Automatic single crystal blade wax mold assembling process and system

Abstract

The invention discloses an automatic single crystal blade wax mold assembling process and system, and the system comprises a welding positioning turntable, and a clamping manipulator, a welding manipulator and a transfer manipulator which are sequentially arranged around the welding positioning turntable, and further comprises a wax melting barrel, a wax dipping device and a first tool replacement station, the first storage station, the second storage station and the third storage station can be used for storing a chassis wax mould, a flower disc wax mould, a blade wax mould and a middle column pipe wax mould required by N modules, and N is an integer not less than 2. The clamping manipulator is provided with a first clamping tool and a second clamping tool in a replaceable mode, the first clamping tool is used for clamping a base plate wax mold and a flower disc wax mold, the second clamping tool is used for clamping a blade wax mold, the welding manipulator is provided with a bonding wax injection assembly, and the transfer manipulator is provided with a third clamping tool used for clamping a center column pipe wax mold. According to the method, the shape quality, the strength and the batch production efficiency of the welding seam of the single crystal blade wax mold module are improved.

Description

Technical Field

[0001] The invention relates to the technical field of wax mold precision casting, and in particular to an automatic mold assembly process and system for a single crystal blade wax mold. Background Art

[0002] Single crystal blades are a key component that works under high temperature conditions such as aircraft engines. The manufacturing process of single crystal blades mainly includes material selection, ingot preparation, casting, cutting, cleaning and processing. Among them, the casting process is the core process of single crystal blades. Wax mold precision casting (also known as lost wax casting or investment casting) is generally used. The principle is to use investment mold materials (low melting point materials such as wax materials, etc.) to make investment mold parts and form modules, and then apply several layers of refractory materials on the surface of the module. After hardening and drying, the module is heated to melt the mold material to form a hollow shell. After high-temperature sintering, metal liquid is poured and the casting is obtained after cleaning.

[0003] The melt pattern parts of single crystal blade wax mold precision casting mainly include blade wax mold, center column tube wax mold, chassis wax mold and faceplate wax mold. At present, there are common problems in the production process of the module composed of melt pattern parts, such as poor weld shape quality, low weld strength, low production efficiency, etc., which need to be solved. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a single crystal blade wax mold automatic assembly process and system, so as to effectively solve the above-mentioned problems in the production link of molten sample part assembly.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A single crystal blade wax mold automatic assembly system, comprising:

[0007] The welding positioning turntable comprises a first turntable and a positioning platform located on the top of the first turntable, wherein the positioning platform is provided with a positioning structure for fixing and placing the chassis wax mold;

[0008] A gripping manipulator, a welding manipulator and a transfer manipulator are sequentially arranged around the welding positioning turntable, the gripping manipulator is replaceably provided with a first gripping tool and a second gripping tool, the first gripping tool is used to grip the chassis wax mold and the flower disk wax mold, the second gripping tool is used to grip the blade wax mold, the welding manipulator is provided with an adhesive wax injection assembly, and the transfer manipulator is provided with a third gripping tool for gripping the center column tube wax mold;

[0009] The wax barrel is located on the side of the welding manipulator close to the gripping manipulator and is connected to the bonding wax injection assembly through a heated wax delivery pipe;

[0010] A wax dipping device, located between the clamping manipulator and the welding positioning turntable;

[0011] A first tool replacement station, located at a side of the gripping manipulator away from the wax melting barrel, for storing the first gripping tool and the second gripping tool;

[0012] The first storage station and the second storage station are located on the side of the clamping manipulator away from the welding positioning turntable, the first storage station can store the chassis wax molds and the face plate wax molds required by N modules at the same time, and the second storage station can store the blade wax molds required by N modules at the same time;

[0013] The third storage station is located on the side of the transfer robot away from the welding robot. The third storage station can simultaneously store the center column tube wax molds required for N modules, where N is an integer not less than 2.

[0014] Optionally, in the above-mentioned single crystal blade wax mold automatic assembly system, the third storage station includes a second turntable and a plurality of hangers arranged on the periphery of the second turntable, and the hangers are used to hang and store the center column tube wax mold.

[0015] Optionally, the above-mentioned single crystal blade wax mold automatic assembly system includes a mold storage cart, and the mold storage cart is located on a side of the welding positioning turntable away from the wax barrel.

[0016] Optionally, in the above-mentioned single crystal blade wax mold automatic assembly system, it includes a base plate, and the welding positioning turntable, the clamping robot, the welding robot, the transfer robot, the wax barrel, the wax dipping device, the first tooling replacement station, the first storage station, the second storage station and the third storage station are detachably fixed to the base plate.

[0017] Optionally, in the above-mentioned single crystal blade wax mold automatic assembly system, it includes a surrounding plate arranged around the edge of the base plate, and the surrounding plate is provided with a protective door for workers to enter and exit.

