Interlocking type fan rotor blade automatic assembling and disassembling device and method

Abstract

The invention discloses an interlocking type fan rotor blade automatic assembling and disassembling device and method.The interlocking type fan rotor blade automatic assembling and disassembling device comprises a rotary table assembly used for containing a fan rotor and driving a fan rotor assembly to rotate, a blade body clamping assembly, a press-fitting rod and a robot clamping jaw assembly; during disassembly, the robot clamping jaw assembly pulls out the blades by clamping the top ends of the blade body clamping assemblies one by one, and during assembly, the robot clamping jaw assembly clamps the press-fitting rod and presses tenons of the blades downwards one by one through the bottom end of the press-fitting rod. The robot clamping jaw assembly is further provided with a force control sensor and a laser range finder which are electrically connected with the electric appliance cabinet. A controllable process is realized by utilizing a force control sensor, a laser range finder and a control circuit, that is, a blade is prevented from being damaged when the blade is assembled and disassembled by setting a protection upper limit of force and displacement, and the product quality, the blade assembly and disassembly efficiency, stability and reliability are improved.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft engine fan rotor blades, in particular to an automatic assembly and disassembly device for interlocking fan rotor blades. Background Art

[0002] The aircraft engine interlocking fan rotor blade assembly consists of a fan disk, rotor blades, and an outer casing. Figure 1 As shown, the blades are connected to the tenon of the fan disk with a dovetail tenon structure. Adjacent blades are provided with damping bosses on both sides of the blade body. Adjacent blades are overlapped with each other through the damping platform bosses, and there is an angle between the blade body and the tenon to form a full circle of blade interlocking. Due to the interlocking relationship of the blades, the blades cannot be assembled or disassembled in one go during assembly or disassembly.

[0003] In the prior art, the interlocking fan rotor blades are assembled in the following way: first, the rotor blades are sequentially inserted into the tenons of the fan disk to form a complete circle; then, using the assembly gap between the tenon damping platforms, each group of blades (three blades in a group) is manually hammered into the tenon in a clockwise direction with a rubber hammer, and after multiple rounds of knocking, all blades are assembled in place. The single insertion amount of the blade tenon in this process depends on the knocking force of the operator. If the single insertion amount of the tenon is too large, there is a risk of causing the boss to be dislocated and damage the adjacent blade basin. In addition, there is a risk of damaging the blade body due to knocking errors. The entire process is greatly affected by human factors.

[0004] The disassembly method is: use backpack straps to fix the blades one by one, then use a pry bar to penetrate the backpack straps, use the edges of the first and second level disks of the fan as fulcrums, and pull each blade counterclockwise through the lever principle, and repeat the pulling process for multiple circles until all blades are out of the mortise and tenon grooves before separating. This disassembly method is inefficient and labor-intensive, resulting in a large amount of labor costs and assembly cycle waste. In addition, the size of the disassembly force in the grading process depends on the operator's experience and feel. The height of each pull is uncontrollable. If the pull height is too high, the pull blade damping platform will damage the blade body of the next blade. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an interlocking fan rotor blade automatic assembly and disassembly device to solve the above-mentioned problems.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] An interlocking fan rotor blade automated assembly and disassembly device comprises a turntable assembly for placing a fan rotor and driving the fan rotor assembly to rotate, a blade body clamping assembly, a press rod and a robot gripper assembly. The blade body clamping assembly is detachably fixed to the blade, and the number of blade body clamping assemblies corresponds to the number of blades. During disassembly, the robot gripper assembly extracts the blades by clamping the top of the blade body clamping assembly one by one. During assembly, the robot gripper assembly clamps the press rod and presses the tenons of the blades downward one by one through the bottom of the press rod. The robot gripper assembly is also provided with a force control sensor and a laser rangefinder electrically connected to an electrical cabinet.

[0008] In the above invention content, further, the blade body clamping assembly includes a clamping plate that cooperates with the curved blade body of the blade and a fixed block fixed on the top of the clamping plate, a hook is provided at the bottom of the clamping plate, a downward-opening slide groove is provided in the fixed block, a clamping block is movably connected to the slide groove through a spring, a V-shaped groove is provided at the bottom of the clamping block that cooperates with the upper edge of the blade, a ball rod is also provided on the top of the fixed block, and a fastening bolt extending into the slide groove for tightening the clamping block is provided on the side of the fixed block.

