Blade detection device and method

Abstract

The invention provides a blade detection device and method.The device comprises a conveyor belt module, the conveyor belt module comprises a first conveyor belt, a second conveyor belt, a third conveyor belt and a fourth conveyor belt which are sequentially arranged, the first conveyor belt is provided with a first detection mechanism, and the second conveyor belt is provided with a second detection mechanism; a turnover mechanism is arranged between the first conveying belt and the second conveying belt; the recycling assembly is arranged on the second conveying belt; the loading and unloading mechanism is arranged on one side of the conveyor belt module and is used for loading and unloading the blades; and the first detection mechanism, the second detection mechanism and the recovery assembly are electrically connected with the controller. Through cooperative work of the conveyor belt module, the detection mechanism, the turnover mechanism and the recovery assembly, double-sided automatic detection and classification of the blades are achieved, the detection efficiency and accuracy of the aviation blades are improved, and meanwhile the automatic detection performance of the aviation blades is improved.

Description

Technical Field

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

[0002] Aircraft engines are the core power units of aircraft, and their performance directly impacts aircraft safety and efficiency. Engine blades, as a crucial component, are responsible for directing airflow and generating thrust. However, blades can be damaged over extended periods of operation by various factors, such as high temperatures, high-velocity airflow, and impact with foreign objects. This damage can weaken or even lead to blade failure, compromising engine performance and safety.

[0003] Traditional blade damage detection methods mainly rely on manual visual inspection or simple physical inspection methods, which have problems such as low detection efficiency, low accuracy, and high dependence on human resources. They are difficult to meet the real-time and accurate monitoring needs of modern aircraft engines. Summary of the Invention

[0004] The present invention provides a blade detection device and method to solve the technical problem of low blade detection efficiency of aircraft engines in the prior art.

[0005] The present invention provides a blade detection device and method, the blade detection device and method comprising:

[0006] A conveyor belt module, the conveyor belt module comprising a first conveyor belt, a second conveyor belt, a third conveyor belt, and a fourth conveyor belt arranged in sequence, the first conveyor belt being provided with a first detection mechanism for detecting the first surface, the second conveyor belt being provided with a second detection mechanism for detecting the second surface, and a turning mechanism being provided between the first conveyor belt and the second conveyor belt;

[0007] a recovery assembly, disposed on the second conveyor belt, for pushing out unqualified blades detected by the first detection mechanism and / or the second detection mechanism;

[0008] A loading and unloading mechanism, which is arranged on one side of the conveyor belt module and is used for loading and unloading blades;

[0009] A controller, wherein the first detection mechanism, the second detection mechanism and the recovery component are all electrically connected to the controller.

[0010] In one embodiment of the present invention, the first detection mechanism includes a first mounting frame and a plurality of first camera modules arranged on the first mounting frame, and the angle between adjacent first camera modules is 90°.

[0011] In one embodiment of the present invention, the second detection mechanism includes a second mounting frame and a plurality of second camera modules arranged on the second mounting frame, and the angle between adjacent second camera modules is 90°.

[0012] In one embodiment of the present invention, the recovery component includes a stopping mechanism, a positioning mechanism and a grabbing mechanism. The positioning mechanism is arranged on one side of the second conveyor belt and is used to position unqualified blades. The stopping mechanism is used to stop the blades on the second conveyor belt. The grabbing mechanism is used to grab the blades and remove them from the second conveyor belt.

[0013] In one embodiment of the present invention, the stopping mechanism includes a fixed frame arranged across the second conveyor belt and a stop block arranged on the fixed frame. A driver is provided on the fixed frame, and the output end of the driver is connected to the stop block. The driver can be used to drive the stop block to move vertically.

[0014] In one embodiment of the present invention, the gripping mechanism is disposed on the fixing frame, and the gripping mechanism includes a clamping claw, and the clamping claw can drive the blade to move, and the moving direction of the clamping claw is perpendicular to the conveying direction of the second conveyor belt.

[0015] In one embodiment of the present invention, the third conveyor belt has a feed section, a discharge section and a transition section located between the feed section and the discharge section, the feed section is aligned with the second conveyor belt, the discharge section is aligned with the fourth conveyor belt, and the transition section is used to transport the blades of the feed section to the discharge section.

[0016] In one embodiment of the present invention, a cross bar is provided on the third conveyor belt, and a marker is provided on the cross bar, and the marker is used to mark the qualified blades.