[0018] Optionally, in the above-mentioned single crystal blade wax mold automatic assembly system, a control panel located next to the protective door is provided on the enclosure, and the control panel is electrically connected to the control cabinet.

[0019] Optionally, in the above-mentioned single crystal blade wax mold automatic assembly system, the control cabinet is arranged within the area enclosed by the enclosure and is located at the edge of the base plate.

[0020] Optionally, the above-mentioned single crystal blade wax mold automatic assembly system includes:

[0021] The second tool changing station is located on a side of the welding robot close to the transfer robot and is used to store the third clamping tool.

[0022] A single crystal blade wax mold automatic assembly process, executed in a single crystal blade wax mold automatic assembly system as disclosed in any one of the above items, comprises the following steps:

[0023] Step A, placing the chassis wax mold, the face plate wax mold, the blade wax mold and the center column tube wax mold required by N modules into the first storage station, the second storage station and the third storage station respectively, where N is an integer not less than 2;

[0024] Step B, starting the automatic mold assembly program, the gripping robot changes to the first gripping tool at the first tool changing station and moves to the first storage station, takes the chassis wax model and places the chassis wax model on the positioning table, and then the gripping robot returns to the first tool changing station and changes to the second gripping tool;

[0025] Step C, the gripping robot moves to the second storage station, takes the blade wax model and moves the blade wax model to the wax dipping device to dip in the heated adhesive wax, and then moves the blade wax model to the positioning platform and bonds it to the chassis wax model;

[0026] Step D, the welding manipulator moves the adhesive wax injection assembly to the positioning platform and injects adhesive wax along the connection between the blade wax mold and the chassis wax mold to complete the welding of the blade wax mold and the chassis wax mold, and then the gripping manipulator returns to the second storage station to take out the next blade wax mold;

[0027] Step E, repeating step C and step D until the welding of all blade wax molds and chassis wax molds required for one module is completed to obtain a first welded assembly;

[0028] Step F, the transfer robot takes the center column tube wax mold from the third storage station and moves it to the top of the first welding assembly, so that the end of the center column tube wax mold that adapts to the chassis wax mold is vertically upward;

[0029] Step G, the gripping manipulator returns to the first tool changing station, puts on the first gripping tool, and then moves to the first storage station, takes the flower disc wax mold, moves the flower disc wax mold to the top of the center column tube wax mold, and then moves the flower disc wax mold vertically downward to the flower disc positioning position of the center column tube wax mold;

[0030] Step H, the welding manipulator moves the adhesive wax injection assembly to the top of the faceplate wax mold and injects adhesive wax along the connection between the center column tube wax mold and the inner side of the faceplate wax mold to complete the welding of the center column tube wax mold and the faceplate wax mold, thereby obtaining a second welding assembly;

[0031] Step I, the transfer robot flips the second welding assembly vertically and moves it to just above the first welding assembly, and then moves the second welding assembly vertically downward so that the center column tube wax mold and the flower disk wax mold are respectively connected to the first positioning groove in the center of the chassis wax mold and the second positioning groove at the upper end of the blade wax mold;

[0032] Step J, the welding robot moves the adhesive wax injection assembly to the first positioning groove and injects adhesive wax along the connection between the center column tube wax mold and the chassis wax mold to complete the welding of the center column tube wax mold and the chassis wax mold, and then the transfer robot releases the center column tube wax mold and leaves the second welding assembly;

[0033] Step K, the welding manipulator moves the adhesive wax injection assembly to the second positioning groove and injects adhesive wax along the connection between the face plate wax mold and the blade wax mold to complete the welding of the face plate wax mold and the blade wax mold, and then the first turntable rotates 360° / M, where M is the number of blade wax molds corresponding to one module;

[0034] Step L, repeat step K until the welding of all blade wax molds and the disc wax mold of the first welding assembly is completed, and then the welding robot moves the adhesive wax injection assembly above the disc wax mold and injects adhesive wax along the connection between the center column tube wax mold and the outer side of the disc wax mold to obtain a complete module.

[0035] Optionally, in the above-mentioned single crystal blade wax mold automatic assembly process, after the step L, it also includes:

[0036] In step P, the transfer robot moves the module obtained in step L from the positioning table to a module storage vehicle located beside the welding positioning turntable.

[0037] The single crystal blade wax mold automatic assembly system provided by the present invention has the following beneficial effects:

[0038] (1) Realize fully automated welding in the entire module production process, improve production efficiency, and ensure the quality of weld shape.

[0039] (2) A single loading can complete the welding of multiple modules, thus realizing the continuous production of modules.