[0009] In the above invention, further, the robot gripper assembly includes an electric gripper and two gripping blocks driven by the electric gripper, the two gripping blocks move toward or oppositely, and a groove cooperating with the club is formed on one side of the two gripping blocks facing each other.

[0010] In the above invention, further, the robot gripper assembly also includes a pressure rod fixed to one side of the electric gripper, and a support block is fixed to the bottom of the pressure rod.

[0011] In the above invention, further, the press rod is placed on the turntable assembly, the bottom of the press rod is in a truncated cone shape, and the top of the press rod is also provided with a ball rod for easy clamping by the robot gripper assembly.

[0012] In the above invention content, further, the turntable assembly includes a workbench, an annular support member arranged on the workbench, a drive motor and a rotating shaft connected to the drive motor, one end of the rotating shaft extends upward through the workbench and the annular support member, and a driving spline is provided on the rotating shaft. The driving spline is engaged with the outer inner spline of the bottom end of the fan rotor, and the rotating shaft drives the fan rotor to rotate through the driving spline, and the outer casing of the fan is placed on the annular support member.

[0013] In the above invention, further, a cover plate is provided at the top end of the rotating shaft, and the cover plate is used to press the top end of the fan rotor and is fixed by a clamping nut threadedly connected to the top end of the rotating shaft.

[0014] In the above invention content, further, the annular support member includes two coaxially arranged annular rods, the two annular rods are connected by multiple support rods and a U-shaped frame, the U-shaped frame is fixed on the lower annular rod, one end of the support rod is fixedly connected to the upper annular rod, and one end of the support rod passes through the U-shaped frame and is fixed by a nut; a plurality of rotatable inverted L-shaped pressure blocks are evenly distributed on the upper annular rod.

[0015] An automatic assembly method for interlocking fan rotor blades, the specific assembly steps of the blades are as follows:

[0016] Step 1: Install the fan rotor assembly onto the turntable and manually insert the blades into the fan disc tenon grooves one by one by a certain distance by pressing them tightly, and assemble them into a complete circle one by one;

[0017] Step 2: Set the force sensor and laser rangefinder monitoring values ​​through the electrical cabinet, start the robot gripper assembly and drive motor, control the force of each press-fitting through the force control sensor, and measure and determine whether the height displacement of each press-fitting is in place through the laser rangefinder;

[0018] Step 3: The robot gripper assembly first clamps the press rod placed on the turntable assembly, aligns the bottom end of the press rod with the tenon end face of the blade, and the robot gripper assembly drives the press rod to press the tenon of the blade one by one in sequence to move the blade downward a certain distance until the first circle of press fitting is completed;

[0019] Step 4: Repeat the above step 3, the robot gripper assembly drives the blade to continue to assemble downward for a certain distance until the blade is completely installed on the fan disk, wherein the robot gripper assembly drives the press rod to press the blade multiple times in a full circle.

[0020] An automatic disassembly method for interlocking fan rotor blades, wherein the steps of disassembly of the blades are as follows:

[0021] Step 1: Install the blade body clamping assembly on each blade one by one until the blade body clamping assembly is fixed on the entire circle of blades;

[0022] Step 2: Set the force sensor and laser rangefinder monitoring values ​​through the electrical cabinet, and start the robot gripper assembly and drive motor;

[0023] Step 3: The robot gripper assembly first grips the ball bar on the blade clamping assembly and moves upward, thereby driving the clamping plate and the blade fixed by the clamping plate to move upward a certain distance. The robot gripper assembly grips the blades one by one in sequence and moves a certain distance until the first circle of blade extraction is completed;

[0024] Step 4: When extracting the blades in the second circle, repeat the above step 3. The robot gripper assembly continues to pull the blades in the whole circle upward for a certain distance by gripping the blade body clamping assembly one by one. Then, the robot gripper assembly extracts the blades in the whole circle for multiple times until the last circle can be manually and easily removed from the fan disk.

[0025] Step 5: Finally, separate and store the blade clamping assembly from the blade.

