Automatic welding device and method for motor blades

Abstract

The present invention discloses an automatic welding device for motor fan blades, including a control operation device for controlling the operation of the whole set of equipment, and a laser system connected to and controlled by the control operation device, a laser head, a laser head clamping motion system, a clamping positioning motion mechanism, a tightening module, a lower rotating device, a tooling base, a fan blade welding adsorption module, a fan blade welding fixture and an upper rotating device; the laser head is installed on the laser head clamping motion system and moves with it and adjusts the welding angle; the tightening module cooperates with the clamping positioning motion mechanism to tighten the fan blade; the fan blade welding adsorption module is installed on the lower rotating device and is controlled by it to achieve lifting; the fan blade welding fixture is installed on the upper rotating device. The device is simple to operate and easy to use, meets the welding requirements of different products, has high flexibility, can realize automatic welding, and has better weld formation. The dual laser mode can improve work efficiency and ensure welding consistency.

Description

Technical Field

[0001] The present invention relates to the technical field of motor blade welding equipment, and in particular to a motor blade automatic welding device and method. Background Art

[0002] Fan blades are the core components of generators and motors, and require high processing accuracy. Traditional motor fan blades are processed by casting, which has a complicated production process and is prone to porosity defects during casting. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an automatic welding device and method for motor blades.

[0004] The present invention is realized through the following technical scheme: an automatic welding device for motor fan blades, including a control operation device for controlling the operation of the whole set of equipment and a laser system connected to and controlled by the control operation device, a laser head, a laser head clamping motion system, a clamping positioning motion mechanism, a tightening module, a lower rotating device, a tooling base, a fan blade welding adsorption module, a fan blade welding fixing device and an upper rotating device; the laser system is connected to the laser head and provides energy for it, the laser head is installed on the laser head clamping motion system and moves with it and adjusts the welding angle, and the laser head is equipped with a A wire feeding device for supplying welding wire; the laser head clamping motion system, the clamping positioning motion mechanism, and the upper rotating device are installed on the tooling base, and the tightening module cooperates with the clamping positioning motion mechanism to tighten the fan blades; the lower rotating device is installed on the clamping positioning motion mechanism, and the fan blade welding adsorption module is installed on the lower rotating device and is controlled by it to achieve lifting and lowering; the fan blade welding fixing device is installed on the upper rotating device and is controlled by it to achieve lifting and lowering; the fan blade welding fixing device is opposite to the fan blade welding adsorption module and is used to clamp the workpiece, and the laser head is aligned with the motor fan blade for welding.

[0005] The laser system can provide welding energy for the equipment; the laser head clamping motion system is used to clamp the laser head so that the laser head can move forward and backward, and adjust the angle of the laser head according to the structure of the workpiece parts to ensure that the light beam and the light spot fall on the welding part and ensure the accuracy of welding; the setting of the wire feeding device can realize the filling of materials during welding, and different diameters of welding wire can be filled according to the welding structure and material thickness; the lower rotating device can provide rotational power; the tooling base is used to support the entire equipment.

[0006] The laser head clamping motion system includes a servo motor, a clamping motion fixing frame, a walking mechanism, a uniaxial motion mechanism, a clamping mechanism and a clamping release mechanism; the clamping motion fixing frame is installed at one end of the walking mechanism, and is used to fix the cables, air pipes and wire feeding tubes of the laser gun head; the clamping release mechanism is provided with a lifting structure with a lifting function, and the clamping release mechanism is installed on the other end of the walking mechanism through the lifting structure, and the clamping mechanism is detachably installed at both ends of the clamping release mechanism; the welding gun is installed on the clamping mechanism and is controlled by the clamping mechanism to adjust the angle, and the laser head is arranged in the welding gun; the uniaxial motion mechanism includes a linear guide rail and a moving seat arranged on the linear guide rail and slidable along the linear guide rail, the walking mechanism is installed on the moving seat, and the output shaft of the servo motor is connected to the moving seat through a screw rod and a nut. The servo motor is used to drive the clamping motion fixed frame and the walking mechanism to move forward and backward; the traveling mechanism cooperates with the single-axis motion mechanism to provide power for the clamping motion system; the linear guide rail serves as a guide and cooperates with the servo motor to achieve different positioning; the clamping mechanism can adjust the angle of the welding gun, and the loosening mechanism can loosen or clamp the clamping mechanism, and can also realize the lifting function.

[0007] The clamping positioning movement mechanism includes an upper support frame, a positioning device for detecting and assisting in adjusting the position of a workpiece, a workpiece fixing device for pressing the workpiece to prevent it from being displaced, and a longitudinal positioning device for longitudinally positioning the workpiece; the upper support frame is installed on the tooling base, and the positioning device, the workpiece fixing device, and the longitudinal positioning device are installed on the upper support frame; the wire feeding device is rotatably arranged at the nozzle position of the laser head, and the wire feeding device includes a wire feeding tube connected thereto, the outlet of the wire feeding tube is aligned with the nozzle outlet of the laser head, and the wire feeding device is connected to the wire feeding machine of the equipment.

[0008] The positioning device comprises a detection cylinder, a cylinder fixing plate, a sensor fixing plate and a laser displacement ranging sensor; the detection cylinder is mounted on the cylinder fixing plate, the sensor fixing plate is mounted on the telescopic rod of the detection cylinder, and the laser displacement ranging sensor is mounted on the sensor fixing plate; the cylinder fixing plate is mounted on the upper support frame through a connecting plate;

[0009] The workpiece fixing device comprises a machining fixed cylinder, a positioning shaft, a fixed cylinder fixing plate, a machining fixed block and a copper sleeve; the fixed cylinder fixing plate is mounted on the machining fixed cylinder, and the machining fixed block is mounted on the telescopic rod of the machining fixed cylinder; the copper sleeve is mounted on the fixed cylinder fixing plate, the positioning shaft is fixed to the copper sleeve by a pin connection, and a U-shaped groove is provided at the end of the machining fixed block, and the U-shaped groove is sleeved on the outer periphery of the positioning shaft and can slide along the positioning shaft; the machining fixed block directly contacts the workpiece surface during the welding process;

[0010] The longitudinal positioning device comprises a longitudinal positioning cylinder, a longitudinal cylinder fixing plate and a longitudinal fixing block; the longitudinal positioning cylinder is mounted on the upper support frame through the longitudinal cylinder fixing plate, the longitudinal fixing block is mounted on the telescopic rod of the longitudinal positioning cylinder, and the longitudinal fixing block contacts or separates from the workpiece surface as the telescopic rod is extended or retracted;

[0011] The upper support frame is also provided with a power-assisting structure, which includes a power-assisting cylinder, which is installed on the upper support frame. A roller is installed on the telescopic rod of the power-assisting cylinder. After the roller descends to the position of the fan blade welding adsorption module, it drives the fan blade welding adsorption module to rotate at a predetermined speed.

[0012] The tightening module includes an installation positioning plate, a starting device and a top block; the installation positioning plate is provided with an installation positioning groove, and the installation positioning plate is fixed to the upper support frame by passing bolts through the installation positioning groove; the starting device is installed on the installation positioning plate, and the top block is arranged on the telescopic rod of the starting device; the starting device is provided with a first pneumatic connection hole and a second pneumatic connection hole for connecting with the pneumatic structure.

[0013] The lower rotating device includes a first single-phase servo motor, a first planetary gear reduction box and a quick connector; the output shaft of the first single-phase servo motor is connected to the input shaft of the first planetary gear reduction box through a first coupling, and the output shaft of the first planetary gear reduction box is connected to the quick connector; the upper support frame is provided with an upper mounting frame, a lower mounting frame, a guide rod and a guide cylinder; the guide cylinder is installed on the upper support frame, and a plurality of guide rods are provided, and the guide rods are passed through the guide cylinder and can slide up and down along the guide cylinder; the upper ends of the plurality of guide rods are fixed on the upper mounting frame, and the lower ends are fixed on the lower mounting frame; the first planetary gear reduction box is installed on the lower mounting frame, and the quick connector is sleeved in the center hole opened on the lower mounting frame, and the fan blade welding adsorption module is installed on the quick connector.

[0014] The fan blade welding adsorption module includes a positioning turntable and a fixed positioning plate; a plurality of evenly distributed rectangular grooves are opened on the outer periphery of the positioning turntable, and one end of the fixed positioning plate is fixed in the rectangular groove by screws; the fixed positioning plate is opened with a magnetic hole for placing magnetic materials; the positioning turntable is installed on the quick connector.

[0015] The fan blade welding and fixing device comprises a fan blade lower plate welding and fixing module and a fan blade upper plate welding and fixing module; the fan blade lower plate welding and fixing module comprises a first positioning tray; the workpiece comprises an upper turntable, a supporting blade and a lower turntable, and the supporting blade is provided with a plurality of supporting blades, which are evenly arranged between the upper turntable and the lower turntable; a fixing hole is provided in the center of the first positioning tray to penetrate its upper and lower sides, and a circle of inner positioning rings is formed around the fixing hole; the first positioning tray is provided with a plurality of weight-reducing holes along the circumferential direction, and the first positioning tray is provided with a plurality of outer positioning rings along the peripheral direction, and the outer positioning rings are evenly arranged on the periphery of the first positioning tray, and there is a gap between adjacent outer positioning rings; a positioning slot is provided at the lower end of the supporting blade, and the positioning slot is clamped on the lower turntable; the lower turntable is placed on the first positioning tray and is located inside the outer positioning ring; the first positioning tray is detachably mounted on the upper rotating device through the fixing hole, and at this time, the fan blade welding adsorption module presses or releases the upper turntable;

[0016] The fan blade upper plate welding and fixing module comprises a second positioning tray, which is detachably mounted on the upper rotating device; the upper turntable is placed on the second positioning tray, and at this time the fan blade welding adsorption module (10) presses or releases the lower turntable.

