end to the A-C turntable 12 as the tooling surface, the A-C turntable 12 moves to the robot station, the six-axis industrial robot 1 replaces the clamp for clamping the bearing in the clamp quick-change area 2, and clamps the 3# bearing assembly in the robot parts library 4;

[0075] S302, the heating box equipment 13 is opened, the heating platform is extended along the guide rail, the robot places the 3# bearing assembly on the heating platform, the heating platform is retracted along the guide rail, heating begins, after heating is completed, the heating equipment is opened, the heating platform is extended along the guide rail, the robot clamps the 3# bearing assembly and installs it to the corresponding installation position of the exhaust case on the A-C turntable 12;

[0076] S303, the robot replaces the power one-two rotor universal centering clamp in the clamp quick-change area 2, clamps the power two rotor in the robot parts library 4, and installs it to the exhaust case with the 3# bearing assembly, the A-C turntable 12 moves to the worker station 7 along the high-precision conveying guide rail 11, and the worker fixes the power two rotor with the temporary fixing tool;

[0077] S304, the A-C turntable 12 is flipped by 180° along the A-axis, moves to the laser measuring machine 9 station, and measures the relevant axial dimension;

[0078] S305, the A-C turntable 12 moves to the robot station, the robot replaces the clamp for clamping the bearing in the clamp quick-change area 2, clamps the 3# bearing rear half ring in the robot parts library 4, places it on the heating platform, after heating is completed, the robot clamps the 3# bearing rear half ring and installs it to the corresponding installation position of the exhaust case on the A-C turntable 12;

[0079] S306, the A-C turntable 12 moves to the worker station 7, the worker takes the torque multiplier from the manual parts library 8, installs the compression nut using the torque multiplier, and puts it back to the original place after installation is completed;

[0080] S307, the A-C turntable 12 moves to the robot station, the robot replaces the custom power shaft clamp in the clamp quick-change area 2, clamps the power turbine shaft in the robot parts library 4, and installs it to the corresponding installation position of the exhaust case on the A-C turntable 12, the A-C turntable 12 moves to the pressurizing equipment 10, and is pulled and installed by the pressurizing equipment 10.

[0081] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automated assembly system for a power turbine bucket of an aircraft engine, comprising: The utility model relates to a kind of six-axis industrial robot (1) for assembling assembly object, and the utility model relates to a kind of high-precision conveying guide rail (11) on the side of the six-axis industrial robot (1), the high-precision conveying guide rail (11) is equipped with moving platform for conveying assembly object reciprocating between other devices, and the utility model relates to a kind of A rotary table (6) on the moving platform, the center of the A rotary table (6) is hollow, and can rotate around A axis, for installing pre-assembly object and providing multiple installation angles for its assembly, and the utility model relates to a kind of A-C rotary table (12) on the moving platform, the center of the A-C rotary table (12) is hollow, and can rotate around A, C two axes, for installing formal assembly object and providing more flexible installation angle for its assembly, and the utility model relates to a kind of worker station (7) on the side of the high-precision conveying guide rail (11) for completing assembly of the part needing manual assembly, and the utility model relates to a kind of laser measuring machine (9) above the high-precision conveying guide rail (11) for detecting part assembly precision, and the utility model relates to a kind of pressurizing equipment (10) above the high-precision conveying guide rail (11) for carrying out press \ pull assembly to special part including power turbine shaft, and the utility model relates to a kind of heating box equipment (13) on the second side of the six-axis industrial robot (1), the heating box equipment (13) is programmable heating furnace equipment, and is equipped with guide rail and heating platform in it, and the heating platform is equipped on guide rail, and provides heating for hot assembly part, and the utility model relates to a kind of pressurizing equipment (10), including hydraulic machine (101) on the top of the equipment, pull assembly tooling (103) on the bottom of the equipment and force gauge (102) installed between the two, and the utility model relates to a kind of pull assembly tooling (103), one set is arranged on the equipment at both ends, and the utility model relates to two moving platforms on the high-precision conveying guide rail (11), located at the both ends of conveying belt, and carries the A rotary table (6) and A-C rotary table (12) respectively, and is conveyed to specified position to complete work when carrying out assembly task, and the utility model relates to a kind of clamp quick-change area (2) on the third side of the six-axis industrial robot (1), electric cabinet (3) on a corner of system, robot parts library (4) on the fourth side of the six-axis industrial robot (1), control cabinet (5) on the side of the robot parts library (4) and artificial parts library (8) behind the worker station (7), and the utility model relates to a kind of clamp quick-change area (2), and six-axis industrial robot (1) assembly part required for assembly is placed in it, and the utility model relates to a kind of robot parts library (4), and aero-engine power turbine unit body part needing the assembly of the six-axis industrial robot (1) is placed in it, and the utility model relates to a kind of artificial parts library (8), and aero-engine power turbine unit body part needing manual assembly and installation tool needed for manual assembly including torque multiplier are placed in it, and the utility model relates to a kind of laser measuring machine (9), including gantry two-degree-of-freedom linear motion platform (91) and linear laser measuring instrument (92) on the gantry two-degree-of-freedom linear motion platform (91), and the utility model relates to a kind of gantry two-degree-of-freedom linear motion platform (91), and it is fixed with conveying belt support at both ends support to straddle on high-precision conveying guide rail (11). ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. An automatic assembly system for a turbine section of a gas turbine engine as set forth in claim 1, characterized in that, ​ ​ The linear laser measuring instrument (92) is a 3D laser profile measuring instrument, which scans the surface data of the assembly body in a non-contact manner.