[0026] The beneficial effects of the present invention are:

[0027] The present invention utilizes robots and camera vision recognition technology to replace operators' repetitive work, thereby liberating labor; utilizes force control sensors, laser rangefinders and control circuits to achieve process control, controls the magnitude of the force of each press-fitting (or extraction) through the force control sensor, controls the displacement of the press-fitting (or extraction) through the robot's motion accuracy, and determines whether the height displacement of each press-fitting (or extraction) is in place through the laser rangefinder, that is, by setting protection upper limits for force and displacement, damage to blades during assembly and disassembly of blades is prevented, thereby improving product quality; compared with traditional methods, this invention greatly improves the efficiency, stability and reliability of assembly and disassembly of interlocking fan rotor blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the connection between the blade and the fan rotor in the prior art;

[0029] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 3 It is a partial enlarged view of A of the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of the blade body clamping assembly of the present invention when clamping a blade;

[0032] Figure 5 It is a schematic structural diagram of the blade clamping assembly of the present invention;

[0033] Figure 6 A schematic diagram of the robot gripper assembly of the present invention when closed;

[0034] Figure 7 A schematic diagram of the robot gripper assembly of the present invention when it is opened;

[0035] Figure 8 It is a structural schematic diagram of the press-fitting rod of the present invention;

[0036] Fig. 9 It is a structural schematic diagram of the turntable assembly of the present invention;

[0037] Fig.10A schematic diagram of a fan rotor assembly of the present invention being placed on a turntable assembly;

[0038] Fig.11 It is a partial enlarged view of B of the present invention;

[0039] Fig.12 It is a partial enlarged cross-sectional view of C of the present invention;

[0040] Fig.13 It is the work flow chart of the present invention.

[0041] In the figure, 1-robot gripper assembly, 11-electric gripper, 12-grasping block, 13-groove, 14-pressure rod, 15-support block, 2-blade body clamping assembly, 21-clamp, 22-fixing block, 23-block, 231-V-groove, 24-ball rod, 25-fastening bolt, 3-turntable assembly, 31-workbench, 32-annular support, 321-annular rod, 322-U-shaped frame, 323-support rod, 33-drive motor, 34-rotating shaft, 35-cover plate, 4-pressing rod, 5-electrical cabinet, 6-blade, 61-tenon. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0043] Please refer to the attached Figure 2 and 3As shown, an interlocking fan rotor blade automatic assembly and disassembly device includes a turntable assembly 3 for placing a fan rotor and driving the fan rotor assembly to rotate, a blade body clamping assembly 2, a press rod 4 and a robot gripper assembly 1, wherein the blade body clamping assembly 2 is detachably fixed to the blade 6. When the blade 6 needs to be disassembled from the fan rotor assembly, the blade body clamping assembly 2 is fixed to the blade body of the blade 6, and the number of the blade body clamping assemblies 2 corresponds to the number of the blades 6, which is convenient for the operation of the robot gripper assembly 1; specifically, during disassembly, the robot gripper assembly 1 The robot gripper assembly 1 extracts the blade 6 by clamping the top end of the blade body clamping assembly 2 one by one. During assembly, the robot gripper assembly 1 clamps the pressing rod 4 and presses the tenon 61 of the blade 6 downward one by one through the bottom end of the pressing rod 4. The robot gripper assembly 1 is also provided with a force control sensor and a laser rangefinder (not shown in the accompanying drawings) electrically connected to the electrical cabinet 5. The force control sensor and the laser rangefinder are both arranged at the head of the robot gripper assembly 1 for easy monitoring in the operating room. The force control sensor and the laser rangefinder are used to set the upper limit of force and displacement protection to prevent damage to the blade 6.