[0017] The upper rotating device includes a second single-phase servo motor, a second planetary gear reducer, a planetary gear reducer connecting plate, a column, a rotating assembly mounting plate, a limiter mounting plate, a rotating assembly and a second coupling; the output shaft of the second single-phase servo motor is connected to the input shaft of the second planetary gear reducer, and the output shaft of the second planetary gear reducer is connected to the second coupling; the second planetary gear reducer is mounted on the planetary gear reducer connecting plate, and the column is provided with a plurality of columns, the lower end of the column is fixed on the planetary gear reducer connecting plate, the upper end of the column is fixed on the rotating assembly mounting plate, and the rotating assembly mounting plate is fixedly connected to the tooling base; the limiter mounting plate is mounted on the rotating assembly mounting plate by a threaded connection, and the limiter mounting plate is provided with a threaded hole for mounting an origin photoelectric switch; the rotating assembly is connected to the second coupling; the control operation device is provided with an alarm device.

[0018] A method based on motor blade automatic welding equipment, comprising the following steps:

[0019] Step 1: Start the power, turn on the equipment, turn on the control operation device, turn on the laser power, and turn on the wire feeding device power;

[0020] Step 2: The fan blade welding adsorption module is lifted to prepare for the installation of workpiece parts;

[0021] Step 3: The upper turntable is installed on the fan blade upper plate welding fixing module, and the supporting blades are fixed on the fan blade welding adsorption module in turn, and the supporting blades are adsorbed by the magnetic material of the magnetic absorption hole;

[0022] Step 4: The fan blade welding adsorption module falls down, so that the supporting blade contacts the second upper turntable;

[0023] Step 5: The support blades are fixed and position calibrated. The fan blade welding adsorption module is driven to rotate clockwise or counterclockwise through the lower rotating device. The tightening module and the longitudinal positioning device tighten and press each support blade.

[0024] Step 6: After each supporting blade is fixed in sequence, the laser head clamping motion system moves forward, and the two laser heads adjust the distance and angle through the clamping mechanism and the loosening mechanism, and the laser heads are placed on both sides of the supporting blade through the power of the servo motor;

[0025] Step 7: The workpiece fixing device presses the supporting blade downward to ensure that the supporting blade is in close contact with the upper turntable. The positioning device locates the weld position and feeds back the signal to the control operation device through the laser displacement ranging sensor. After the positioning is completed, the positioning device is lifted;

[0026] Step 8: The two laser heads of the laser head clamping motion system approach the gap to be welded at the same time, stay at the arc starting point, 8mm-12mm away from the gap to be welded, adjust the angle and position of the welding wire, control the extension of the welding wire to 10mm-15mm, adjust the position of the welding wire to ensure that the laser spot must fall on the welding wire, ensure that the welding wire is fully melted during the welding process, and effectively fill the gap to be welded;

[0027] Step 9: The laser power is controlled between 800W and 1300W. The power setting varies according to the thickness and structure of the parts. In order to control the deformation of the workpiece parts, the power should not be too high while ensuring the quality of the weld. For this workpiece part, the welding power is 1200W. If the power is too low, the welding speed can also be adjusted to be lowered. The welding speed is generally controlled at 6-12mm / s during welding. The speed used for this workpiece part is 8mm / s.

[0028] Step 10: After the welding of the first support blade is completed, the two laser heads withdraw from the workpiece position and stop at the welding area, waiting for the next support blade to rotate into place. The workpiece parts rotate driven by the upper and lower power devices at a speed of 30° / s. The rotation speed should not be too fast, generally controlled at 25° / s to 45° / s;

[0029] Step 11: Select the next support blade to be welded, and repeat steps 7 to 9; you can choose to weld the support blades in sequence continuously, or you can choose to weld the support blades at intervals. In order to prevent deformation caused by concentrated heat input during welding, which affects the subsequent welding of support blades, this workpiece part adopts interval welding, which can be 2 intervals to weld one, or 1 interval, or it can be not fixed. If the number of interval welding is not fixed, you must choose the manual mode; if the program is compiled in advance and the automatic mode is used, it can be fixed in the program, and each workpiece part will use this welding sequence in the future;

[0030] Step 12: After the support blades and the upper turntable are welded, the workpiece parts are removed, the upper plate welding and fixing module of the fan blades is removed, and the lower plate welding and fixing module of the fan blades is installed on the equipment;

[0031] Step 13: Install the lower turntable on the fan blade lower plate welding and fixing module, place the upper turntable with welded support blades on top of the lower turntable, so that the support blades are in contact with the lower turntable, and then repeat steps 7 to 9 to complete the welding of all support blades;

[0032] Step 14: The two laser heads withdraw from the workpiece position and stop at the welding area, waiting for the next part to be installed and positioned, and then repeat steps 2 to 10;

[0033] Step 15: If the batch is large, you can choose to weld a batch of upper turntables and support blades, and then weld the lower turntables at the same time. This mode can improve efficiency. In this mode, after welding the first upper turntable, lift the fan blade welding adsorption module, replace the next group of upper turntables and support blades, and repeat steps 2 to 11;

[0034] Step 16: After a batch of upper turntable welding is completed, repeat steps 12 to 14.

[0035] Compared with the prior art, the advantages of the present invention are:

[0036] (1) High output power, high electro-optical conversion efficiency, excellent beam quality, high stability and flexible maneuverability are the salient features of fiber lasers. The superiority of fiber lasers in efficiency, flexibility, modularity, thermal and mechanical strength make their operating costs extremely low in industrial applications.

[0037] (2) The internal design is smart and the interactive control system is good, which expands the tolerance range of the processed parts and the weld width, solves the disadvantage of small light spot, and improves the weld formation.

[0038] (3) The workbench has high precision and is easy to operate.

[0039] (4) It has multiple safety alarms and automatically locks the light after the workpiece is removed, which is highly safe.

[0040] (5) Fast welding speed, no consumables, no weld marks, no discoloration, and no need for post-grinding.

[0041] (6) Various angle nozzles can be configured to meet the welding requirements of different products.

[0042] (7) The system is highly flexible and can be used for automated welding of products of various specifications

[0043] (8) The system has a wide range of applications and can replace welding power sources to achieve welding production with different welding methods.

[0044] (9) The system adopts dual laser mode and is equipped with 2 sets of laser heads, which can significantly improve work efficiency and ensure welding consistency.

[0045] (10) Compared with handheld laser welding, this equipment is highly efficient. The operator's unstable holding of the laser head will affect the welding quality. Automated welding can completely avoid the influence of human factors and the welding positioning is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A top view of an embodiment of the present invention;

[0047] Figure 2 It is a structural schematic diagram of an embodiment of the present invention;

[0048] Figure 3 It is a structural schematic diagram of a laser head clamping motion system according to an embodiment of the present invention;

[0049] Figure 4 It is a side view of the clamping mechanism, the clamping release mechanism and the laser head in the embodiment of the present invention;

[0050] Figure 5 A three-dimensional diagram of the cooperation between the clamping mechanism, the clamping release mechanism and the laser head according to an embodiment of the present invention;

[0051] Figure 6 It is a structural schematic diagram of a clamping and positioning motion mechanism according to an embodiment of the present invention;

[0052] Figure 7 It is a structural schematic diagram of a positioning device according to an embodiment of the present invention;

[0053] Figure 8 It is a structural schematic diagram of a workpiece fixing device according to an embodiment of the present invention;

[0054] Fig. 9 It is a cross-sectional view of the longitudinal positioning device according to an embodiment of the present invention cut along the longitudinal direction and placed on its side;

[0055] Fig.10 It is a schematic diagram of the structure of the clamping positioning movement mechanism, the lower rotating device and the fan blade welding adsorption module in accordance with an embodiment of the present invention;

[0056] Fig.11 It is a partial structural exploded schematic diagram of a clamping and positioning motion mechanism, a lower rotating device, a fan blade welding adsorption module, and a fan blade welding fixing module according to an embodiment of the present invention;

[0057] Fig.12 It is a structural schematic diagram of the cooperation between the rotating device and the fan blade welding adsorption module according to an embodiment of the present invention;

[0058] Fig.13 This is a schematic diagram of the structure of a blade welding adsorption module according to an embodiment of the present invention;

[0059] Fig.14 This is a schematic structural diagram of a tightening module according to an embodiment of the present invention;

[0060] Fig.15 This is a schematic diagram of the structure of the blade lower plate welding fixing module and the supporting blade in cooperation with each other according to an embodiment of the present invention;

[0061] Fig.16 This is a schematic diagram of the structure of the fan blade lower plate welding fixing module and the supporting fan blade in accordance with an embodiment of the present invention;

[0062] Fig.17 This is a schematic diagram of the structure of the fan blade upper plate welding fixing module cooperating with the fan blade support and the upper rotating device according to an embodiment of the present invention;

[0063] Fig.18 This is a schematic structural diagram of another first lower turntable according to an embodiment of the present invention;

[0064] Fig.19 This is a structural schematic diagram of another fan blade lower plate welding fixing module according to an embodiment of the present invention;

