Automatic high-precision brazing filler metal coating device for blade welding and coating method of automatic high-precision brazing filler metal coating device

Abstract

The invention discloses a high-precision brazing filler metal automatic coating device for blade welding and a coating method of the high-precision brazing filler metal automatic coating device, and particularly relates to the field of brazing filler metal coating. The high-precision brazing filler metal automatic coating device comprises support equipment, a six-axis robot, a double-axis positioner and a visual camera are installed on the inner side of the support equipment, and a coating structure is fixedly connected to an end effector of the six-axis robot; a blade workpiece is installed at the output end of the double-shaft positioner, the coating structure comprises a rotating part, a storage barrel is installed on the side, away from the six-shaft robot, of the rotating part, and the discharging end of the storage barrel is fixedly connected with a hollow block. Through the arrangement of the coating structure and the six-axis robot, mechanical equipment can replace manual work to conduct blade coating work, the situation of local material shortage or glue overflowing caused by poor consistency of the coating thickness and width is avoided, meanwhile, through the arrangement of a double-axis positioner and a visual camera, welding is accurate, data can be recorded, and the working efficiency is improved. And finding out an area with a quality problem.

Description

Technical Field

[0001] This invention relates to the field of brazing filler metal coating technology, and more specifically, to a high-precision automatic brazing filler metal coating device and coating method for blade welding. Background Technology

[0002] In aero-engine manufacturing, low-pressure guide vanes are made by vacuum brazing a large number of high-temperature alloy blades with inner and outer rings. The weld gap is usually less than 0.1 mm, and the requirements for the uniformity, continuity and filling rate of the brazing filler metal distribution are extremely high.

[0003] Traditional processes rely on manual application of paste-like brazing filler metal using syringes, which has the following problems: (1) poor consistency in coating thickness and width, which can easily lead to local material shortages or overflow; (2) decreased precision after worker fatigue, resulting in large fluctuations in welding pass rate; (3) low brazing filler metal utilization rate, with serious waste of expensive nickel-based or silver-based brazing filler metal; (4) lack of process data records, making quality untraceable. Summary of the Invention

[0004] The present invention provides a high-precision automatic brazing filler metal coating device and coating method for blade welding. The problem to be solved is that the existing traditional method relies on manual application of paste brazing filler metal, which may result in local material shortage or glue overflow. Furthermore, when the operator is fatigued, the coating accuracy decreases, causing large fluctuations in the welding qualification rate, resulting in low brazing filler metal utilization and increased coating costs.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-precision automatic brazing filler metal coating device for blade welding, comprising a support device, a six-axis robot, a dual-axis positioner and a vision camera mounted on the inner side of the support device, the end effector of the six-axis robot being fixedly connected to the coating structure, and a blade workpiece being mounted on the output end of the dual-axis positioner; The coating structure includes a rotating component. A storage cylinder is installed on the side of the rotating component away from the six-axis robot. A hollow block is fixedly connected to the discharge end of the storage cylinder, and a needle is fixedly connected to the lower side of the fixed block.

[0006] In a preferred embodiment, the rotating component includes a motor, which is fixedly connected to the end effector of the six-axis robot. A rotating rod is fixedly connected to the output end of the motor, and a helical blade rod is fixedly connected to the end of the rotating rod away from the motor.

[0007] In a preferred embodiment, a fixing component is installed between the storage cylinder and the motor. The fixing component includes a fixing block, which is fixedly connected to the side of the motor near the storage cylinder. A clamping block is provided on the outside of the storage cylinder, and bolts are installed between the clamping block and the fixing block.

[0008] In a preferred embodiment, the clamping block and the fixing block are rotatably connected, and the clamping block and the storage cylinder are slidably connected.

[0009] In a preferred embodiment, a circular hole is provided on the side of the hollow block away from the motor, the rotating rod passes through the hollow block, and the helical blade rod is disposed inside the needle.

[0010] In a preferred embodiment, a buffer component is installed inside the needle. The buffer component includes a hollow column, on which a sliding rod is installed. A conical head is fixedly connected to the end of the sliding rod away from the spiral blade rod. A spring is fixedly connected between the conical head and the hollow column. A baffle plate is fixedly connected to the end of the sliding rod near the spiral blade. A material hole is opened on the side of the baffle plate away from the hollow column.