3. An automatic assembly system for a turbine bucket of a gas turbine engine as set forth in claim 2, c h a r a c t e r i z e d b y, The gantry type two-degree-of-freedom linear motion platform (91) moves in the horizontal direction perpendicular to the high-precision conveying guide rail (11) and the vertical direction, and in combination with the forward and backward movement of the high-precision conveying guide rail (11), it is equivalent to that the motion platform has three movement degrees of freedom.

4. An automatic assembly system for a turbine bucket of a gas turbine engine as set forth in claim 1, wherein, The control cabinet (5) is connected with all sensors and controllers on the six-axis industrial robot (1), and communicates with external devices and systems, so as to realize the communication between the robot and other automatic devices.

5. An automated assembly method for a gas turbine engine power turbine bucket, comprising: The application is realized by using the automatic assembly system of the aero-engine power turbine unit body as claimed in any one of claims 1-4, comprising the following steps: S100, pre-assembly: fixing the assembly object on the A turntable (6), rotating and adjusting the installation angle around the A axis, and moving back and forth between the worker station (7), the six-axis industrial robot (1) and the laser measuring machine (9) along with the high-precision conveying guide rail (11), completing the assembly of other parts to be installed, and detecting the assembled parts; S200, dynamic balance test and marking: the pre-assembled assembly object is transferred to the test station by the transfer trolley for dynamic balance and runout test, and after the test is qualified, the assembled parts are marked, and after completion, the assembly object is disassembled; S300, formal assembly: fixing the dynamic balance and marked assembly object on the A-C turntable (12), rotating and adjusting the installation angle around the A and C axes, and moving back and forth between the worker station (7), the six-axis industrial robot (1) and the laser measuring machine (9) along with the high-precision conveying guide rail (11), completing the assembly of other parts to be installed, and detecting the assembled parts.

6. An automatic assembly method of a gas turbine engine power turbine bucket according to claim 5, wherein, Some steps in S300 include: S301, the A-C turntable (12) moves to the worker station (7), the worker fixes the assembly object on the A-C turntable (12), the A-C turntable (12) moves to the robot station, and the six-axis industrial robot (1) changes the clamp in the clamp quick-change area (2) to clamp the bearing, and clamps the 3# bearing assembly in the robot part library (4); S302, the robot places the 3# bearing assembly in the heating box device (13) for heating, and after heating, the robot clamps the 3# bearing assembly and installs it to the corresponding installation position of the exhaust manifold on the A-C turntable (12); S303, the robot changes the power two-stage rotor universal centering clamp in the clamp quick-change area (2), clamps the power two-stage rotor in the robot part library (4) and installs it to the exhaust manifold with the 3# bearing assembly, the A-C turntable (12) moves to the worker station (7) along the high-precision conveying guide rail (11), and the worker fixes the power two-stage rotor with a temporary fixing tool; S304, the A-C turntable (12) is turned over by 180° along the A axis, moves to the laser measuring machine (9) station, and measures the related axial dimension; S305, A-C rotary table (12) moves to the robot station, the robot changes the clamp in the clamp quick change area (2) to clamp the bearing, clamps the 3# bearing rear half ring in the robot part library (4), and places it on the heating platform. After heating, the robot clamps the 3# bearing rear half ring and installs it to the corresponding installation position of the exhaust manifold of the A-C rotary table (12); S306, A-C rotary table (12) moves to the worker station (7), the worker takes the torque multiplier in the manual part library (8), installs the compression nut using the torque multiplier, and puts it back to the original place after installation is completed; S307, A-C rotary table (12) moves to the robot station, the robot changes the custom brake power shaft clamp in the clamp quick change area (2), clamps the power turbine shaft in the robot part library (4), and installs it to the corresponding installation position of the exhaust manifold of the A-C rotary table (12). A-C rotary table (12) moves to the pressurizing equipment (10), and is pulled and installed by the pressurizing equipment (10).

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