[0065] Fig. 20 This is a schematic diagram of the structure of the blade upper plate welding fixing module cooperating with the upper rotating device according to an embodiment of the present invention;

[0066] Fig.21 The structural diagram of the rotating device installed on the tooling base in the embodiment of the present invention

[0067] Fig. 22 This is an interface state diagram of the software startup of the control operating device according to an embodiment of the present invention;

[0068] Fig.23 An interface state diagram for preparing manual input for the control operation device software of an embodiment of the present invention;

[0069] Fig.24 This is an interface state diagram of the software of the embodiment of the present invention entering the upper turntable and the lower turntable to set parameters;

[0070] Fig.25This is an interface state diagram for selecting a processing sequence in the manual mode of the front operation test of the software of the embodiment of the present invention;

[0071] Fig.26 This is an interface status diagram of the software of the embodiment of the present invention for quickly adjusting the welding sequence;

[0072] Fig. 27 The automatic operation interface of the reverse side of the software of the embodiment of the present invention;

[0073] Fig.28 The interface state diagram for quickly adjusting the welding sequence by reverse operation of the embodiment of the present invention;

[0074] Fig.29 It is the software I / O monitoring interface of the embodiment of the present invention;

[0075] Fig.30 This is the front operation interface of the gun head debugging software of the embodiment of the present invention;

[0076] Fig.31 This is the front operation interface of the gun head debugging software of the embodiment of the present invention;

[0077] Fig.32 This is the automatic operation process interface of the software front of the embodiment of the present invention;

[0078] Fig.33 It is the automatic operation process interface of the reverse side of the software of the embodiment of the present invention;

[0079] Fig.34 This is a welding flow chart of an embodiment of the present invention.

[0080] The meanings of the reference numerals in the figure are as follows: 1. laser system; 2. laser head clamping motion system; 21. servo motor; 22. clamping motion fixing frame; 23. walking mechanism; 24. single-axis motion mechanism; 25. clamping mechanism; 251. upper clamping block; 252. lower clamping block; 253. first cylinder; 254. second cylinder; 255. rotating block; 256. movable shaft; 257. clamping frame; 26. clamping release mechanism; 261. lifting cylinder; 262. first cylinder mounting plate; 263. adjusting plate; 264. adjusting screw; 265. horizontal cylinder; 266. second cylinder Mounting plate; 27, module mounting plate; 3, laser head; 4, wire feeding device; 41, wire feeding tube; 5, clamping positioning movement mechanism; 51, positioning device; 511, detection cylinder; 512, cylinder fixing plate; 513, sensor fixing plate; 514, laser displacement ranging sensor; 52, workpiece fixing device; 521, processing fixing cylinder; 522, positioning shaft; 523, fixing cylinder fixing plate; 524, processing fixing block; 525, copper sleeve; 53, first booster cylinder; 54, second booster cylinder; 55, longitudinal positioning device; 551, longitudinal positioning cylinder; 552 , longitudinal cylinder fixing plate; 553, longitudinal fixed block; 56, upper support frame; 561, upper mounting frame; 562, lower mounting frame; 563, guide rod; 564, guide cylinder; 6, top tightening module; 61, first pneumatic connection hole; 62, second pneumatic connection hole; 63, starting device; 64, top block; 65, installation positioning groove; 66, installation positioning plate; 7, lower rotating device; 71, first single-phase servo motor; 72, first planetary gear reducer; 73, quick connector; 8, tooling base; 9, control operation device; 10, fan blade welding adsorption module; 101, positioning rotation Plate; 102, fixed positioning plate; 103, magnetic hole; 11, first positioning tray; 111, weight reduction hole; 112, outer positioning ring; 113, fixed hole; 114, inner positioning ring; 12, second positioning tray; 13, upper rotating device; 131, second single-phase servo motor; 132, second planetary gear reducer; 133, planetary gear reducer connecting plate; 134, column; 135, rotating assembly mounting plate; 136, limiter mounting plate; 137, rotating assembly; 138, second coupling; 141, upper turntable; 142, supporting blades; 143, lower turntable. DETAILED DESCRIPTION

[0081] The content of the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0082] Example

[0083] See also Figures 1 to 34, which is an automatic welding equipment for motor fan blades, including a control operation device 9 for controlling the operation of the whole set of equipment and a laser head 3, a laser head clamping motion system 2, a clamping positioning motion mechanism 5, a tightening module 6, a lower rotating device 7, a tooling base 8, a fan blade welding adsorption module 10, a fan blade welding fixing device and an upper rotating device 13 connected to and controlled by the control operation device 9; the laser system 1 is connected to the laser head 3 and provides energy for it, the laser head 3 is installed on the laser head clamping motion system 2 and moves with it and adjusts the welding angle, and the laser head 3 is equipped with a device for providing welding The wire feeding device 4 is provided for feeding the wire; the laser head clamping motion system 2, the clamping positioning motion mechanism 5, and the upper rotating device 13 are installed on the tooling base 8, and the tightening module 6 cooperates with the clamping positioning motion mechanism 5 to tighten the fan blade; the lower rotating device 7 is installed on the clamping positioning motion mechanism 5, and the fan blade welding adsorption module 10 is installed on the lower rotating device 7 and is controlled by it to achieve lifting; the fan blade welding fixing device is installed on the upper rotating device 13 and is controlled by it to achieve lifting; the fan blade welding fixing device is opposite to the fan blade welding adsorption module 10, and is used to clamp the workpiece, and the laser head 3 is aligned with the motor fan blade for welding.

[0084] The laser system 1 can provide welding energy for the equipment; the laser head clamping motion system 2 is used to clamp the laser head 3 so that the laser head 3 can move forward and backward, and adjust the angle of the laser head 3 according to the structure of the workpiece parts to ensure that the light beam and the light spot fall on the welding position, thereby ensuring the accuracy of welding; the setting of the wire feeding device 4 can realize the filling of materials during welding, and different diameters of welding wire can be filled according to the welding structure and material thickness; the lower rotating device 7 can provide rotational power; the tooling base 8 is used to support the entire equipment. In this embodiment, the tooling base 8 contains control components, which are the heart of the equipment. The electronic control, equipment components, etc. are surrounded by baffles around the tooling base 8 and cannot be seen from the outside. The control operation device 9 belongs to an operating system, that is, a control interface. The control operation device 9 ( Figures 22 to 33The control system interface and function conditions are independently developed. Manual mode welding and automatic mode welding can be realized. A processor can be used. It is an existing device and there is no need to carry out specific structural analysis. The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the device, and various interfaces and lines are used to connect various parts.

[0085] The laser head clamping motion system 2 includes a servo motor 21, a clamping motion fixing frame 22, a traveling mechanism 23, a uniaxial motion mechanism 24, a clamping mechanism 25 and a clamping release mechanism 26; the clamping motion fixing frame 22 is installed at one end of the traveling mechanism 23, and is used to fix the cables, air pipes and wire feeding tubes 41 of the laser gun head; the clamping release mechanism 26 is provided with a lifting structure with a lifting function, and the clamping release mechanism 26 is installed on the other end of the traveling mechanism 23 through the lifting structure, and the clamping mechanism 25 is detachably installed at both ends of the clamping mechanism 26; the welding gun is installed on the clamping mechanism 25 and is controlled by the clamping mechanism 25 for angle adjustment, and the laser head 3 is arranged in the welding gun; the uniaxial motion mechanism 24 includes a linear guide rail and a moving seat arranged on the linear guide rail and capable of sliding along the linear guide rail, the traveling mechanism 23 is installed on the moving seat, and the output shaft of the servo motor 21 is connected to the moving seat through a screw rod and a nut. The servo motor 21 is used to drive the clamping motion fixing frame 22 and the walking mechanism 23 to move forward and backward; the walking mechanism 23 cooperates with the single-axis motion mechanism 24 to provide power for the clamping motion system; the linear guide rail is used as a guide to cooperate with the servo motor 21 to achieve different positioning; the clamping mechanism 25 can adjust the angle of the welding gun, and the loosening mechanism 26 can loosen or clamp the clamping mechanism 25, and can also achieve the lifting function. In this embodiment, the single-axis motion mechanism 24 is installed on the module mounting plate 27, and the module mounting plate 27 is installed on the tooling base 8.