[0040] (3) The welding method adopts a combination of wax dipping and injection adhesive wax to ensure that the welding between the blade wax model and the chassis wax model is more firm, thereby improving the overall structural strength of the module. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0042] Figure 1 is a schematic diagram of a single wax model module according to an embodiment of the present invention;

[0043] Figure 2 is a top view schematic diagram of a single crystal blade wax mold automatic assembly system provided by an embodiment of the present invention;

[0044] Figure 3 is a front view schematic diagram of a single crystal blade wax mold automatic assembly system provided by an embodiment of the present invention;

[0045] Figure 4 is a left schematic diagram of a single crystal blade wax mold automatic assembly system provided by an embodiment of the present invention;

[0046] Figure 5 is a schematic diagram of a first clamping tool according to an embodiment of the present invention, the first clamping tool is used to clamp a chassis wax model and a faceplate wax model;

[0047] Figure 6 is a schematic diagram of a second clamping tool according to an embodiment of the present invention, the second clamping tool is used to clamp a blade wax model;

[0048] Figure 7 is a schematic diagram of a third clamping tool according to an embodiment of the present invention, the third clamping tool is used to clamp the center column tube wax model;

[0049] Figure 8 is a schematic diagram of a bonding wax injection assembly according to an embodiment of the present invention.

[0050] The markings in the figure are:

[0051] 1. Bottom plate; 2. Positioning table; 3. Gripping manipulator; 4. Wax barrel; 5. Fixed frame; 6. Clamping block; 7. Wax injection tube; 8. Wax injection nozzle; 81. Bending part; 9. Manipulator base; 10. Welding manipulator; 11. Wax dipping device; 12. Second storage station; 13. First storage station; 14. First tooling changing station; 15. Second tooling changing station; 16. Transfer manipulator; 17. Third storage station; 18. Control cabinet; 19. Module storage cart; 20. Enclosure; 21. Blade wax model; 22. Chassis wax model; 23. Flower disk wax model; 24. Center column tube wax model; 25. Hanging rack; 26. Second turntable; 27. Protective door; 28. Control panel; 29. ​​First turntable; 30. Micro cylinder; 31. Second clamping tool; 32. First clamping tool; 33. Third clamping tool; 34. Clamping cylinder; 35. Support frame. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] See also Figure 1 to Figure 8 The embodiment of the present invention provides a single crystal blade wax mold 21 automatic mold assembly system (hereinafter referred to as "automatic mold assembly system"), which is used for automatically mass-producing the mold required for making single crystal blades using a wax mold precision casting process. The structure and main components of the module are as follows Figure 1 As shown, it includes a blade wax mold 21, a center column tube wax mold 24, a chassis wax mold 22 and a face plate wax mold 23. It should be noted that for the sake of convenience, Figure 1 The blade wax model 21 in the figure is simplified compared with the wax model structure in actual production, and this simplification does not affect the understanding of the technical solution of the present invention. Figure 1 The blade wax mold 21 shown as an example has a one-to-one relationship with the single crystal blades cast subsequently, that is, the number of single crystal blades corresponding to a module is equal to the number of blade wax molds 21 corresponding to it. However, in actual production, the blade wax mold 21 can also be configured to have a one-to-many relationship with the single crystal blades cast subsequently, and the present invention is not limited to this.

[0054] It should be understood that from a production perspective, Figure 1The displayed module is the product of the automatic assembly system of the single crystal blade wax model 21, while the blade wax model 21, the center column tube wax model 24, the chassis wax model 22 and the faceplate wax model 23 are production materials, which can be called incoming materials. These production materials are pre-made, and the function of the automatic assembly system is to combine these production materials into a predetermined structure (i.e. Figure 1 The automatic mold assembly system provided by the embodiment of the present invention includes a welding positioning turntable and a gripping robot 3, a welding robot 10 and a transfer robot 16 arranged in sequence around the welding positioning turntable, and also includes a wax barrel 4, a wax dipping device 11, a first tooling replacement station 14, a first storage station 13, a second storage station 12 and a third storage station 17.

[0055] Among them, the welding positioning turntable has a first turntable 29 and a positioning table 2 located on the top of the first turntable 29, and the positioning table 2 is provided with a positioning structure for fixing and placing the chassis wax mold 22. The first turntable 29 has a rotation function, and its movement principle is the existing conventional technology, so it is not introduced in detail. The positioning table 2 is fixedly connected to the first turntable 29, so it can rotate around the vertical axis with the first turntable 29. The positioning table 2 provides a working area for welding and assembling each wax mold, that is, the welding work is mainly completed in this area, so the welding positioning turntable can be regarded as the core area of ​​the automatic mold assembly system, and other equipment arranged around the welding positioning turntable can better complete the coordination work.