[0044] Please refer to the attached Figure 4 and attached Figure 5 As shown, the blade body clamping assembly 2 includes a clamping plate 21 that matches the curved blade body of the blade 6 and a fixing block 22 fixed on the top of the clamping plate 21. A hook is provided at the bottom of the clamping plate 21. A downwardly opening slide groove (not shown in the drawings) is provided in the fixing block 22. A clamping block 23 is movably connected to the slide groove through a spring (not shown in the drawings). A V-shaped groove 231 is provided at the bottom of the clamping block 23 that matches the upper edge of the blade 6. When the blade body clamping assembly 2 is manually installed, the clamping block 23 is first pressed upward to make the blade 6 The blade 6 can be placed in the hook of the clamp 21, and the clamp block 23 is released. The clamp block 23 moves downward under the action of the spring, so that its V-shaped groove 231 can just be clamped on the upper edge of the blade 6. The side of the fixed block 22 is provided with a fastening bolt 25 extending into the slide groove for tightening the clamp block 23. The clamp block 23 is fixed by the fastening bolt 25 to prevent it from moving, thereby fixing the clamp 21 on the blade body of the blade 6. A ball rod 24 is also provided on the top of the fixed block 22 to facilitate the robot gripper assembly 1 to clamp the clamp 21 and drive the blade 6 to move together.

[0045] Please refer to the attached Figure 6 and attached Figure 7As shown, the robot gripper assembly 1 includes an electric gripper 11 and two gripping blocks 12 driven by the electric gripper 11, the two gripping blocks 12 move toward or oppositely, and a groove 13 that cooperates with the ball rod 24 is formed on the opposite side of the two gripping blocks 12; specifically, the electric gripper 11 drives the two gripping blocks 12 to move toward each other to clamp the ball rod 24 above the clamp plate 21 and place it in the groove 13, and after driving the clamp plate 21 to move upward for a certain distance, the electric gripper 11 drives the two gripping blocks 12 to move in opposite directions, releases the ball rod 24, and continues the above steps to clamp the ball rod 24 on the next clamp plate 21 until the extraction of a full circle of blades 6 is completed.

[0046] Please refer to the attached Figure 8 As shown, the press rod 4 is used for assembling the blade 6. The press rod 4 is placed on the workbench 31 of the turntable assembly 3. The bottom of the press rod 4 is in a truncated cone shape, and the top of the press rod 4 is also provided with a ball rod 24 for easy clamping of the robot gripper assembly 1. Since the robot gripper assembly 1 cannot be directly pressed onto the tenon 61 of the blade 6, it is easy to damage the blade 6. Therefore, the press rod 4 is used as an intermediate medium for assembly.

[0047] During the assembly process of blade 6, the robot gripper assembly 1 clamps the pressing rod 4 to press down the tenon 61 of blade 6, so that the tenon 61 of blade 6 moves downward along the tenon groove. However, in order to prevent the blade 6 from tipping to one side during the pressing process, the robot gripper assembly 1 also includes a pressing rod 14 fixed to one side of the electric gripper 11, and a support block 15 is fixed to the bottom of the pressing rod 14, so that the two ends of the blade 6 remain balanced during assembly.

[0048] Please refer to the attached Figure 9-12 As shown in the figure, the turntable assembly 3 includes a workbench 31, an annular support 32 arranged on the workbench 31, a drive motor 33 and a rotating shaft 34 connected to the drive motor 33. The output end of the drive motor 33 is connected to a gear reduction box (not shown in the figure) for controlling the rotation speed of the turntable assembly 3. One end of the rotating shaft 34 passes through the workbench 31 and the annular support 32 and extends upward. A drive spline is provided on the rotating shaft 34, and the drive spline is meshed with the inner spline at the bottom end of the fan rotor. Fig.12 As shown, when the fan rotor assembly is placed, the rotating shaft 34 passes through the fan rotor assembly and is coaxial with the fan rotor assembly. The rotating shaft 34 drives the fan rotor to rotate through the driving spline. The outer casing of the fan is placed on the annular support 32, and the outer casing is fixed and does not rotate with the fan rotor.

[0049] Because the robot gripper assembly 1 exerts an upward force on the fan rotor assembly when extracting the blade 6, in order to maintain the stability of the robot gripper assembly 1, a cover plate 35 is passed through the top end of the rotating shaft 34, and the cover plate 35 is used to press the top end of the fan rotor. When the fan rotor assembly is passed through the rotating shaft 34, the cover plate 35 is pressed downward on the top end of the fan rotor and is fixed by a clamping nut threadedly connected to the top end of the rotating shaft 34, so that the fan rotor assembly is firmly fixed on the workbench 31.