[0017] In one embodiment of the present invention, the conveyor belt module is U-shaped as a whole, and the loading and unloading mechanism includes a robot and a storage box. The robot is arranged on one side of the feed end and the discharge end of the conveyor belt module. The robot is used to grab the blades to the first conveyor belt and grab the blades in the fourth conveyor belt to the storage box.

[0018] The present invention also provides a blade detection method, which uses the above-mentioned blade detection device and includes the following steps:

[0019] The robot grabs the blade and places it on the first conveyor belt. The blade moves on the first conveyor belt to the first detection mechanism, which inspects the first surface of the blade and feeds back the inspection result to the controller.

[0020] The blade is turned over to the second conveyor belt after passing through the turning mechanism. After the blade moves to the second detection mechanism, the second detection mechanism inspects the second surface of the blade and feeds back the inspection result to the controller.

[0021] If the blade is unqualified, the blade moves to the recycling mechanism to be recycled. If the blade is qualified, it continues to move to the third conveyor belt;

[0022] The third conveyor moves the blades from the feed section to the discharge section and marks them, and the third conveyor moves the blades to the fourth conveyor and positions them;

[0023] The blades move to the end of the fourth conveyor belt and are grabbed by the robot and stored in the storage box.

[0024] Beneficial effects of the present invention: The present invention proposes a blade detection device and method, which realizes automatic detection and classification of both sides of blades through the coordinated work of a conveyor belt module, a detection mechanism, a flipping mechanism and a recovery component, solves the problem of low efficiency and poor accuracy of traditional manual detection, and has the advantages of high detection efficiency, good accuracy and high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be derived from these drawings without inventive effort.

[0026] In the attached figure:

[0027] Figure 1 A schematic structural diagram of an embodiment of the present invention;

[0028] Figure 2 This is a structural diagram of a loading and unloading mechanism provided in one embodiment of the present invention;

[0029] Figure 3 A schematic structural diagram of a first conveyor belt provided in one embodiment of the present invention;

[0030] Figure 4 is a schematic structural diagram of a second conveyor belt provided in one embodiment of the present invention;

[0031] Figure 5 It is a schematic structural diagram of a third conveyor belt provided in one embodiment of the present invention.

[0032] The reference numerals are as follows:

[0033] Control box 1, conveying box 2, alarm 3, outer casing 4, controller 5, storage box 6, base 7, robot 8, grating 9, guide block 10, first camera module 11, flip mechanism 12, second camera module 13, push block 14, marker 15, recovery box 16, fixing rod 17, clamping claw 18, fixing frame 19, positioning mechanism 20, feed part 21, transition section 22, discharge part 23, marker 24, third conveyor belt 25, operating system 26, positioning component 27, adjustment block 28, discharge block 29. DETAILED DESCRIPTION

[0034] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments. The details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. The following embodiments and features therein may be combined with one another without conflict.

[0035] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0036] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0037] See Figure 1-Figure 5 The present invention proposes a blade detection device and method, wherein the blade includes a first surface and a second surface.

[0038] In an exemplary embodiment, the blade detection device includes a conveyor belt module, a recycling component, a loading and unloading mechanism and a controller 5. The conveyor belt module is composed of a first conveyor belt, a second conveyor belt, a third conveyor belt 25 and a fourth conveyor belt connected in sequence, wherein the first conveyor belt is provided with a first detection mechanism for detecting the first surface of the blade, the second conveyor belt is provided with a second detection mechanism for detecting the second surface of the blade, and a flipping mechanism 12 is provided between the first conveyor belt and the second conveyor belt. The recycling component is arranged on the second conveyor belt for pushing out blades that fail the inspection. The loading and unloading mechanism is arranged on one side of the conveyor belt module for loading and unloading operations of the blades. The controller 5 is electrically connected to the first detection mechanism, the second detection mechanism and the recycling component.

[0039] In this embodiment, a conveyor belt assembly line enables continuous transport of blades, while a flipping mechanism 12 performs automatic double-sided inspection during a single loading operation. The first and second inspection mechanisms simultaneously inspect both sides of the blades. The inspection data is centrally processed by the controller 5, which then controls the recycling assembly to automatically sort out defective blades. The loading and unloading mechanisms achieve fully automated operation, creating a closed-loop inspection system. This effectively improves blade inspection efficiency, reduces the need for manual intervention, and enables automated double-sided inspection and defective product sorting.