[0086] In this embodiment, the clamping mechanism 25 is provided with two sets, so that the laser head 3 is provided with two sets, and thus the laser is also provided with two sets. The laser power of this embodiment is selected to be 2000W, the output power stability is: ±2%, the laser wavelength is: 1070nm, the indicating red light power is: 200μW, the optical fiber output connector is: QBH / 50um fiber core, and the selected laser power can be 1500W, 2000W, 3000W, 1KW, or other values ​​according to the material thickness of the welding parts. The laser head 3 is the core component of laser welding. The light beam and the light spot fall on the welding position to weld the workpiece. The laser head 3 is the output port of the laser equipment and is the most precise part of the laser equipment. In the laser cutting equipment, the main function of the laser head 3 is to focus the divergent laser generated by the laser to make it a beam of highly concentrated energy, and to spray cutting gas with the laser workmanship to blow away the residue or flux, and finally achieve the effect of precision cutting. In this embodiment, the clamping mechanism 25 is provided with an upper clamping block 251, a lower clamping block 252, a first cylinder 253, a second cylinder 254, a rotating block 255, a movable shaft 256 and a clamping frame 257. One end of the first cylinder 253 is fixedly connected to the loosening mechanism 26, and the other end thereof is clamped and fixed to the upper clamping block 251 by screws; one end of the second cylinder 254 is clamped and fixed to the upper clamping block 251 by screws, and the other end of the second cylinder 254 is clamped and fixed to the lower clamping block 252 by screws, the rotating block 255 is rotatably connected to the lower clamping block 252, and the rotating block 255 can rotate 360 ​​degrees around the lower clamping block 252; the rotating shaft sleeve is arranged in the rotating block 255 and can rotate therein, and positioning is achieved by tightening the screws; the clamping frame 257 is fixed on the other end of the rotating shaft, and the welding gun sleeve is arranged in the clamping frame 257. The lifting structure of the clamp-releasing mechanism 26 includes a lifting cylinder 261 installed on the traveling mechanism 23, a first cylinder mounting plate 262 fixed on the telescopic rod of the lifting cylinder 261, an adjustment plate 263 and an adjustment screw 264; the adjustment plate 263 is an L-shaped plate, including a vertical plate and a horizontal plate connected to the lower end of the vertical plate, the upper end of the vertical plate is fixed on the first cylinder mounting plate 262, the lower end of the adjustment screw is fixed on the traveling mechanism 23, the adjustment screw is sleeved on the horizontal plate and the horizontal plate is maintained at a certain height by the sleeve of the nut. The adjustment screw cooperates with the lifting cylinder 261 and the cylinder mounting plate to realize the lifting function of the clamp-releasing mechanism 26. The lifting cylinder 261 is provided with a pneumatic interface connected to an external pneumatic device. The clamping release mechanism 26 also includes a horizontal cylinder 265, which is provided with a pneumatic interface connected to an external pneumatic device. Both ends of the horizontal cylinder 265 are provided with telescopic rods, and a second cylinder mounting plate 266 is installed on the telescopic rods. One end of the first cylinder 253 is fixedly installed on the second cylinder mounting plate 266.

[0087] The clamping and positioning motion mechanism 5 includes an upper support frame 56, a positioning device 51 for detecting and assisting in adjusting the position of the workpiece, a workpiece fixing device 52 for pressing the workpiece to prevent it from being displaced, and a longitudinal positioning device 55 for longitudinally positioning the workpiece; the upper support frame 56 is installed on the tooling base 8, and the positioning device 51, the workpiece fixing device 52, and the longitudinal positioning device 55 are installed on the upper support frame 56; the wire feeding device 4 is rotatably set at the nozzle position of the laser head 3, and the wire feeding device 4 includes a wire feeding tube 41 connected thereto, the outlet of the wire feeding tube 41 is aligned with the nozzle outlet of the laser head 3, and the wire feeding device 4 is connected to the wire feeder of the equipment. This device can choose to fill wire welding or non-fill wire welding according to the welding needs of the workpiece to realize the filling of materials during welding, and can realize the filling of welding wires of different diameters according to the welding structure and material thickness. The wire feeder selected in this embodiment is an automatic wire feeder, which is a device for continuously and stably feeding welding wire. The automatic wire feeder can feed welding wire continuously and stably according to the set parameters under the control of a microcomputer. The wire feeder is a commercially available product and an existing device, so there is no need to carry out a specific structural analysis. In this embodiment, the upper support frame 56 has a certain rigidity and strength, supports the upper cylinder and the lower rotating device 7, and ensures that the fan blade welding adsorption module 10 is stable and does not shake during welding. A T-shaped structure is adopted, and one side is in an unobstructed open state, which is convenient for clamping and disassembly of the workpiece and convenient for workers to operate. The wire feeding device 4 is connected to the laser head 3 and fixed at the front end of the laser head 3. The welding wire extends from the wire feeding tube 41 and falls on the walking track of the laser to realize wire filling laser welding. The wire feeding device 4 can adjust the position forward and backward, up and down, or around the nozzle of the laser head 3. The wire feeder and the laser head 3 are controlled by the equipment operating system at the same time, and the wire feeding and light emission time can be controlled at the same time.

[0088] The positioning device 51 includes a detection cylinder 511, a cylinder fixing plate 512, a sensor fixing plate 513 and a laser displacement ranging sensor 514; the detection cylinder 511 is installed on the cylinder fixing plate 512, the sensor fixing plate 513 is installed on the telescopic rod of the detection cylinder 511, and the laser displacement ranging sensor 514 is installed on the sensor fixing plate 513; the cylinder fixing plate 512 is installed on the upper support frame 56 through a connecting plate.

[0089] In this embodiment, the detection cylinder 511 is connected and fixed to the sensor fixing plate 513 by a threaded connection, thereby driving the laser displacement ranging sensor 514 to move in the vertical direction, and providing power for the sensor fixing plate 513 and the laser displacement ranging sensor 514 to move in the vertical direction. The cylinder fixing plate 512 is connected and fixed to the detection cylinder 511 by a threaded connection. By adjusting the bolts on the cylinder fixing plate 512, the detection cylinder 511 can be adjusted in four directions: up, down, left, and right. The sensor fixing plate 513 connects and fixes the detection cylinder 511 and the laser displacement ranging sensor 514 respectively by a threaded connection. The laser displacement ranging sensor 514: is connected and fixed to the sensor fixing plate 513 by a threaded connection, and accurately measures the distance between the workpiece and the sensor. The measurement range is 25-35MM, and the repeatability accuracy reaches 0.01MM.

[0090] The overall function of the positioning device 51: when the machine moves to the position detection process, the detection cylinder 511 moves downward in the vertical direction to drive the sensor fixing plate 513 and the laser displacement ranging sensor 514 to move downward, and detects the distance from the workpiece to the laser displacement ranging sensor 514. The equipment adjusts the position of the workpiece until it reaches the set position, and then the detection cylinder 511 moves upward in the vertical direction to complete the detection.

[0091] The workpiece fixing device 52 includes a processing fixed cylinder 521, a positioning shaft 522, a fixed cylinder fixing plate 523, a processing fixed block 524 and a copper sleeve 525; the fixed cylinder fixing plate 523 is installed on the processing fixed cylinder 521, and the processing fixed block 524 is installed on the telescopic rod of the processing fixed cylinder 521; the copper sleeve 525 is installed on the fixed cylinder fixing plate 523, the positioning shaft 522 is fixed to the copper sleeve 525 by a pin connection, and a U-shaped groove is provided at the end of the processing fixed block 524, and the U-shaped groove is set on the outer periphery of the positioning shaft 522 and can slide along it; the processing fixed block 524 directly contacts the workpiece surface during the welding process.

[0092] In this embodiment, the processing fixed cylinder 521 is connected and fixed by a threaded connection method to the fixed cylinder fixing plate 523 and the processing fixed block 524, thereby driving the processing fixed block 524 and the positioning shaft 522 to move in the vertical direction, providing power for the vertical movement of the processing fixed block 524 and the positioning shaft 522. The positioning shaft 522 is connected and fixed to the copper sleeve 525 by a pin connection method, and is connected and fixed to the processing fixed block 524 by a threaded connection method to prevent the processing fixed block 524 from rotating when moving in the vertical direction. The fixed cylinder fixing plate 523 is connected and fixed to the copper sleeve 525, the processing fixed cylinder 521 and the frame part (upper support frame 56) by a threaded connection method, and the left and right directions of the whole are adjusted by adjusting the connecting bolts of the frame part. The processing fixed block 524 is connected and fixed to the processing fixed cylinder 521 and the positioning shaft 522 by a threaded connection method, and directly contacts the surface workpiece during the welding process. The copper sleeve 525 is connected to the positioning shaft 522 by a pin connection method, and is connected to the fixed cylinder fixing plate 523 by a threaded connection method. The copper sleeve 525 is provided with a carbon brush inside to ensure that the positioning shaft 522 moves smoothly in the vertical direction.

[0093] The overall function of the workpiece fixing device 52 is: when the machine moves the workpiece fixing process, the processing fixing cylinder 521 drives the positioning shaft 522 and the processing fixing block 524 to move vertically downward, the processing fixing block 524 contacts the surface of the workpiece, and the processing fixing cylinder 521 provides downward pressure to ensure that the workpiece does not move during the welding process and ensure the processing quality. After the welding process is completed, the processing fixing cylinder 521 moves vertically upward to complete the fixing process.

[0094] The longitudinal positioning device 55 includes a longitudinal positioning cylinder 551, a longitudinal cylinder fixing plate 552 and a longitudinal fixing block 553; the longitudinal positioning cylinder 551 is installed on the upper support frame 56 through the longitudinal cylinder fixing plate 552, and the longitudinal fixing block 553 is installed on the telescopic rod of the longitudinal positioning cylinder 551. The longitudinal fixing block 553 contacts or separates from the workpiece surface as the telescopic rod is extended or retracted.

[0095] In this embodiment, the longitudinal positioning cylinder 551 is connected and fixed to the longitudinal cylinder fixing plate 552 and the longitudinal fixing block 553 by threaded connection. The longitudinal fixing block 553 is driven to move in the vertical direction, providing power for the vertical movement of the longitudinal fixing block 553. The longitudinal cylinder fixing plate 552 is connected and fixed to the longitudinal positioning cylinder 551 by threaded connection, and the overall position is adjusted in the left and right directions by adjusting the frame connection bolts. The longitudinal fixing block 553 is connected and fixed to the longitudinal positioning cylinder 551 by threaded connection, and directly contacts the surface workpiece during the positioning process.