[0056] The automatic mold assembly system includes at least three industrial robots, namely a clamping robot 3, a welding robot 10 and a transfer robot 16, which are arranged in sequence around the welding positioning turntable and perform different functions. The clamping robot 3 is replaceably provided with a first clamping tool 32 and a second clamping tool 31, that is, the clamping robot 3 can automatically complete the replacement of its end clamping tool. It should be noted that the automatic replacement of the end clamping tool by the industrial robot is a mature prior art and is not described in detail here. When the clamping robot 3 is working, its end is selectively replaced with the first clamping tool 32 or the second clamping tool 31. The first clamping tool 32 is used to clamp the chassis wax mold 22 and the flower disk wax mold 23, and the second clamping tool 31 is used to clamp the blade wax mold 21. The welding manipulator 10 is provided with an adhesive wax injection assembly, which is connected to the wax barrel 4 located on the side of the welding manipulator 10 close to the clamping manipulator 3 through a heated wax delivery pipe. The heating function of the wax delivery pipe allows the adhesive wax to remain in a fluid state during the transmission from the wax barrel 4 to the adhesive wax injection assembly. The adhesive wax injection assembly plays the role of injecting adhesive wax into the connection between the two wax molds to form a weld. The transfer manipulator 16 is provided with a third clamping fixture 33 for clamping the center column tube wax mold 24, that is, the end of the transfer manipulator 16 is equipped with a third clamping fixture 33 capable of clamping the center column tube wax mold 24.

[0057] The wax dipping device 11 is located between the gripping manipulator 3 and the welding positioning turntable. The wax dipping device 11 provides heated adhesive wax for dipping, that is, the wax dipping device 11 has a heating function so that the adhesive wax contained in it remains in a molten state. The first tool change station 14 is located on the side of the gripping manipulator 3 away from the wax barrel 4, and is used to store the first gripping tool 32 and the second gripping tool 31. The gripping manipulator 3 completes the replacement of its end gripping tool at the first tool change station 14. The first storage station 13 and the second storage station 12 are located on the side of the gripping manipulator 3 away from the welding positioning turntable, and the third storage station 17 is located on the side of the transfer manipulator 16 away from the welding manipulator 10. The first storage station 13 can store the chassis wax mold 22 and the flower disk wax mold 23 required by N modules at the same time, the second storage station 12 can store the blade wax mold 21 required by N modules at the same time, and the third storage station 17 can store the center column tube wax mold 24 required by N modules at the same time, where N is an integer not less than 2. That is to say, the first storage station 13, the second storage station 12 and the third storage station 17 can load the production materials required for making more than two modules at one time. In this way, the welding of multiple modules can be completed by a single loading, which is conducive to achieving continuous production.

[0058] The automatic mold assembly system provided by the present invention can realize the full-process fully automated welding of the module production process, including the welding of the blade wax mold 21 and the chassis wax mold 22, the welding of the center column tube wax mold 24 and the faceplate wax mold 23, the welding of the faceplate wax mold 23 and the blade wax mold 21, and the welding of the center column tube wax mold 24 and the chassis wax mold 22. For the specific welding process, please refer to the automatic mold assembly process of the single crystal blade wax mold 21 introduced later. Through the full-process fully automated welding, the automatic mold assembly system provided by the present invention improves the production efficiency and ensures the quality of the weld shape. Moreover, due to the welding method combining wax dipping and injection adhesive wax, the welding between the blade wax mold 21 and the chassis wax mold 22 is guaranteed to be more firm, thereby improving the overall structural strength of the module.

[0059] In some embodiments, the third storage station 17 may include a second turntable 26 and a plurality of hangers 25 disposed around the second turntable 26. The second turntable 26 has a rotation function, and its movement principle is an existing conventional technology, so it is not described in detail. A circle of hangers 25 is disposed around the rotation axis of the second turntable 26. As the second turntable 26 rotates, the hangers 25 move along the circumference of the second turntable 26. The hangers 25 are used to hang and store the center column tube wax model 24, that is, the center column tube wax model 24 is hung on the hangers 25 for standby use. By setting the hanging bracket 25 and the second turntable 26, on the one hand, the center column tube wax mold 24 can be kept in a suspended state when in standby state, which can facilitate the third clamping tool 33 of the transfer robot 16 to clamp the center column tube wax mold 24; on the other hand, the standby center column tube wax mold 24 can be moved to a predetermined position for the transfer robot 16 to take away, that is, the transfer robot 16 takes the center column tube wax mold 24 from a fixed position each time, which can facilitate the setting of the trajectory control program of the transfer robot 16.

[0060] In some embodiments, the automatic mold assembly system may include a module storage cart 19, which may be located on the side of the welding positioning turntable away from the wax barrel 4. The module storage cart 19 is used to store module products. The module storage cart 19 has wheels and has a mobile function. After being filled with module products, the module products can be transferred in batches to the next process. In this way, the automatic mold assembly system can be equipped with an automatic unloading function, using the transfer manipulator 16 to move the module products from the positioning table 2 to the module storage cart 19 located next to the welding positioning turntable, thereby achieving rapid unloading.