[0040] Exemplarily, the flipping mechanism 12 includes a shell and an intermediate conveyor belt arranged in the shell. A driver is provided on the outside of the shell, and the output end of the driver is connected to the shell. The driver can be selected as a driving component with rotational power such as a motor. One end of the shell is open, and the initial position of the opening side is connected to the discharge end of the first conveyor belt. The blades can enter the shell from the opening side, and then the shell is driven to rotate by the driver. The open side flips from the right end to the left end and connects to the second conveyor belt. The intermediate conveyor belt is transmitted in the opposite direction, so that the blades are transmitted out of the shell and enter the second conveyor belt for transportation. After the flipping mechanism 12 completes the flipping of the blade, it resets and waits for the next blade.

[0041] The first and second inspection mechanisms can utilize non-contact inspection equipment such as CCD visual inspection systems, laser scanners, or infrared detectors. They compare visually detected images with preset images stored in controller 5 to determine in real time whether the blades are qualified. If unqualified, the controller 5 will flag the blades, forcing the recycling component to recycle them. The recycling component can automatically sort unqualified products using actuators such as pneumatic push rods, manipulators, or electromagnets. The loading and unloading mechanism can utilize automated equipment such as a six-axis robot 8, SCARA robot 8, or Cartesian coordinate robot 8 to complete the blade handling process.

[0042] In an exemplary embodiment, the first detection mechanism includes a first mounting frame and a plurality of first camera modules 11 disposed on the first mounting frame, with the angle between adjacent first camera modules 11 being 90°. Simultaneously, the second detection mechanism includes a second mounting frame and a plurality of second camera modules 13 disposed on the second mounting frame, with the angle between adjacent second camera modules 13 being 90°.

[0043] In this embodiment, an orthogonally distributed camera module array is designed to synchronously acquire image data of four orthogonal angles of the first surface of the blade during a single inspection process. Among them, the first mounting frame provides a stable mounting reference for the camera module to ensure the spatial consistency of the images captured at each viewing angle; the 90° angle arrangement enables the fields of view of adjacent camera modules to form a complementary relationship, effectively eliminating the blind spots of single-view detection. Therefore, the present application avoids the time loss caused by the mechanical rotation mechanism, and achieves a simultaneous improvement in detection efficiency and comprehensiveness through spatial angle complementarity. Specifically, the orthogonal viewing angle arrangement enables the surface defects of the blade to be effectively captured under different lighting conditions, and the integrity of the detection data is significantly improved. The spatial observation array thus formed significantly improves the detection integrity and data reliability of complex curved blades.

[0044] For example, the first mounting frame can employ a ring-shaped frame structure or a cross-shaped bracket structure, preferably made of aluminum alloy or stainless steel to ensure structural strength. The first camera module 11 can employ an industrial CCD camera or CMOS camera, each equipped with an independent focusing mechanism and fill light device. In a preferred embodiment, the four camera modules are spatially orthogonally distributed, with the intersection of the optical axes of each module located at the center of the blade detection area. Furthermore, the camera modules can be equipped with polarizing filters to eliminate interference from reflections from metal surfaces.

[0045] For example, the second mounting bracket is installed in a similar manner to the second camera module 13. The second mounting bracket can adopt an aluminum alloy frame structure, which is fixedly connected to the conveyor belt module by bolts, and a shock-absorbing gasket is provided inside to reduce the impact of mechanical vibration on imaging quality.

[0046] It is worth noting that the first camera module 11 and the second camera module 13 may also include a ring fill light and a polarizing filter. The industrial camera resolution is no less than 5 million pixels and the frame rate can reach 60fps. The 90° angle between adjacent modules can be fine-tuned by ±5° using a universal joint adjustment mechanism to accommodate the detection requirements of blades with different curvatures. Specifically, the four first camera modules 11 or the four second camera modules 13 are arranged in a cross shape, with the intersection of the optical axes of each module located at the theoretical center of the second surface of the blade.

[0047] In an exemplary embodiment, the recovery assembly includes a stopping mechanism, a positioning mechanism 20 and a grabbing mechanism. The positioning mechanism 20 is arranged on one side of the second conveyor belt and is used to position unqualified blades. The stopping mechanism is used to stop the blades on the second conveyor belt, and the grabbing mechanism is used to grab the blades and remove them from the second conveyor belt.