[0096] The overall function of the longitudinal positioning device 55 is: when the mechanical movement workpiece is in the longitudinal positioning process, the longitudinal positioning cylinder 551 drives the longitudinal fixing block 553 to move vertically downward, and the longitudinal fixing block 553 contacts the surface of the workpiece to provide downward pressure to the positioning cylinder to longitudinally position the workpiece part. When the system receives the longitudinal positioning completion signal, the longitudinal positioning cylinder 551 moves vertically upward to complete the longitudinal positioning process.

[0097] The upper support frame 56 is also provided with a boosting structure, which includes a boosting cylinder, which is mounted on the upper support frame 56. A roller is mounted on the telescopic rod of the boosting cylinder. After the roller descends to the position of the fan blade welding adsorption module 10, it drives the fan blade welding adsorption module 10 to rotate at a predetermined speed. In this embodiment, there are two boosting cylinders, namely a first boosting cylinder 53 and a second boosting cylinder 54, thereby forming two power cylinders.

[0098] The tightening module 6 includes an installation positioning plate 66, a starting device 63 and a top block 64; the installation positioning plate 66 is provided with an installation positioning groove 65, and the installation positioning plate 66 is fixed to the upper support frame 56 by passing bolts through the installation positioning groove 65; the starting device 63 is installed on the installation positioning plate 66, and the top block 64 is arranged on the telescopic rod of the starting device 63; the starting device 63 is provided with a first pneumatic connection hole 61 and a second pneumatic connection hole 62 for connecting with the pneumatic structure. By using an external pneumatic structure, the starting device 63 has power, so that the top block 64 can be extended and retracted, and has a tightening effect. The top block 64 contacts the workpiece before welding, tightens the welded fan blade, and plays a positioning role. The setting of the installation positioning groove 65 can position the entire tightening module 6, and the position of the tightening module 6 can be adjusted according to the workpiece.

[0099] The lower rotating device 7 includes a first single-phase servo motor 71, a first planetary gear reduction box 72 and a quick connector 73; the output shaft of the first single-phase servo motor 71 is connected to the input shaft of the first planetary gear reduction box 72 through a first coupling, and the output shaft of the first planetary gear reduction box 72 is connected to the quick connector 73; the upper support frame 56 is provided with an upper mounting frame 561, a lower mounting frame 562, a guide rod 563 and a guide cylinder 564; the guide cylinder 564 is installed on the upper support frame 56, and a plurality of guide rods 563 are provided, and the guide rods 563 are penetrated in the guide cylinder 564 and can slide up and down along the guide cylinder 564; the upper ends of the plurality of guide rods 563 are fixed on the upper mounting frame 561, and the lower ends are fixed on the lower mounting frame 562; the first planetary gear reduction box 72 is installed on the lower mounting frame 562, the quick connector 73 is sleeved in the center hole opened in the lower mounting frame 562, and the fan blade welding adsorption module 10 is installed on the quick connector 73.

[0100] The fan blade welding adsorption module 10 includes a positioning turntable 101 and a fixed positioning plate 102; a plurality of evenly distributed rectangular grooves are opened on the outer periphery of the positioning turntable 101, and one end of the fixed positioning plate 102 is fixed in the rectangular groove by screws; the fixed positioning plate 102 is opened with a magnetic hole 103 for placing magnetic materials; the positioning turntable 101 is installed on the quick connector 73.

[0101] The fan blade welding and fixing device includes a fan blade lower plate welding and fixing module and a fan blade upper plate welding and fixing module; the fan blade lower plate welding and fixing module includes a first positioning tray 11; the workpiece includes an upper turntable 141, a supporting blade 142 and a lower turntable 143, and a plurality of supporting blades 142 are provided, which are evenly arranged between the upper turntable 141 and the lower turntable 143; a fixing hole 113 penetrating the upper and lower sides of the first positioning tray 11 is provided in the center, and an inner positioning ring 114 is formed around the fixing hole 113; a plurality of weight-reducing holes 111 are provided in the circumferential direction of the first positioning tray 11, and an outer positioning ring 114 is provided in the circumferential direction of the first positioning tray 11 Positioning ring 112, there are several outer positioning rings 112, which are evenly arranged on the periphery of the first positioning tray 11, and there is a gap between adjacent outer positioning rings 112; the lower end of the supporting blade 142 is provided with a positioning slot, and the positioning slot is clamped on the lower turntable 143; the lower turntable 143 is placed on the first positioning tray 11 and is located inside the outer positioning ring 112; the first positioning tray 11 is detachably mounted on the upper rotating device 13 through the fixing hole 113, at this time, the fan blade welding adsorption module 10 presses or releases the upper turntable 141; the structural setting of the lower turntable 143 of this device also has another style design, such as Fig.18 and Fig.19 In this embodiment, the workpiece is composed of an upper turntable 141, supporting blades 142 and a lower turntable 143, which can also be called a part or a workpiece part.

[0102] The fan blade upper plate welding and fixing module 12 includes a second positioning tray 12, which is detachably mounted on the upper rotating device 13; the upper turntable 141 is placed on the second positioning tray 12, and the fan blade welding adsorption module 10 presses or releases the lower turntable 143 at this time.

[0103] The upper rotating device 13 includes a second single-phase servo motor 131, a second planetary gear reduction box 132, a planetary gear reduction box connecting plate 133, a column 134, a rotating assembly mounting plate 135, a stopper mounting plate 136, a rotating assembly 137 and a second coupling 138; the output shaft of the second single-phase servo motor 131 is connected to the input shaft of the second planetary gear reduction box 132, and the output shaft of the second planetary gear reduction box 132 is connected to the second coupling 138; the second planetary gear reduction box 132 is installed on the planetary gear reduction box connecting plate 133. A plurality of columns 134 are provided on the connecting plate 133, the lower end of the column 134 is fixed on the planetary gear reducer connecting plate 133, and the upper end of the column 134 is fixed on the rotating component mounting plate 135, and the rotating component mounting plate 135 is fixedly connected to the tooling base 8; the limiter mounting plate 136 is installed on the rotating component mounting plate 135 by a threaded connection, and the limiter mounting plate 136 is provided with a threaded hole for installing the origin photoelectric switch; the rotating component 137 is connected to the second coupling 138; the control operation device 9 is provided with an alarm device.

[0104] In this embodiment, the second single-phase servo motor 131 is connected and fixed with the second planetary gear reducer 132 by threaded connection, thereby driving the second coupling 138 and the rotating assembly 137 to rotate and provide power for horizontal rotation. The second planetary gear reducer 132 fixes the second single-phase servo motor 131 and the planetary gear reducer connecting plate 133 by threaded connection, and the power output of the second single-phase servo motor 131 slows down and increases the torque after passing through the second planetary gear reducer 132. The planetary gear reducer connecting plate 133, the column 134 (provided with 4), and the rotating assembly mounting plate 135 are connected and fixed to each other by threaded connection. The rotating assembly mounting plate 135: is connected and fixed to the equipment frame and the rotating assembly 137 by threaded connection, so as to realize the vertical installation of the above-mentioned mechanism. The stopper mounting plate 136 is connected and fixed to the rotating assembly mounting plate 135 by threaded connection, and the stopper mounting plate 136 has an 8MM threaded hole for installing the origin photoelectric switch. The rotating assembly 137 is connected to the output shaft of the rotating assembly 137 and the output shaft of the second planetary gear reducer 132 through the second coupling 138, and is fixed to the rotating assembly mounting plate 135. The rotating assembly 137 has multiple 10MM threaded holes for installing different fixtures. The overall function of the upper rotating device 13 is that the second single-phase servo motor 131 provides power output for the rotational motion, the speed slows down and the torque increases after passing through the second planetary gear reducer 132, and the rotating assembly 137 is connected through the second coupling 138, driving the fixture installed on the rotating assembly 137 to rotate horizontally.

[0105] A method based on motor blade automatic welding equipment, comprising the following steps:

[0106] Step 1: Start the power supply, turn on the equipment, turn on the control operation device 9, turn on the laser power supply, and turn on the wire feeding device 4 power supply;

[0107] Step 2: The fan blade welding adsorption module 10 is lifted to prepare for the installation of the workpiece parts;

[0108] Step 3: The upper turntable 141 is installed on the fan blade upper plate welding fixing module 12, and the supporting blades 142 are fixed on the fan blade welding adsorption module 10 in turn, and the supporting blades 142 are adsorbed by the magnetic material of the magnetic absorption hole 103;

[0109] Step 4: The fan blade welding adsorption module 10 falls down, so that the supporting blade 142 contacts the upper rotating disk 141;

[0110] Step 5: The support blade 142 is fixed and the position is calibrated, and the fan blade welding adsorption module 10 is driven to rotate clockwise or counterclockwise by the lower rotating device 7, and the tightening module 6 and the longitudinal positioning device 55 tighten and press each support blade 142;

[0111] Step 6: After each supporting blade 142 is fixed in sequence, the laser head clamping motion system 2 moves forward, and the two laser heads 3 adjust the distance and angle through the clamping mechanism 25 and the loosening mechanism 26, and the laser heads 3 are placed on both sides of the supporting blade 142 through the power of the servo motor 21;

[0112] Step 7: The workpiece fixing device 52 presses the supporting blade 142 downward to ensure that the supporting blade 142 is in close contact with the upper turntable 141, and the positioning device 51 locates the weld position, and feeds back the signal to the control operation device 9 through the laser displacement ranging sensor 514; after the positioning is completed, the positioning device 51 is lifted;

[0113] Step 8: The two laser heads 3 of the laser head clamping motion system 2 approach the gap to be welded at the same time, stay at the arc starting point, 8mm-12mm away from the gap to be welded, adjust the angle and position of the welding wire, control the extension of the welding wire to be 10mm-15mm, adjust the position of the welding wire to ensure that the laser spot must fall on the welding wire, ensure that the welding wire is fully melted during the welding process, and effectively fill the gap to be welded;

[0114] Step 9: The laser power is controlled at 800W-1300W. The power setting varies according to the thickness and structure of the parts. In order to control the deformation of the workpiece parts, the power should not be too high while ensuring the quality of the weld. For this workpiece part, the welding power is 1200W. If the power is too low, the welding speed can also be adjusted to be lowered. The welding speed is generally controlled at 6-12mm / s. The speed used for this workpiece part is 8mm / s.