[0061] In some embodiments, the automatic mold assembly system may include a base plate 1, and the aforementioned equipment, such as the welding positioning turntable, the clamping robot 3, the welding robot 10, the transfer robot 16, the wax barrel 4, the wax dipping device 11, the first tooling replacement station 14, the first storage station 13, the second storage station 12 and the third storage station 17, etc., are detachably fixed to the base plate 1. The base plate 1 provides a basis for the installation of the equipment, and the equipment is detachably fixedly connected to the base plate 1, which can facilitate the maintenance and repair of the equipment. In addition, the base plate 1 can be configured with multiple optional installation positions for one or some equipment, which can facilitate the flexible design of the automatic mold assembly system. For example, Figure 2 and Figure 3 In the exemplary embodiment, the transfer robot 16 is installed on the base plate 1 through the manipulator base 9. The base plate 1 can be provided with two installation positions for the manipulator base 9. By disassembling the manipulator base 9 and the base plate 1 and reinstalling them to another installation position, the layout position of the transfer robot 16 on the base plate 1 can be changed, thereby realizing the change of the overall industrial robot layout of the automatic molding system.

[0062] In some embodiments, the automatic die assembly system may include a panel 20 arranged around the edge of the base plate 1, and a protective door 27 for workers to enter and exit is provided on the panel 20. The panel 20 encloses the working area of ​​the automatic die assembly system, effectively preventing people from entering the working area when the system is working, thereby avoiding the occurrence of personal safety accidents. Before the system works, the staff can open the protective door 27 to send the production materials into the working area enclosed by the panel 20 to complete the loading work.

[0063] In some embodiments, a control panel 28 located beside the protective door 27 may be provided on the enclosure 20, and the control panel 28 is electrically connected to the control cabinet 18. It should be understood that the control cabinet 18 is an electrical device for the automatic assembly system to realize automatic control, which can be figuratively understood as the brain of the automatic assembly system. The motion equipment of the automatic assembly system, such as the aforementioned industrial manipulator, the first turntable 29, the second turntable 26 and other equipment are all electrically connected to the control cabinet 18. It should be noted that the connection of electrical automation belongs to the conventional prior art, so it is not introduced in detail. The control panel 28 is a device for human-computer interaction with the staff. The staff can set some control parameters through the control panel 28, such as the moving speed of the industrial manipulator, the temperature of the wax barrel 4 and the wax dipping device 11 and other parameters. The control panel 28 is located on the outer surface of the enclosure 20, and the staff can easily set or adjust the control parameters by standing on the outside of the enclosure 20. In some embodiments, the control panel 28 can be configured with a display screen to display information representing the operating status of the system so that the staff can understand the system operation status in real time.

[0064] In some embodiments, the control cabinet 18 of the automatic mold assembly system can be arranged within the area enclosed by the enclosure 20 and located at the edge of the bottom plate 1. In this way, the overall layout of the automatic mold assembly system can be made more compact and save space. Figure 2 and Figure 3 In the exemplary embodiment, the bottom plate 1 can be set to a rectangular shape, and the control cabinet 18 can be set at the corner of the bottom plate 1. Of course, in other embodiments, the bottom plate 1 can also be set to other shapes, such as a circle, a regular pentagon, a regular hexagon, etc., and the present invention is not limited to this.

[0065] In some embodiments, the automatic assembly system may include a second tooling replacement station 15, which is located on the side of the welding robot 10 close to the transfer robot 16 and is used to store the third gripping tooling 33. The transfer robot 16 can be configured to automatically replace the third gripping tooling 33, and the transfer robot 16 completes the replacement of the gripping tooling at its end at the second tooling replacement station 15. For example, the second tooling replacement station 15 is configured to store two third gripping tools 33 at the same time, and after one of the third gripping tools 33 is installed at its end by the transfer robot 16, the other third gripping tooling 33 can be left at the second tooling replacement station 15 as a backup.

[0066] See also Figure 1 and Figure 5 The first clamping tool 32 is designed to be adapted according to the structure of the chassis wax model 22 and the face plate wax model 23, so that the chassis wax model 22 and the face plate wax model 23 use the same clamping tool, that is, after the end of the clamping manipulator 3 is replaced with the first clamping tool 32, it can clamp both the chassis wax model 22 and the face plate wax model 23. It should be noted that the working principle of the first clamping tool 32 clamping the chassis wax model 22 and the face plate wax model 23 can be conventionally designed. Since this part of the content does not belong to the improvement of the prior art of the present invention, it will not be described in detail here.

[0067] See also Figure 6 The second clamping tool 31 can clamp the blade wax model 21 by using two conventional clamping arms that can move linearly relative to each other. Of course, in other embodiments, the second clamping tool 31 can be set to other structural forms, as long as it can clamp the blade wax model 21. The present invention does not limit the structural form of the second clamping tool 31.