[0048] In this embodiment, the automated processing of unqualified blades is achieved through mechanical linkage control. The stopping mechanism responds quickly when unqualified blades are detected, and the moving blades on the conveyor belt are accurately positioned at the recycling station through physical blocking; the positioning mechanism 20 monitors the blade position deviation in real time to ensure that the grasping mechanism can accurately align with the target; the grasping mechanism is synchronized with the conveyor belt speed when performing the removal action to avoid position offset due to relative movement. The three mechanisms achieve millisecond-level timing coordination through the controller 5. The stopping action is started before the positioning detection, and the grasping operation is performed after the position is confirmed, forming a closed-loop control. The present application shortens the single recovery time to less than 3 seconds, and the position error is controlled within the range of ±0.5mm, while avoiding the risk of secondary damage caused by manual operation.

[0049] For example, the stopping mechanism can utilize a pneumatic or electric push rod to drive a baffle for vertical elevation. The baffle's bottom is provided with cushioning material to prevent impact damage to the blades. The positioning mechanism 20 can utilize a photoelectric sensor array or a visual positioning system, determining the blade edge position through reflective or beam-based detection. The gripping mechanism can utilize a vacuum suction cup or a mechanical gripper 18, which can be equipped with a force feedback device to prevent excessive gripping force from causing blade deformation. The stopping mechanism is linked to the conveyor control system and immediately initiates a braking process upon receiving a failure signal. Specifically, the stopping mechanism comprises a fixed frame 19 positioned across the second conveyor belt and a stopper mounted on the fixed frame 19. A driver is mounted on the fixed frame 19, the output of which is connected to the stopper, and the driver is capable of driving the stopper's vertical movement. The fixed frame 19 provides a stable support structure, while the stopper physically blocks the blade, and the driver precisely controls its elevation and lowering. When a failed blade is detected, the controller 5 sends a signal to the driver to move the stopper downward, preventing further conveyance of the blade. Once the gripping mechanism removes the blade, the stopper returns to its initial position. This enables rapid response and precise stopping of unqualified blades, avoiding the inefficiency and inaccurate positioning associated with traditional manual interception. In this embodiment, the block can be made of rubber or polyurethane, with a wear-resistant layer on the bottom to reduce friction damage with the blades. The actuator can be a pneumatic cylinder, electric push rod, or linear motor, with its lifting stroke and speed controlled by a PLC or single-chip microcomputer. In a specific embodiment, the actuator is equipped with a position sensor for real-time feedback on the height position of the block.

[0050] Exemplarily, the gripping mechanism is provided on a fixed frame 19, and the gripping mechanism includes a clamp 18, which can drive the blade to move, and the moving direction of the clamp 18 is perpendicular to the conveying direction of the second conveyor belt. The fixed frame 19 provides stable support, and the clamp 18 performs a vertical gripping action, so that the removal path of the unqualified blades forms a 90-degree angle with the running direction of the conveyor belt. Thus, after the stopping mechanism completes the positioning, the clamp 18 can move quickly in a direction perpendicular to the conveyor belt to achieve efficient removal of the blades. Therefore, the present application avoids the interference of the traditional parallel gripping method on the continuous operation of the conveyor belt and solves the problem of low removal efficiency. The vertical moving path significantly shortens the sorting stroke, and the structural design of the fixed frame 19 effectively suppresses the vibration during the gripping process, ensuring the sorting accuracy. The clamp 18 can be equipped with a force sensor to monitor the gripping force in real time to prevent damage to the blades.

[0051] It is worth noting that the recycling component also includes a recycling box 16 and a marker 15, wherein a fixing rod 17 is provided on the fixing frame 19, and the marker 15 can be set on the fixing rod 17, or can be set independently of the fixing frame 19. The clamp 18 grabs the blade and moves it to the marker 15. The marker 15 marks an unqualified label and then grabs it to the recycling box 16 for storage. A pushing block 14 can be set between the recycling box 16 and the second conveyor belt to push the blade to the specified position.

[0052] In an exemplary embodiment, the third conveyor belt 25 has a feed section 21, a discharge section 23 and a transition section 22 located between the feed section 21 and the discharge section 23, the feed section 21 is aligned with the second conveyor belt, the discharge section 23 is aligned with the fourth conveyor belt, and the transition section 22 is used to transport the blades of the feed section 21 to the discharge section 23.