[0115] Step 10: After the welding of the first support blade 142 is completed, the two laser heads 3 withdraw from the workpiece position and stop at the welding area, waiting for the next support blade 142 to rotate into place. The workpiece parts rotate under the drive of the upper and lower power devices at a speed of 30° / s. The rotation speed should not be too fast, and is generally controlled at 25° / s to 45° / s;

[0116] Step 11: Select to weld the next support blade 142, and repeat steps 7 to 9; you can choose to weld the support blades 142 in sequence continuously, or you can choose to weld the support blades 142 at intervals. In order to prevent deformation caused by concentrated heat input during welding, which affects the subsequent welding of the support blades 142, the workpiece parts are welded at intervals, which can be welded one at intervals of 2, or one at intervals, or not fixed. If the number of intervals is not fixed, you must choose the manual mode; if the program is compiled in advance and the automatic mode is used, it can be fixed in the program, and each workpiece part will use this welding sequence next;

[0117] Step 12: After the support blade 142 and the upper turntable 141 are welded, the workpiece parts are removed, the upper blade plate welding and fixing module 12 is removed, and the lower blade plate welding and fixing module is installed on the equipment;

[0118] Step 13: Install the lower turntable 143 on the fan blade lower plate welding and fixing module, place the upper turntable 141 with the welded support blades 142 on top of the lower turntable 143, so that the support blades 142 are in contact with the lower turntable 143, and then repeat steps 7 to 9 to complete the welding of all support blades 142;

[0119] Step 14: The two laser heads 3 withdraw from the workpiece position and stop at the welding area, waiting for the next part to be installed and positioned, and then repeat steps 2 to 10;

[0120] Step 15: If the batch is large, you can choose to weld a batch of upper turntables 141 and support blades 142, and then weld the lower turntable 143. This mode can improve efficiency. In this mode, after welding the first upper turntable 141, lift the fan blade welding adsorption module 10, replace the next group of upper turntables 141 and support blades 142, and repeat steps 2 to 11;

[0121] Step 16: After a batch of upper turntable welding is completed, repeat steps 12 to 14.

[0122] See also Figures 22 to 33 , in order to control the display screen display of each view when the operating device 9 software is turned on, the structure other than the screen of the interface state diagram displayed on each display screen is the same, so Figure 23 to Figure 33The state diagram is screenshotted, and only the interface inside the display screen is retained. In this embodiment, the design of the control operation device 9 is shown in the display screen of each view of the software startup in the attached figure, which is used for programming, process parameter adjustment, and process flow writing. In addition to playing a supporting role, the tooling base 8 contains the control system of the entire device, that is, the heart of the device. Multiple safety alarms are set in the device of this embodiment. The alarm device is set at the gas source input (inside the handheld welding machine). If the gas source pressure is insufficient (welding is generally 2.5Pa, and the alarm value of the alarm device is manually set) and is lower than the set range, the alarm device will transmit an electrical signal to the controller (PLC), the controller will output an alarm signal, the three-color alarm light will light up red, the human-machine interface will have a corresponding prompt, all mechanisms of the whole machine will stop moving, and the buzzer will sound until the alarm is cleared. After clicking, reset, start again, and the machine will operate normally.

[0123] The process flow of this embodiment is as follows:

[0124] 1. Software startup steps: Turn on the external power switch → press the power button → wait for the device to start after entering the interface. Fig. 20 The interface is for manual operation, which includes parameter settings for the machining axis, upper turntable, and lower turntable. The parameters include current position, speed setting, forward, reverse, and return to origin. All parameters in the interface in the figure are zero, which means the machine is in the on state.

[0125] Processing axis: Speed ​​setting - adjust the speed of the processing axis when manual, which can be manually input according to the control requirements.

[0126] Forward / reverse / return to origin--control the forward / reverse / return to origin operation of the machining axis.

[0127] Upper turntable: Speed ​​setting - adjust the upper turntable rotation speed manually, which can be manually input according to the control requirements.

[0128] Forward / Reverse / Back to Origin--Control the forward / reverse / back to origin process of the upper turntable.

[0129] Lower turntable: Speed ​​setting - adjust the speed of the lower turntable when manually adjusting. It can be manually input according to the control requirements.

[0130] Forward / Reverse / Back to Origin--Control the forward / reverse / back to origin process of the lower turntable.

[0131] See also Fig.23 , the current interface options include:

[0132] Handheld welding machine No. 1: Start handheld welding machine No. 1 by inching.

[0133] Handheld welding machine No. 2: Start handheld welding machine No. 2 by inching.

[0134] Raise / lower arm cylinder: used to control the raising and lowering of the arm and to adjust the position of the gun head.

[0135] Loosening and clamping machine arm cylinder: used to control the loosening and clamping status of the machine arm, and used when debugging the gun head position.

[0136] Tooling cylinder up / down: controls the up / down of tooling fixtures and is used when debugging front operations.

[0137] Processing positioning cylinder: controls the lifting and lowering of the processing locator.

[0138] Detection position cylinder: controls the lifting and lowering of the position detection device.

[0139] There are also the selection and setting of the lateral positioning cylinder and the longitudinal positioning cylinder 551.

[0140] See also Fig.24 , to enter the upper turntable and lower turntable for parameter setting, you can choose front rotation, reverse rotation, set processing absolute positioning, positioning absolute positioning, processing position, positioning position, and current angle.

[0141] See also Fig.25 , which is the front automatic operation interface, is mainly used to test the selection of processing sequence position and the first point angle position of processing positioning in manual mode.

[0142] Front button: Select the front operation position for debugging.

[0143] Rear button: Select the front operation position for debugging.

[0144] Processing position: 1 to 13 automatically generate blade angles 8 to 13 based on the first blade angle, and the position is the welding processing position.

[0145] Positioning position: 1 to 13 automatically generate blade angles 8 to 13 based on the first blade angle, and the position is the blade positioning position.

[0146] Processing absolute position: After clicking, you can automatically move to the welding processing position of the selected position number according to the selected position number.

[0147] Positioning absolute position: After clicking, you can automatically move to the blade positioning position of the selected position number according to the selected position number.

[0148] The numerical input area on the left is used to enter the numerical values ​​required for each automatic process.

[0149] Intermediate recipe storage and reading area: used for recipe storage or reading.

[0150] Automatic process area on the right: Tooling cylinder up / down: used to control the lifting and lowering of tooling.

[0151] Reset: Stop and reset the machine status. Note that you need to click the start button after clicking reset.

[0152] Waiting for confirmation: Click it when ready to start automatic welding.

[0153] Start: Control the start of automatic welding.

[0154] Pause: Pause the automatic operation process and click Start again to continue.

[0155] exist Fig.26 The blade sequence of the welding process can be independently written to achieve rapid adjustment of the welding sequence.

[0156] See also Fig. 27 , which is the reverse automatic operation interface, is similar to the front automatic operation interface.

[0157] The numerical input area on the left is used to enter the numerical values ​​required for each automatic process.

[0158] Intermediate recipe storage and reading area: used for recipe storage or reading.

[0159] Automatic process area on the right: Reset: Stop and reset the mechanical state. Note that you need to click the start button after clicking reset.

[0160] Waiting for confirmation: Click it when ready to start automatic welding.

[0161] Start: Control the start of automatic welding.

[0162] Pause: Pause the automatic operation process and click Start again to continue.

[0163] exist Fig.28 The blade sequence of the welding process can be independently written to achieve rapid adjustment of the welding sequence.

[0164] See also Fig.29 , which is the I / O monitoring interface, used to monitor the status of each location.

[0165] Abnormal alarm and processing

[0166] (1) Air pressure alarm: When the air pressure is too low (or the air is not turned on), the system will alarm and the system will automatically shut down. Please pay attention

[0167] (2) When wire sticking occurs during automatic welding, click Pause first, cut the wire, check that the gun tip position remains unchanged, and then click Start.

[0168] (3) In other abnormal situations, turn off the power and restart.

[0169] Gun head debugging work:

[0170] 1. Front (upper turntable), such as Fig.30 The following is the front manual operation interface: Install the front workpiece → Click the upper turntable to return to the origin → After the upper turntable returns to the origin, click the tooling cylinder to lower → Install the blade at the No. 1 processing position → Click the upper turntable to rotate forward, and make the No. 1 blade to be processed roughly parallel to the gun head → Rotate the processing axis forward and extend the two gun heads into the workpiece → Click the lowering machine arm cylinder → Click the loosening machine arm cylinder to clamp the two gun heads and check whether the positions of the two gun heads are appropriate → Adjust the angle of the upper turntable and the positions of the two gun heads so that the blade to be processed is located in the middle of the two guns, and record the upper turntable angle data at this time → Click the loosening machine arm cylinders to release the guns in sequence Head, lifting arm cylinder, machining axis reverse, remove the gun head from the workpiece → click machining positioning cylinder → forward machining axis to make the gun head enter the workpiece, move the machine arm cylinder, unclamp the machine arm cylinder, debug again to confirm that the gun head position is correct, press the machining axis forward and reverse buttons, confirm the machining axis welding start and end positions and record them → click the unclamp machine arm cylinder, lifting arm cylinder, machining axis reverse in turn, remove the gun head from the workpiece → click machining positioning cylinder to raise the cylinder → click the detection position cylinder, record this data and then raise and click the cylinder again. At this time, the gun head position has been debugged.