[0068] Similarly, the present invention does not limit the structural form of the third clamping tool 33 and the bonding wax injection assembly. Figure 7 In some embodiments, the third clamping operation may be provided with a clamping cylinder 34 and two clamping blocks 6 driven by the clamping cylinder 34. The clamping blocks 6 may be provided in a C shape so as to be in contact with the cylindrical outer surface of the center column tube wax mold 24, thereby more securely clamping the center column tube wax mold 24. Figure 8In some embodiments, the adhesive wax injection assembly may include a fixed frame 5, a support frame 35, a wax injection tube 7 and a wax injection nozzle 8. The fixed frame 5 is used to connect the movable end of the welding manipulator 10. The support frame 35 is fixedly mounted on the side wall of the fixed frame 5. The wax injection nozzle 8 is fixedly mounted on the bottom end of the fixed frame 5. The wax injection tube 7 is mounted on the support frame 35, and the wax injection tube 7 is connected to the wax injection nozzle 8. The aforementioned wax barrel 4 is connected to the wax injection tube 7 through a heated wax delivery pipe. The adhesive wax flows from the wax injection tube 7 into the wax injection nozzle 8, and is finally injected from the wax injection nozzle 8 to the wax mold connection where the weld is to be formed. In some embodiments, the bottom end of the wax injection nozzle 8 may be provided with a bending portion 81, which is convenient for extending to a relatively inner position of the wax mold to complete the injection of the adhesive wax. In some embodiments, a micro cylinder 30 can be fixedly installed on the side of the support frame 35, and the wax injection tube 7 can be set as a flexible hose. The power output end of the micro cylinder 30 is abutted against the side wall of the wax injection tube 7. By squeezing and releasing the wax injection tube 7 by the micro cylinder 30, the flow cross-section size of the wax injection tube 7 can be changed, thereby adjusting the flow rate of the adhesive wax.

[0069] Based on the automatic molding system for the single crystal blade wax mold 21 provided by the present invention, the present invention further provides an automatic molding process for the single crystal blade wax mold 21 (hereinafter referred to as "automatic molding process"), comprising the following steps S1 to S12:

[0070] Step S1, the chassis wax mold 22, the face plate wax mold 23, the blade wax mold 21 and the center column tube wax mold 24 required for N modules are placed in the first storage station 13, the second storage station 12 and the third storage station 17 respectively, where N is an integer not less than 2. Step S1 completes the loading work, for example, all the chassis wax molds 22, the face plate wax molds 23, the blade wax molds 21 and the center column tube wax molds 24 required for the production of five modules can be loaded at one time, so that reloading is required only after all five modules are produced, that is, the production of five modules is completed continuously by starting the automatic module assembly program once.

[0071] Step S2, start the automatic mold assembly program, the gripping robot 3 changes to the first gripping tool 32 from the first tool changing station 14 and moves to the first storage station 13, takes the chassis wax mold 22 and places the chassis wax mold 22 on the positioning table 2, and then the gripping robot 3 returns to the first tool changing station 14 to change to the second gripping tool 31.

[0072] In step S3, the gripping robot 3 moves to the second storage station 12, takes the blade wax model 21, moves the blade wax model 21 to the wax dipping device 11 to dip in the heated adhesive wax, and then moves the blade wax model 21 to the positioning table 2 and bonds it to the chassis wax model 22. In step S3, one end of the blade wax model 21 used for connecting to the chassis wax model 22 is dipped in the molten adhesive wax and then placed at the corresponding position of the chassis wax model 22, preliminarily fixing the blade wax model 21.

[0073] In step S4, the welding manipulator 10 moves the adhesive wax injection assembly to the positioning table 2 and injects adhesive wax along the connection between the blade wax mold 21 and the chassis wax mold 22 to complete the welding of the blade wax mold 21 and the chassis wax mold 22, and then the gripping manipulator 3 returns to the second storage station 12 to take the next blade wax mold 21. Step S4 further strengthens the connection between the blade wax mold 21 and the chassis wax mold 22. After the adhesive wax is solidified, the blade wax mold 21 can be firmly fixed, and the gripping manipulator 3 can be moved to take the next blade wax mold 21.

[0074] Step S5, repeating steps S3 and S4 until all the blade wax molds 21 and chassis wax molds 22 required for one module are welded to obtain a first welded assembly. That is, step S5 fixes all the blade wax molds 21 arranged along the edge of the chassis wax mold 22 to the chassis wax mold 22, and these blade wax molds 21 and chassis wax mold 22 form a first welded assembly.

[0075] Step S6, the transfer robot 16 takes the center column tube wax mold 24 from the third storage station 17 and moves it to the top of the first welding assembly, so that one end of the center column tube wax mold 24 that adapts to the chassis wax mold 22 is vertically upward.