[0053] In this embodiment, the feed section 21 and the transition section 22 of the third conveyor belt 25 are two independent sections of conveyor belts, wherein the feed section 21 has the same conveying direction as the second conveyor belt, and the conveying direction of the transition section 22 is: from the feed section 21 to the discharge section 23, and the end of the transition section 22 is the discharge section 23. The precise spatial layout of the two-section conveyor belt establishes a buffer conveying channel between the inspection station and the subsequent process. Among them, the rigid positioning of the feed section 21 eliminates the position deviation of traditional manual transfer, the continuous transmission mechanism of the transition section 22 avoids the instantaneous impact of the blades during the transfer process, and the dynamic docking of the discharge section 23 ensures the smoothness of the process connection. Reduce the probability of blade edge collision. The coordinated speed control between the conveyor belts further ensures the stability of the blade posture and ensures that the blades achieve lossless transition.

[0054] For example, the feed section 21 can be aligned with the second conveyor belt using mechanical locating pins, ensuring a horizontal position error of less than 0.5mm between the conveyor belts. The discharge section 23 is aligned with the fourth conveyor belt using a laser calibration device for vertical alignment. The transition section 22 can be implemented in two ways: a flat conveyor belt structure with a non-slip textured surface and a coefficient of friction controlled within the range of 0.6-0.8; or a roller-type conveyor structure with adjustable support rollers, preferably with a diameter of 50-80mm. The transition section 22 can also be equipped with a speed sensor to monitor the conveying speed in real time and maintain synchronization with the front and rear conveyor belts, with the speed difference controlled within ±5%.

[0055] Exemplarily, a crossbar is provided on the third conveyor belt 25, and a marker 24 is provided on the crossbar. The marker 24 is used to mark qualified blades as qualified. Through the coordinated cooperation of the mechanical structure and the control system, the automatic identification function of the qualified blades is realized. The crossbar provides a stable installation platform for the marker 24 to ensure the consistency of the identification position; the marker 24 selectively performs the identification action according to the detection results, avoiding the efficiency bottleneck and mislabeling risk caused by manual intervention. The continuous transportation of the conveyor belt enables the marking process to be seamlessly integrated into the production process, and the marking position is accurately positioned by coordinating the conveyor belt speed with the trigger timing. Compared with the traditional manual labeling or centralized labeling after sorting, the present invention significantly improves the labeling efficiency and eliminates the risk of secondary contamination or damage to the blades caused by the labeling link. In this embodiment, the crossbar is a rigid metal component, which is fixed across the brackets on both sides of the third conveyor belt 25 and can be implemented using stainless steel square tubes or aluminum alloy profiles. Marker 24 includes the following optional implementations: a pneumatic marking device controls compressed air through a solenoid valve, driving a punch to create a concave mark on the blade surface; an inkjet printer, comprising an ink cartridge, a nozzle, and a positioning sensor, controls the printing of a QR code via a microcontroller 5; and a laser marking module uses a low-power fiber laser, with a servo system adjusting the focal length to ablate a permanent mark on the blade's non-operating area. The trigger signal for marker 24 is derived from the controller 5's output based on the previous detection results. The marking action is synchronized with the blade position detected by a photoelectric sensor.

[0056] It is worth mentioning that the feed portion 21 is provided with a positioning plate dedicated to the blades, and the blades are transported after positioning is completed.

[0057] In an exemplary embodiment, the conveyor belt module is U-shaped as a whole, and the loading and unloading mechanism includes a robot 8 and a storage box 6. The robot 8 is arranged on one side of the feed part 21 and the discharge end of the conveyor belt module. The robot 8 is used to grab the blades to the first conveyor belt and grab the blades in the fourth conveyor belt to the storage box 6.

[0058] In this embodiment, the spatial optimization of the inspection process is achieved through a U-shaped conveyor belt layout, in which the adjacent arrangement of the feed section 21 and the discharge section 23 can shorten the movement range of the robot 8. When the robot 8 performs loading and unloading operations simultaneously, after completing the loading action on the first conveyor belt, it can immediately turn to the fourth conveyor belt to perform the unloading operation, thus forming a continuous operation cycle. Compared with the linear layout, the U-shaped structure reduces the equipment footprint by approximately 40%, while the utilization rate of the robot 8 is increased by 35%. The storage box 6 adopts a layered design, and the material level status is monitored in real time by photoelectric sensors. When insufficient material level is detected, an alarm is triggered to prompt refilling. This realizes the automated closed-loop management of the entire blade inspection process, effectively eliminating the efficiency loss and positioning errors caused by manual handling.