[0050] As attached Fig. 9 As shown, the annular support member 32 includes two coaxially arranged annular rods 321, the diameter of the annular rods 321 is substantially the same as the diameter of the fan rotor assembly, so that the outer casing of the fan rotor assembly can be placed on the annular rods 321, and the two annular rods 321 are connected by a plurality of support rods 323 and a U-shaped frame 322, and the U-shaped frame 322 is fixed to the lower annular rod 321, and one end of the support rod 323 is fixedly connected to the upper annular rod 321, and one end of the support rod 323 passes through the U-shaped frame 322 and is fixed by a nut. According to the number of blades 6 of the turbofan, the height of the annular support member 32, that is, the distance between the two annular rods 321, can be appropriately adjusted by the support rods 323 and the U-shaped frame 322; as shown in the attached Fig.11 As shown, a plurality of rotatable inverted L-shaped pressure blocks are evenly distributed on the upper annular rod 321. The inverted L-shaped pressure blocks are used to press the circumferential edge of the outer casing, and the inverted L-shaped pressure blocks are fixed by screws.

[0051] Combining the above content and the attached Fig.13 As shown, an automatic assembly method for interlocking fan rotor blades 6 is provided, and the specific assembly process of the blades 6 is as follows:

[0052] Step 1: Install the fan rotor assembly onto the annular rod 321 above the turntable by the above method and press it through the cover plate 35. The operator manually inserts the blades 6 into the tenon grooves of the fan disk in sequence, so that the bottom of the tenon 61 of the blade 6 is 10 mm away from the upper end of the tenon groove of the fan disk. Because there is a damping platform shoulder on the blade 6, the blade 6 cannot be completely assembled in the tenon groove at one time, and can only be pressed down step by step every 10 mm, and then assembled into a full circle one by one;

[0053] Step 2: After manually inserting a circle of blades 6 into the mortise and tenon groove 10mm, the force sensor and laser rangefinder are set to monitor the values ​​through the electrical cabinet 5, and the robot gripper assembly 1 is started to drive the motor 33, and the drive motor 33 drives the shaft 34, and the shaft 34 drives the fan rotor to rotate in degrees. Among them, the force of each press-fitting can be controlled by the force control sensor, and the laser rangefinder is used to measure and judge whether the height displacement of each press-fitting is in place, ensuring that the force and movement displacement acting on each blade 6 are the same to prevent damage to the blade 6. When the force value of the press-fitting exceeds the set upper limit, the press-fitting stops, an alarm is sounded, and human intervention is performed. After troubleshooting, the alarm is lifted and the program is clicked to continue running;

[0054] Step 3: During the first round of assembly, the robot gripper assembly 1 firstly grips the press rod 4 placed on the turntable assembly 3, aligning the bottom end of the press rod 4 with the end surface of the tenon 61 of the blade 6, and the robot gripper assembly 1 drives the press rod 4 to press the tenon 61 of the blade 6 one by one in sequence to move the blade 6 downward by a certain distance, that is, the tenon 61 moves downward by 10 mm along the tenon groove, until the first round of press assembly is completed;

[0055] Step 4: Repeat the above step 3, the robot gripper assembly 1 continues to assemble the blade 6 downward through the press rod 4 until the blade 6 is completely installed on the fan disk, wherein the robot gripper assembly 1 drives the press rod 4 to press the blade 6 for multiple full circles, and at least 20 circles are required to completely install the blade 6 into the tenon of the fan rotor assembly, thereby completing the assembly of the interlocking fan rotor blade 6.

[0056] An interlocking fan rotor blade 6 automatic disassembly method, when the blade 6 is disassembled, its principle is the same as the blade 6 assembly process. When disassembling, the entire blade 6 cannot be removed at one time, and it still needs to be completed in multiple circles. The specific disassembly steps of the blade 6 are as follows:

[0057] Step 1: Before starting the equipment, the operator manually installs the blade clamping assembly 2 on each blade 6 one by one. Please refer to the above invention content for the installation process of the blade clamping assembly 2, until the blade clamping assembly 2 is fixed on the entire circle of blades 6;

[0058] Step 2: Setting the force sensor and laser rangefinder monitoring values ​​through the electrical cabinet 5, and starting the robot gripper assembly 1 and the drive motor 33, the drive motor 33 drives the fan rotor to rotate in an indexing manner;