[0076] In step S7, the gripping robot 3 returns to the first tool changing station 14, puts on the first gripping tool 32, and then moves to the first storage station 13. After taking the flower disc wax mold 23, it moves the flower disc wax mold 23 to the top of the middle column tube wax mold 24 and inverts it. Then, it moves the flower disc wax mold 23 vertically downward to the flower disc positioning position of the middle column tube wax mold 24. In step S7, inverting the flower disc wax mold 23 means that the legs of the flower disc wax mold 23 used to connect the blade wax mold 21 are facing upward. It is easy to understand that the reason for inverting the flower disc wax mold 23 is that in step S6, one end of the middle column tube wax mold 24 that is adapted to the chassis wax mold 22 has been vertically upward (the transfer robot 16 clamps Figure 1 The upper end of the center column tube wax mold 24 shown in the figure, that is, the end of the center column tube wax mold 24 away from the chassis wax mold 22).

[0077] Step S8, the welding robot 10 moves the adhesive wax injection assembly to the top of the faceplate wax mold 23 and injects adhesive wax along the connection between the center column tube wax mold 24 and the inner side of the faceplate wax mold 23 to complete the welding of the center column tube wax mold 24 and the faceplate wax mold 23, thereby obtaining a second welding assembly. It should be noted that the inner side of the faceplate wax mold 23 refers to Figure 1 The faceplate wax mold 23 in the middle faces the side of the chassis wax mold 22, and the outer side of the faceplate wax mold 23 refers to Figure 1 The faceplate wax model 23 in the figure faces away from one side of the chassis wax model 22.

[0078] In step S9, the transfer robot 16 flips the second welding assembly vertically and moves it to the top of the first welding assembly, and then moves the second welding assembly vertically downward so that the center column tube wax mold 24 and the face plate wax mold 23 are respectively connected to the first positioning groove in the center of the chassis wax mold 22 and the second positioning groove at the upper end of the blade wax mold 21. Step S9 completes the preliminary docking of the first welding assembly and the second welding assembly, and prepares for the welding between the two.

[0079] Step S10, the welding robot 10 moves the adhesive wax injection assembly to the first positioning groove and injects adhesive wax along the connection between the center column tube wax mold 24 and the chassis wax mold 22 to complete the welding of the center column tube wax mold 24 and the chassis wax mold 22, and then the transfer robot 16 releases the center column tube wax mold 24 and leaves the second welding assembly.

[0080] In step S11, the welding manipulator 10 moves the adhesive wax injection assembly to the second positioning groove and injects adhesive wax along the connection between the faceplate wax mold 23 and the blade wax mold 21 to complete the welding of the faceplate wax mold 23 and the blade wax mold 21. Then, the first turntable 29 rotates 360° / M, where M is the number of blade wax molds 21 corresponding to a module. It is easy to understand that the blade wax molds 21 are evenly distributed along the circumference of the chassis wax mold 22, and adjacent blade wax molds 21 are 360° / M apart. For example, when M is 12, the central angle between adjacent blade wax molds 21 is 360° / 12=30°.

[0081] Step S12, repeat step S11 until the welding of all blade wax molds 21 and the faceplate wax mold 23 of the first welding assembly is completed, and then the welding robot 10 moves the adhesive wax injection assembly to the top of the faceplate wax mold 23 and injects adhesive wax along the connection between the center column tube wax mold 24 and the outer side of the faceplate wax mold 23 to obtain a complete module.

[0082] In some embodiments, the automatic mold assembly process may further include: step S13, the transfer robot 16 moves the module obtained in step S12 from the positioning table 2 to the module storage vehicle 19 located next to the welding positioning turntable.

[0083] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0084] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single crystal blade wax model automatic assembly system, characterized in that: include: The welding positioning turntable comprises a first turntable and a positioning platform located on the top of the first turntable, wherein the positioning platform is provided with a positioning structure for fixing and placing the chassis wax mold; A gripping manipulator, a welding manipulator and a transfer manipulator are sequentially arranged around the welding positioning turntable, the gripping manipulator is replaceably provided with a first gripping tool and a second gripping tool, the first gripping tool is used to grip the chassis wax mold and the flower disk wax mold, the second gripping tool is used to grip the blade wax mold, the welding manipulator is provided with an adhesive wax injection assembly, and the transfer manipulator is provided with a third gripping tool for gripping the center column tube wax mold; The wax barrel is located on the side of the welding manipulator close to the gripping manipulator and is connected to the bonding wax injection assembly through a heated wax delivery pipe; A wax dipping device, located between the clamping manipulator and the welding positioning turntable; A first tool replacement station, located at a side of the gripping manipulator away from the wax melting barrel, for storing the first gripping tool and the second gripping tool; The first storage station and the second storage station are located on the side of the clamping manipulator away from the welding positioning turntable, the first storage station can store the chassis wax molds and the face plate wax molds required by N modules at the same time, and the second storage station can store the blade wax molds required by N modules at the same time; The third storage station is located on the side of the transfer robot away from the welding robot. The third storage station can store the center column tube wax molds required by N modules at the same time, where N is an integer not less than 2.

2. The single crystal blade wax model automatic assembly system according to claim 1 is characterized in that: The third storage station includes a second turntable and a plurality of hangers arranged on the periphery of the second turntable, and the hangers are used for hanging and storing the center column tube wax mold.