[0059] Exemplarily, the U-shaped conveyor belt module is composed of a first conveyor belt, a second conveyor belt, a third conveyor belt 25 and a fourth conveyor belt connected in sequence, wherein the first conveyor belt and the fourth conveyor belt are arranged parallel to each other, and the second conveyor belt and the third conveyor belt 25 are respectively located at both ends to form a U-shaped corner. The robot 8 can adopt a six-axis robotic arm, the base of which is fixed to the outside of the U-shaped module, and the end effector is equipped with a vacuum suction cup or a clamping claw 18 device. The storage box 6 is divided into a feed box and a discharge box. The feed box is used to store blades to be inspected, and the discharge box is used to store blades that have passed the inspection. As a preferred embodiment, the motion trajectory of the robot 8 adopts a teaching programming method, and the blades are accurately transferred between the feed box-first conveyor belt and the fourth conveyor belt-discharge box through preset path points.

[0060] Illustratively, in this embodiment, a positioning component 27 is provided on the fourth conveyor belt for positioning qualified blades to facilitate grasping by the robot 8 .

[0061] It is worth noting that the present invention also includes a base 7, a robot 8 is installed on the base 7, and the extraction control system of the robot 8 is installed on the base 7. The feed end of the first conveyor belt is provided with a guide block 10. The robot 8 grabs the blade, is guided by the guide block 10, and enters the first conveyor belt for inspection. A discharge block 29 is provided at the discharge end of the fourth conveyor belt, and an adjustment block 28 is provided at the bottom of the discharge block 29 to facilitate adjustment of the angle and direction of the discharge block 29. The discharge block 29 is also used for guiding material so that the blade can be accurately positioned and grabbed by the robot 8 when discharging.

[0062] In an exemplary embodiment, the present application also includes an outer shell box 4, which includes a control box 1 at the bottom and a conveying box 2 at the top. The conveyor belt module is installed in the conveying box 2. An alarm 3 is provided on the top of the outer shell box 4. At the same time, a grating 9 is provided on one side of the outer shell box 4 to improve safety performance. An operating system 26 is provided on the outer shell box 4, and the operating system 26 is specifically an interface for human-computer interaction such as a computer.

[0063] The present invention also provides a blade detection method, which comprises the following steps:

[0064] Robot 8 grabs the blade and places it on the first conveyor belt. The blade then moves along the first conveyor belt to the first detection mechanism, which inspects the first surface of the blade and feeds the inspection results back to controller 5. The first detection mechanism can utilize a multi-angle camera module array, for example, consisting of four industrial cameras distributed at 90° angles. Synchronously triggering the camera captures images of the entire first surface of the blade.

[0065] After passing through the flipping mechanism 12, the blade is flipped onto the second conveyor belt. After the blade moves to the second inspection mechanism, the second inspection mechanism inspects the second surface of the blade and feeds the inspection results back to the controller 5. The flipping mechanism 12 can use a robotic arm to grip and flip the blade, or a pneumatic flipping platform to ensure a precise 180° flip of the blade during transport. The second inspection mechanism can be equipped with the same multi-angle camera module as the first inspection mechanism, or use inspection equipment with different spectral ranges to enhance defect detection capabilities.

[0066] If the blade is unqualified, the blade moves to the recycling mechanism and is recycled. If the blade is qualified, it continues to move to the third conveyor belt 25. The recycling mechanism can be set as a pneumatic push rod mechanism or a robot sorting device, and the controller 5 commands the unqualified products to be pushed into the designated recycling channel.

[0067] The third conveyor 25 moves the blades from the infeed section 21 to the outfeed section 23, where they are marked. The third conveyor 25 then moves the blades to the fourth conveyor for positioning. Marking can be done using laser marking or inkjet printing, with information such as the inspection date and batch number being added to the non-working surface of the blades. Positioning is achieved using a combination of photoelectric sensors and mechanical stoppers, ensuring the blades' precise stop on the fourth conveyor.

[0068] The blades move to the end of the fourth conveyor belt, where they are grabbed by robot 8 and stored in storage bin 6. Robot 8 can be a six-axis industrial robot, with its end effector equipped with a vacuum suction cup or flexible gripper 18 to accommodate blades of varying sizes. Storage bin 6 can be designed as a multi-layer drawer-style structure with a built-in RFID identification system for automated management of blade information.