[0171] 2. On the reverse side (lower turntable), Fig.31 As shown, the manual operation interface on the reverse side: After installing the workpiece, click the upper / lower turntable to return to the origin → After the lower turntable returns to the origin, make the No. 1 blade to be processed roughly parallel to the gun head → Rotate the machining axis forward, and extend the two gun heads into the workpiece → Click the lowering arm cylinder → Click the clamping arm cylinder to clamp the two gun heads, and check whether the positions of the two gun heads are appropriate → Adjust the angle of the lower turntable and the position of the two gun heads so that the blade to be processed is located in the middle of the two guns, and record the angle data of the lower turntable at this time → Click the clamping arm cylinder to loosen the gun head, the lifting arm cylinder, and the machining axis in sequence. The gun head exits the workpiece → click the machining positioning cylinder → rotate the machining axis forward to make the gun head enter the workpiece, move the machine arm cylinder, unclamp the machine arm cylinder, debug again to confirm that the gun head position is correct, press the machining axis forward and reverse buttons, confirm the welding start and end positions of the machining axis and record them → click the unclamp machine arm cylinder, lift the machine arm cylinder, and reverse the machining axis in sequence to withdraw the gun head from the workpiece → click the machining positioning cylinder to lift the cylinder → click the detection position cylinder, record this data and then lift it and click the cylinder again. At this time, the gun head position has been debugged.

[0172] Front automatic operation process

[0173] like Fig.32The following figure shows the front automatic operation interface. Click "Front automatic operation" → enter the required data in the input box on the left (if the corresponding formula is saved, click the corresponding formula and then click Read) → click "Next Page" → enter the workpiece processing sequence number → Reset → Start → Click Down after resetting → Click "Wait for Confirmation" after the parts are installed, and the system will automatically work → After the work is completed, the alarm will sound, click Pause, Reset, and take out the workpiece.

[0174] Reverse automatic operation process

[0175] like Fig.33 The following figure shows the reverse automatic operation interface. Click “Reverse Automatic Operation” → enter the required data in the left input box (if the corresponding formula is saved, click the corresponding formula and then click Read) → click “Next Page” → enter the workpiece processing sequence number → Reset → Start → After the reset is completed, click “Pending Confirmation” and the system will automatically work → After the work is completed, the alarm will sound, click Pause and take out the workpiece.

[0176] See also Fig.34 The welding process can be to weld a batch of front sides (upper turntable) first, and then weld the back sides (lower turntable) after the upper turntable welding is completed; or you can weld a front side (upper turntable), and then flip it over to weld the back side (lower turntable), and after all the blades on the back side of the lower turntable are welded, the zero level and welding are completed.

[0177] After the manual operation page for the first welding is set up completely, the formal welding adopts the automatic operation process of the front and back sides, which is more efficient. From the estimated capacity of the figure, it can be seen that from manual loading and unloading to the completion of part welding (cancelling the spot welding process), each person can produce 12 pieces per hour and 96 pieces per day (calculated based on 8 hours) at such a pace. The original manual welding method can weld up to 25 pieces per day (including spot welding) per person, and the welding quality is unstable, with leaking welding, cold welding, uneven and full welds.

[0178] According to the rhythm of automated welding, the efficiency is nearly 4 times higher than that of manual welding. From the perspective of labor cost, three quarters of labor cost can be saved. The quality is stable and human error can be avoided.

[0179] The above detailed description is a specific description of a feasible embodiment of the present invention. The embodiment is not intended to limit the patent scope of the present invention. Any equivalent implementation or modification that does not deviate from the present invention should be included in the patent scope of this case.

Claims

1. An automatic welding device for motor blades, characterized in that: The invention comprises a control and operation device (9) for controlling the operation of the whole set of equipment, and a laser system (1) connected to and controlled by the control and operation device (9), a laser head (3), a laser head clamping motion system (2), a clamping positioning motion mechanism (5), a clamping module (6), a lower rotating device (7), a tooling base (8), a fan blade welding adsorption module (10), a fan blade welding fixing device and an upper rotating device (13); the laser system (1) is connected to the laser head (3) and provides energy to the laser head; the laser head (3) is mounted on the laser head clamping motion system (2) and moves with the laser head and adjusts the welding angle; the laser head (3) is equipped with a wire feeding device (4) for providing welding wire; The laser head clamping motion system (2), the clamping positioning motion mechanism (5), and the upper rotating device (13) are mounted on the tooling base (8); the clamping module (6) cooperates with the clamping positioning motion mechanism (5) to clamp the fan blades; the lower rotating device (7) is mounted on the clamping positioning motion mechanism (5); the fan blade welding adsorption module (10) is mounted on the lower rotating device (7) and is controlled by the lower rotating device to achieve lifting; the fan blade welding fixture is mounted on the upper rotating device (13) and is controlled by the upper rotating device to achieve lifting; the fan blade welding fixture is opposite to the fan blade welding adsorption module (10) and is used to clamp the workpiece; the laser head (3) is aligned with the motor fan blade for welding; The laser head clamping motion system (2) comprises a servo motor (21), a clamping motion fixing frame (22), a walking mechanism (23), a single-axis motion mechanism (24), a clamping mechanism (25) and a clamping release mechanism (26); the clamping motion fixing frame (22) is mounted on one end of the walking mechanism (23) and is used to fix the cable, air pipe and wire feeding tube (41) of the laser gun head; the clamping release mechanism (26) is provided with a lifting structure with a lifting function, the clamping release mechanism (26) is mounted on the other end of the walking mechanism (23) through the lifting structure, and the clamping mechanism (25) is detachably mounted on both ends of the clamping release mechanism (26); the welding gun is mounted on the clamping mechanism (25) and is controlled by the clamping mechanism to adjust its angle, and the laser head (3) is arranged in the welding gun; the single-axis motion mechanism (24) comprises a linear guide rail and a moving seat arranged on the linear guide rail and capable of sliding along the linear guide rail, the walking mechanism (23) is mounted on the moving seat, and the output shaft of the servo motor (21) is connected to the moving seat through a screw rod and a nut; The clamping positioning movement mechanism (5) comprises an upper support frame (56), a positioning device (51) for detecting and assisting in adjusting the position of a workpiece, a workpiece fixing device (52) for pressing the workpiece to prevent it from being displaced, and a longitudinal positioning device (55) for longitudinally positioning the workpiece; the upper support frame (56) is mounted on the tooling base (8), and the positioning device (51), the workpiece fixing device (52), and the longitudinal positioning device (55) are mounted on the upper support frame (56); the wire feeding device (4) is rotatably arranged at the nozzle position of the laser head (3), the wire feeding device (4) comprises a wire feeding tube (41) connected thereto, the outlet of the wire feeding tube (41) is aligned with the nozzle outlet of the laser head (3), and the wire feeding device (4) is connected to the wire feeding machine of the equipment; The positioning device (51) comprises a detection cylinder (511), a cylinder fixing plate (512), a sensor fixing plate (513) and a laser displacement ranging sensor (514); the detection cylinder (511) is mounted on the cylinder fixing plate (512), the sensor fixing plate (513) is mounted on the telescopic rod of the detection cylinder (511), and the laser displacement ranging sensor (514) is mounted on the sensor fixing plate (513); the cylinder fixing plate (512) is mounted on the upper support frame (56) via a connecting plate; The workpiece fixing device (52) comprises a machining fixed cylinder (521), a positioning shaft (522), a fixed cylinder fixing plate (523), a machining fixed block (524) and a copper sleeve (525); the fixed cylinder fixing plate (523) is mounted on the machining fixed cylinder (521), and the machining fixed block (524) is mounted on the telescopic rod of the machining fixed cylinder (521); the copper sleeve (525) is mounted on the fixed cylinder fixing plate (523), the positioning shaft (522) is fixed to the copper sleeve (525) by means of a pin connection, and a U-shaped groove is provided at the end of the machining fixed block (524), and the U-shaped groove is sleeved on the outer periphery of the positioning shaft (522) and can slide along the same; the machining fixed block (524) directly contacts the surface of the workpiece during the welding process; The longitudinal positioning device (55) comprises a longitudinal positioning cylinder (551), a longitudinal cylinder fixing plate (552) and a longitudinal fixing block (553); the longitudinal positioning cylinder (551) is mounted on the upper support frame (56) via the longitudinal cylinder fixing plate (552), the longitudinal fixing block (553) is mounted on the telescopic rod of the longitudinal positioning cylinder (551), and the longitudinal fixing block (553) contacts or separates from the workpiece surface as the telescopic rod is extended or retracted; The upper support frame (56) is further provided with a power-assisting structure, the power-assisting structure comprising a power-assisting cylinder, the power-assisting cylinder being mounted on the upper support frame (56), a roller being mounted on a telescopic rod of the power-assisting cylinder, and the roller driving the fan blade welding adsorption module (10) to rotate at a predetermined speed after descending to the position of the fan blade welding adsorption module (10).