[0059] Step 3: Then, the robot gripper assembly 1 first grips a ball bar 24 on a blade body clamping assembly 2 and moves it upward by 10 mm, thereby driving the clamping plate 21 and the blade 6 fixed by the clamping plate 21 to move upward by 10 mm. The robot gripper assembly 1 then grips the blades 6 one by one in sequence and moves them by 10 mm until the first circle of the blade 6 is pulled out by 10 mm. The robot gripper assembly 1 does not stop working;

[0060] Step 4: When extracting the blade 6 in the second circle, repeat the above step 3, the robot gripper assembly 1 continues to drive the whole circle of blades 6 to be pulled up 10mm by gripping the blade body clamping assembly 2 one by one, and then the robot gripper assembly 1 extracts the blade 6 in a whole circle for multiple times, completing at least 20 circles of the process, at which time the blade 6 will be loose, until the bottom of the tenon 61 of the last circle of blades 6 is about 10mm away from the upper end of the tenon groove of the fan disk, the operator can manually and easily remove the blade 6 from the fan disk;

[0061] Step 5: Finally, the operator loosens the fastening bolts 25, and then separates and stores the blade body clamping assembly 2 and the blade 6, completing the disassembly of the interlocking fan rotor blade 6.

[0062] The present invention utilizes robots and camera vision recognition technology to replace workers' repetitive labor, thereby freeing up labor. At the same time, force control sensors, laser rangefinders, and control systems are utilized to realize process controllability, thereby improving product quality and reducing the loss of blades 6. This allows the process technology originally dominated by operating experience to be automated, thereby greatly improving the efficiency, stability, and reliability of the assembly and disassembly of interlocking fan rotor blades 6.

[0063] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0064] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An interlocking fan rotor blade automatic assembly and disassembly device, characterized in that: The invention comprises a turntable assembly (3) for placing a fan rotor and driving the fan rotor assembly to rotate, a blade body clamping assembly (2), a pressing rod (4) and a robot clamping assembly (1). The blade body clamping assembly (2) is detachably fixed on the blade (6), and the number of the blade body clamping assemblies (2) corresponds to the number of the blades (6). When disassembling, the robot clamping assembly (1) clamps the top of the blade body clamping assembly (2) one by one to extract the blades (6). When assembling, the robot clamping assembly (1) clamps the pressing rod (4) and presses the tenons (61) of the blades (6) downward one by one through the bottom of the pressing rod (4). The robot clamping assembly (1) is also provided with a force control sensor and a laser rangefinder electrically connected to the electrical cabinet (5).

2. The interlocking fan rotor blade automatic assembly and disassembly device according to claim 1, characterized in that: The blade body clamping assembly (2) comprises a clamping plate (21) matched with the arc-shaped blade body of the blade (6) and a fixing block (22) fixed on the top of the clamping plate (21), a hook is provided at the bottom of the clamping plate (21), a downwardly opening sliding groove is provided in the fixing block (22), a clamping block (23) is movably connected in the sliding groove through a spring, a V-shaped groove (231) matched with the upper edge of the blade (6) is provided at the bottom of the clamping block (23), a ball rod (24) is also provided at the top of the fixing block (22), and a fastening bolt (25) extending into the sliding groove for tightening the clamping block (23) is provided on the side of the fixing block (22).

3. The interlocking fan rotor blade automatic assembly and disassembly device according to claim 2, characterized in that: The robot gripper assembly (1) comprises an electric gripper (11) and two gripping blocks (12) driven by the electric gripper, wherein the two gripping blocks (12) move towards or in opposite directions, and a groove (13) cooperating with a ball rod (24) is formed on one side of the two gripping blocks (12) facing each other.

4. The interlocking fan rotor blade automatic assembly and disassembly device according to claim 3, characterized in that: The robot gripper assembly (1) further comprises a pressure rod (14) fixed to one side of the electric gripper (11), and a support block (15) is fixed to the bottom of the pressure rod (14).

5. The interlocking fan rotor blade automatic assembly and disassembly device according to claim 1, characterized in that: The press rod (4) is placed on the turntable assembly (3), the bottom of the press rod (4) is in a truncated cone shape, and the top of the press rod (4) is also provided with a ball rod for easy clamping by the robot gripper assembly (1).