[0069] In summary, the present invention realizes automatic double-sided detection and classification of blades through the coordinated work of the conveyor belt module, detection mechanism, flip mechanism 12 and recovery component, improves the detection efficiency and accuracy of aviation blades, and improves the automated detection performance of aviation blades.

[0070] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A blade detection device, characterized in that: The blade includes a first surface and a second surface arranged opposite to the first surface, and the blade detection device includes: A conveyor belt module, the conveyor belt module comprising a first conveyor belt, a second conveyor belt, a third conveyor belt, and a fourth conveyor belt arranged in sequence, the first conveyor belt being provided with a first detection mechanism for detecting the first surface, the second conveyor belt being provided with a second detection mechanism for detecting the second surface, and a turning mechanism being provided between the first conveyor belt and the second conveyor belt; a recovery assembly, disposed on the second conveyor belt, for pushing out unqualified blades detected by the first detection mechanism and / or the second detection mechanism; A loading and unloading mechanism, which is arranged on one side of the conveyor belt module and is used for loading and unloading blades; A controller, wherein the first detection mechanism, the second detection mechanism and the recovery component are all electrically connected to the controller.

2. The blade detection device according to claim 1, characterized in that: The first detection mechanism includes a first mounting frame and a plurality of first camera modules arranged on the first mounting frame, and the angle between adjacent first camera modules is 90°.

3. The blade detection device according to claim 1, characterized in that: The second detection mechanism includes a second mounting frame and a plurality of second camera modules arranged on the second mounting frame, and the angle between adjacent second camera modules is 90°.

4. The blade detection device according to claim 1, characterized in that: The recovery assembly includes a stopping mechanism, a positioning mechanism and a grabbing mechanism. The positioning mechanism is arranged on one side of the second conveyor belt and is used to position unqualified blades. The stopping mechanism is used to stop the blades on the second conveyor belt. The grabbing mechanism is used to grab the blades and remove them from the second conveyor belt.

5. The blade detection device according to claim 4, characterized in that: The stopping mechanism includes a fixed frame arranged across the second conveyor belt and a stop block arranged on the fixed frame. A driver is provided on the fixed frame, and the output end of the driver is connected to the stop block. The driver can be used to drive the stop block to move vertically.

6. The blade detection device according to claim 5, characterized in that: The grabbing mechanism is arranged on the fixing frame, and the grabbing mechanism includes a clamping claw, and the clamping claw can drive the blade to move, and the moving direction of the clamping claw is perpendicular to the conveying direction of the second conveyor belt.

7. The blade detection device according to claim 1, characterized in that: The third conveyor belt has a feed part, a discharge part and a transition section located between the feed part and the discharge part, the feed part is aligned with the second conveyor belt, the discharge part is aligned with the fourth conveyor belt, and the transition section is used to transport the blades of the feed part to the discharge part.

8. The blade detection device according to claim 7, characterized in that: The third conveyor belt is provided with a cross bar, and the cross bar is provided with a marker, and the marker is used to mark qualified blades.

9. The blade detection device according to claim 1, characterized in that: The conveyor belt module is U-shaped as a whole, and the loading and unloading mechanism includes a robot and a storage box. The robot is arranged on one side of the feed end and the discharge end of the conveyor belt module. The robot is used to grab the blades to the first conveyor belt and grab the blades in the fourth conveyor belt to the storage box.

10. A blade detection method, using the blade detection device according to any one of claims 1 to 9, characterized in that: The robot grabs the blade and places it on the first conveyor belt. The blade moves on the first conveyor belt to the first detection mechanism, which inspects the first surface of the blade and feeds back the inspection result to the controller. The blade is turned over to the second conveyor belt after passing through the turning mechanism. After the blade moves to the second detection mechanism, the second detection mechanism inspects the second surface of the blade and feeds back the inspection result to the controller. If the blade is unqualified, the blade moves to the recycling mechanism to be recycled. If the blade is qualified, it continues to move to the third conveyor belt; The third conveyor moves the blades from the feed section to the discharge section and marks them, and the third conveyor moves the blades to the fourth conveyor and positions them; The blades move to the end of the fourth conveyor belt and are grabbed by the robot and stored in the storage box.

Images