3. The single crystal blade wax mold automatic assembly system according to claim 1 is characterized in that: It comprises a module storage vehicle, and the module storage vehicle is located at a side of the welding positioning turntable away from the wax melting barrel.

4. The single crystal blade wax model automatic assembly system according to claim 1, characterized in that: It includes a base plate, and the welding positioning turntable, the clamping robot, the welding robot, the transfer robot, the wax barrel, the wax dipping device, the first tooling replacement station, the first storage station, the second storage station and the third storage station are detachably fixed to the base plate.

5. The single crystal blade wax model automatic assembly system according to claim 4 is characterized in that: It comprises a surrounding plate arranged around the edge of the bottom plate, and a protective door for workers to enter and exit is arranged on the surrounding plate.

6. The single crystal blade wax model automatic assembly system according to claim 5, characterized in that: The enclosure is provided with a control panel located beside the protective door, and the control panel is electrically connected to the control cabinet.

7. The single crystal blade wax model automatic assembly system according to claim 6, characterized in that: The control cabinet is arranged within the area enclosed by the enclosure and is located at the edge of the bottom plate.

8. The single crystal blade wax model automatic assembly system according to any one of claims 1 to 7, characterized in that: include: The second tool changing station is located on a side of the welding robot close to the transfer robot and is used to store the third clamping tool.

9. A single crystal blade wax model automatic assembly process, characterized in that: The single crystal blade wax mold automatic assembly system according to any one of claims 1 to 8 comprises the following steps: Step A, placing the chassis wax mold, the face plate wax mold, the blade wax mold and the center column tube wax mold required by N modules into the first storage station, the second storage station and the third storage station respectively, where N is an integer not less than 2; Step B, starting the automatic mold assembly program, the gripping robot changes to the first gripping tool at the first tool changing station and moves to the first storage station, takes the chassis wax model and places the chassis wax model on the positioning table, and then the gripping robot returns to the first tool changing station and changes to the second gripping tool; Step C, the gripping robot moves to the second storage station, takes the blade wax model and moves the blade wax model to the wax dipping device to dip in the heated adhesive wax, and then moves the blade wax model to the positioning platform and bonds it to the chassis wax model; Step D, the welding manipulator moves the adhesive wax injection assembly to the positioning platform and injects adhesive wax along the connection between the blade wax mold and the chassis wax mold to complete the welding of the blade wax mold and the chassis wax mold, and then the gripping manipulator returns to the second storage station to take out the next blade wax mold; Step E, repeating step C and step D until the welding of all blade wax molds and chassis wax molds required for one module is completed to obtain a first welded assembly; Step F, the transfer robot takes the center column tube wax mold from the third storage station and moves it to the top of the first welding assembly, so that the end of the center column tube wax mold that adapts to the chassis wax mold is vertically upward; Step G, the gripping manipulator returns to the first tool changing station, puts on the first gripping tool, and then moves to the first storage station, takes the flower disc wax mold, moves the flower disc wax mold to the top of the center column tube wax mold, and then moves the flower disc wax mold vertically downward to the flower disc positioning position of the center column tube wax mold; Step H, the welding manipulator moves the adhesive wax injection assembly to the top of the faceplate wax mold and injects adhesive wax along the connection between the center column tube wax mold and the inner side of the faceplate wax mold to complete the welding of the center column tube wax mold and the faceplate wax mold, thereby obtaining a second welding assembly; Step I, the transfer robot flips the second welding assembly vertically and moves it to just above the first welding assembly, and then moves the second welding assembly vertically downward so that the center column tube wax mold and the flower disk wax mold are respectively connected to the first positioning groove in the center of the chassis wax mold and the second positioning groove at the upper end of the blade wax mold; Step J, the welding robot moves the adhesive wax injection assembly to the first positioning groove and injects adhesive wax along the connection between the center column tube wax mold and the chassis wax mold to complete the welding of the center column tube wax mold and the chassis wax mold, and then the transfer robot releases the center column tube wax mold and leaves the second welding assembly; Step K, the welding manipulator moves the adhesive wax injection assembly to the second positioning groove and injects adhesive wax along the connection between the face plate wax mold and the blade wax mold to complete the welding of the face plate wax mold and the blade wax mold, and then the first turntable rotates 360° / M, where M is the number of blade wax molds corresponding to one module; Step L, repeat step K until the welding of all blade wax molds and the disc wax mold of the first welding assembly is completed, and then the welding robot moves the adhesive wax injection assembly above the disc wax mold and injects adhesive wax along the connection between the center column tube wax mold and the outer side of the disc wax mold to obtain a complete module.

10. The single crystal blade wax mold automatic assembly process according to claim 9, characterized in that: After step L, the method further includes: In step P, the transfer robot moves the module obtained in step L from the positioning table to a module storage vehicle located beside the welding positioning turntable.

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