6. The interlocking fan rotor blade automatic assembly and disassembly device according to claim 1, characterized in that: The turntable assembly (3) comprises a worktable (31), an annular support (32) arranged on the worktable (31), a drive motor (33) and a rotating shaft (34) connected to the drive motor (33); one end of the rotating shaft (34) passes through the worktable (31) and the annular support (32) and extends upward; a driving spline is arranged on the rotating shaft (34); the driving spline is externally meshed with an inner spline at the bottom end of a fan rotor; the rotating shaft (34) drives the fan rotor to rotate via the driving spline; and an outer casing of the fan is placed on the annular support (32).

7. The interlocking fan rotor blade automatic assembly and disassembly device according to claim 6, characterized in that: A cover plate (35) is provided at the top end of the rotating shaft (34). The cover plate (35) is used to press the top end of the fan rotor and is fixed by a compression nut threadedly connected to the top end of the rotating shaft (34).

8. The interlocking fan rotor blade automatic assembly and disassembly device according to claim 6, characterized in that: The annular support member (32) comprises two coaxially arranged annular rods (321), the two annular rods (321) are connected via a plurality of support rods (323) and a U-shaped frame (322), the U-shaped frame (322) is fixed to the lower annular rod (321), one end of the support rod (323) is fixedly connected to the upper annular rod (321), one end of the support rod (323) passes through the U-shaped frame (322) and is fixed via a nut; a plurality of rotatable inverted L-shaped pressing blocks (35) are evenly spaced on the upper annular rod (321).

9. An automated assembly method for interlocking fan rotor blades, characterized in that: An interlocking fan rotor blade automatic assembly and disassembly device according to any one of claims 1 to 8 is used, and the specific assembly steps of the blade (6) are as follows: Step 1: Install the fan rotor assembly onto the turntable and manually insert the blades (6) into the tenon grooves of the fan disc a certain distance in sequence by pressing them tightly, and assemble them one by one into a complete circle; Step 2: Setting the force sensor and laser rangefinder monitoring values ​​through the electrical cabinet (5), and starting the robot gripper assembly (1) and the drive motor (33), controlling the magnitude of the force applied during each press-fitting operation through the force control sensor, and determining whether the height displacement of each press-fitting operation is in place through the laser rangefinder; Step 3: The robot gripper assembly (1) first grips the press rod (4) placed on the turntable assembly (3), aligning the bottom end of the press rod (4) with the end surface of the tenon (61) of the blade (6), and the robot gripper assembly (1) drives the press rod (4) to press the tenon (61) of the blade (6) one by one in sequence, so that the blade (6) moves downward a certain distance until the first circle of press fitting is completed; Step 4: Repeat the above step 3, the robot gripper assembly (1) makes the blade (6) continue to be assembled downward for a certain distance until the blade (6) is completely installed on the fan disk, wherein the robot gripper assembly (1) drives the pressing rod (4) to press the blade (6) multiple times in a full circle.

10. An automated disassembly method for interlocking fan rotor blades, characterized in that: An interlocking fan rotor blade automatic assembly and disassembly device according to any one of claims 1 to 8 is used, and the steps of disassembly and assembly of the blade (6) are as follows: Step 1: Install the blade body clamping assembly (2) onto each blade (6) one by one until the blade body clamping assembly (2) is fixed onto the entire circle of blades (6); Step 2: Setting the force sensor and laser rangefinder monitoring values ​​through the electrical cabinet (5), and starting the robot gripper assembly (1) and the drive motor (33); Step 3: The robot gripper assembly (1) first grips the ball rod (24) on the blade body clamping assembly (2) and moves upward, thereby driving the clamping plate (21) and the blade (6) fixed by the clamping plate (21) to move upward a certain distance, and the robot gripper assembly (1) sequentially grips the blades (6) one by one and moves a certain distance until the first circle of blades is extracted; Step 4: When extracting the blades (6) in the second circle, repeat the above step 3, the robot gripper assembly (1) continues to drive the entire circle of blades (6) to be pulled upwards for a certain distance by gripping the blade body clamping assembly (2) one by one, and then the robot gripper assembly (1) extracts the blades (6) in the entire circle for multiple times until the last circle can be manually and easily removed from the fan disk; Step 5: Finally, the blade body clamping assembly (2) and the blade (6) are separated and stored.

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