2. The motor blade automatic welding equipment according to claim 1 is characterized in that: The tightening module (6) comprises a mounting positioning plate (66), a starting device (63) and a top block (64); the mounting positioning plate (66) is provided with a mounting positioning slot (65), and the mounting positioning plate (66) is fixed to the upper support frame (56) by passing a bolt through the mounting positioning slot (65); the starting device (63) is mounted on the mounting positioning plate (66), and the top block (64) is arranged on the telescopic rod of the starting device (63); the starting device (63) is provided with a first pneumatic connection hole (61) and a second pneumatic connection hole (62) for connecting with a pneumatic structure.

3. The motor fan blade automatic welding equipment according to claim 1 is characterized in that: The lower rotating device (7) comprises a first single-phase servo motor (71), a first planetary gear reduction box (72) and a quick connector (73); the output shaft of the first single-phase servo motor (71) is connected to the input shaft of the first planetary gear reduction box (72) via a first coupling, and the output shaft of the first planetary gear reduction box (72) is connected to the quick connector (73); the upper support frame (56) is provided with an upper mounting frame (561), a lower mounting frame (562), a guide rod (563) and a guide cylinder (564); the guide cylinder (564) is mounted on the upper support frame A plurality of guide rods (563) are provided on the upper mounting frame (56), and the guide rods (563) are inserted into the guide cylinder (564) and can slide up and down along the guide cylinder (564); the upper ends of the plurality of guide rods (563) are fixed to the upper mounting frame (561), and the lower ends are fixed to the lower mounting frame (562); the first planetary gear reduction box (72) is mounted on the lower mounting frame (562), the quick connector (73) is sleeved in a center hole opened in the lower mounting frame (562), and the fan blade welding adsorption module (10) is mounted on the quick connector (73).

4. The motor blade automatic welding equipment according to claim 1 is characterized in that: The fan blade welding adsorption module (10) comprises a positioning turntable (101) and a fixed positioning plate (102); a plurality of evenly distributed rectangular grooves are provided on the outer periphery of the positioning turntable (101), and one end of the fixed positioning plate (102) is fixed in the rectangular groove by means of screws; the fixed positioning plate (102) is provided with a magnetic absorption hole (103) for placing a magnetic material.

5. The motor blade automatic welding equipment according to claim 4 is characterized in that: The fan blade welding and fixing device comprises a fan blade lower plate welding and fixing module and a fan blade upper plate welding and fixing module; the fan blade lower plate welding and fixing module comprises a first positioning tray (11); the workpiece comprises an upper turntable (141), supporting blades (142) and a lower turntable (143), and the supporting blades (142) are provided in a plurality and are evenly arranged between the upper turntable (141) and the lower turntable (143); a fixing hole (113) penetrating the upper and lower sides of the first positioning tray (11) is provided in the center, and an inner positioning ring (114) is formed around the fixing hole (113); the first positioning tray (11) is provided with a plurality of weight-reducing holes (111) along the circumferential direction, and the first positioning tray (11) An outer positioning ring (112) is provided along the peripheral direction, and a plurality of the outer positioning rings (112) are provided and are evenly arranged on the peripheral edge of the first positioning tray (11), and there is a gap between adjacent outer positioning rings (112); a positioning slot is provided at the lower end of the supporting blade (142), and the positioning slot is clamped on the lower turntable (143); the lower turntable (143) is placed on the first positioning tray (11) and is located inside the outer positioning ring (112); the first positioning tray (11) is detachably mounted on the upper rotating device (13) through the fixing hole (113), and at this time, the fan blade welding adsorption module (10) presses or releases the upper turntable (141); The fan blade upper plate welding and fixing module comprises a second positioning tray (12), and the second positioning tray (12) is detachably mounted on the upper rotating device (13); the upper rotating disk (141) is placed on the second positioning tray (12), and at this time, the fan blade welding adsorption module (10) presses or releases the lower rotating disk (143).

6. The motor blade automatic welding equipment according to claim 5, characterized in that: The upper rotating device (13) comprises a second single-phase servo motor (131), a second planetary gear reduction box (132), a planetary gear reduction box connecting plate (133), a column (134), a rotating assembly mounting plate (135), a stopper mounting plate (136), a rotating assembly (137) and a second coupling (138); the output shaft of the second single-phase servo motor (131) is connected to the input shaft of the second planetary gear reduction box (132), and the output shaft of the second planetary gear reduction box (132) is connected to the second coupling (138); the second planetary gear reduction box (132) is mounted on the planetary gear reduction box connecting plate (133) ), a plurality of columns (134) are provided, the lower ends of the columns (134) are fixed to the planetary gear reducer connecting plate (133), the upper ends of the columns (134) are fixed to the rotating assembly mounting plate (135), the rotating assembly mounting plate (135) is fixedly connected to the tooling base (8); the limiter mounting plate (136) is mounted on the rotating assembly mounting plate (135) by threaded connection, the limiter mounting plate (136) is provided with a threaded hole for mounting an origin photoelectric switch; the rotating assembly (137) is connected to the second coupling (138); the control operation device (9) is provided with an alarm device.

7. A method based on the motor fan blade automatic welding equipment according to claim 5, characterized in that: The following steps are involved: Step 1: Start the power supply, turn on the equipment, turn on the control operation device (9), turn on the laser power supply, and turn on the wire feeding device (4); Step 2: The fan blade welding adsorption module (10) is lifted to prepare for the installation of the workpiece parts; Step 3: The upper turntable (141) is mounted on the fan blade upper plate welding fixing module, and the supporting blades (142) are fixed on the fan blade welding adsorption module (10) in sequence, and the supporting blades (142) are adsorbed by the magnetic material of the magnetic adsorption hole (103); Step 4: The fan blade welding adsorption module (10) falls down, so that the supporting blade (142) contacts the upper rotating disk (141); Step 5: The support blades (142) are fixed and position calibrated, and the fan blade welding adsorption module (10) is driven to rotate clockwise or counterclockwise by the lower rotating device (7), and the tightening module (6) and the longitudinal positioning device (55) tighten and press each support blade (142); Step 6: After each supporting blade (142) is fixed in sequence, the laser head clamping motion system (2) moves forward, and the two laser heads (3) adjust the distance and angle through the clamping mechanism (25) and the loosening mechanism (26), and the laser heads (3) are placed on both sides of the supporting blade (142) through the power of the servo motor (21); Step 7: The workpiece fixing device (52) presses the supporting blade (142) downward to ensure that the supporting blade (142) is in close contact with the upper turntable (141), and the positioning device (51) locates the weld position and feeds back a signal to the control and operation device (9) through the laser displacement ranging sensor (514); after the positioning is completed, the positioning device (51) is lifted; Step 8: The two laser heads (3) of the laser head clamping motion system (2) simultaneously approach the gap to be welded, stay at the arc starting point, and be 8mm-12mm away from the gap to be welded. Adjust the angle and position of the welding wire, and control the extension of the welding wire to be 10mm-15mm. Adjust the position of the welding wire to ensure that the laser spot must fall on the welding wire, ensure that the welding wire is fully melted during the welding process, and effectively fill the gap to be welded; Step 9: The laser power is controlled at 800W-1300W. The power setting varies according to the thickness and structure of the parts. In order to control the deformation of the workpiece parts, the power should not be too high while ensuring the quality of the weld. For this workpiece part, the welding power is 1200W. When the power is low, adjust the welding speed to reduce it. The welding speed is controlled at 6-12mm / s during welding. Step 10: After the welding of the first support blade (142) is completed, the two laser heads (3) withdraw from the workpiece position and stop at the welding area, waiting for the next support blade (142) to rotate into place. The workpiece parts rotate under the drive of the upper and lower power devices. The rotation speed should not be too fast and is controlled within 25° / s to 45° / s. Step 11: Select to weld the next support blade (142), and repeat steps 7 to 9; select to weld the support blades (142) in sequence, or select to weld the support blades (142) at intervals. In order to prevent deformation caused by concentrated heat input during welding, which affects the subsequent welding of the support blades (142), the workpiece parts are welded at intervals, and select to weld one at intervals of 2, or select to weld one at intervals of 1, or select to be not fixed. When selecting not to fix the number of intervals for welding, be sure to select the manual mode; prepare the program in advance, use the automatic mode, and fix it in the program. Then, each workpiece part will use this welding sequence; Step 12: After the support blade (142) and the upper turntable (141) are welded, the workpiece parts are removed, the fan blade upper plate welding and fixing module is removed, and the fan blade lower plate welding and fixing module is installed on the equipment; Step 13: Install the lower rotating disk (143) on the fan blade lower plate welding and fixing module, place the upper rotating disk (141) to which the supporting blades (142) have been welded on top of the lower rotating disk (143), so that the supporting blades (142) are in contact with the lower rotating disk (143), and then repeat steps 7 to 9 to complete the welding of all the supporting blades (142); Step 14: The two laser heads (3) withdraw from the workpiece position and stop at the welding area, waiting for the next part to be installed and positioned, and then repeat steps 2 to 10; Step 15: After welding a batch of upper turntables (141) and supporting blades (142), the lower turntables (143) are welded uniformly. After welding the first upper turntable (141), lift the fan blade welding adsorption module (10), replace the next group of upper turntables (141) and supporting blades (142), and repeat steps 2 to 11; Step 16: After a batch of upper turntable welding is completed, repeat steps 12 to 14.

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