[0011] In a preferred embodiment, a plurality of feed holes are provided, and a hollow column is disposed inside the needle tip.

[0012] In a preferred embodiment, the slide bar and the hollow column are slidably connected, and the baffle plate and the needle are slidably connected.

[0013] In a preferred embodiment, an arc-shaped block is fixedly connected to the outer side of the hollow column, and several arc-shaped blocks are provided. The arc-shaped blocks are fixedly connected to the needle.

[0014] The present invention also provides a coating method for a high-precision brazing filler metal automatic coating device for blade welding, comprising the following steps: S1: Fix the blade workpiece by clamping mechanism of dual-axis positioner, and start vision camera to acquire image and contour recognition of blade workpiece, and correct its spatial posture and position deviation in real time to ensure accurate coating reference. S2: Start the six-axis robot and coating structure, open the control valve between the storage cylinder and the hollow block, and let the paste-like brazing filler metal flow into the hollow block; S3: The motor in the drive rotating component drives the rotating rod and the spiral blade rod to rotate, pushing the brazing filler metal from the hollow block into the needle evenly, and maintaining a constant extrusion pressure in the normal coating section to achieve continuous and quantitative output of brazing filler metal.

[0015] S4: The six-axis robot controls the needle to move along the contour of the annular weld seam at the root of the blade according to the preset path, and coordinates the dual-axis positioner to adjust the spatial angle of the blade workpiece to ensure that the needle is always close to the coating area at the set distance and posture. S5: When the needle passes through the high curvature corner area between adjacent blades, the contact pressure decreases instantaneously, and the spring in the buffer component pushes the baffle plate to move towards the discharge port, partially closing the material hole and creating a damping effect on the flow of the brazing filler metal.

[0016] The beneficial effects of this invention are as follows: This invention, through the coating structure and the setup of a six-axis robot, allows the machine to replace manual labor in coating the blades, eliminating issues such as inconsistent coating thickness and width that could lead to localized material shortages or glue overflow. Furthermore, the combination of a dual-axis positioner and a vision camera ensures precise and accurate welding, and allows for data recording to identify areas with quality problems.

[0017] This invention utilizes an internal buffer component in the needle to create a blocking force on the brazing filler metal inside the needle when it passes the corner between the blade and the inner and outer rings. This prevents the brazing filler metal from accumulating in one place due to reduced pressure. At the same time, the cooperation between the threaded blade rod and the buffer component ensures uniform material output from the needle when extruding the conical head, guaranteeing consistent application of the sprayed blades. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the coating structure of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the rotating rod, the helical blade rod, and the circular hole of the present invention.

[0021] Figure 4 This is a cross-sectional structural diagram of the needle of the present invention.

[0022] Figure 5 This is a schematic diagram of the structure of some of the buffer components of the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the biaxial positioner and the blade workpiece of the present invention.

[0024] Figure 7 for Figure 6 Enlarged view of point A in the middle; Figure 8 This is a schematic diagram of the coating method of the present invention.

[0025] The attached figures are labeled as follows: 1. Support device; 2. Six-axis robot; 3. Coating structure; 31. Rotating component; 311. Motor; 312. Rotating rod; 313. Spiral blade rod; 32. Storage cylinder; 33. Fixing component; 331. Fixing block; 332. Clamping block; 333. Bolt; 34. Hollow block; 341. Circular hole; 35. Needle; 351. Buffer component; 3511. Hollow column block; 3512. Sliding rod; 3513. Conical head; 3514. Spring; 3515. Baffle plate; 3516. Material hole; 3517. Arc block; 4. Dual-axis positioner; 5. Vision camera; 6. Blade workpiece. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0027] Refer to the instruction manual appendix Figures 1-2 A high-precision automatic brazing filler metal coating device for blade welding includes a support device 1. A six-axis robot 2, a dual-axis positioner 4 and a vision camera 5 are installed on the inner side of the support device 1. The end effector of the six-axis robot 2 is fixedly connected to a coating structure 3. A blade workpiece 6 is installed at the output end of the dual-axis positioner 4. The coating structure 3 includes a rotating component 31. A storage cylinder 32 is installed on the side of the rotating component 31 away from the six-axis robot 2. A hollow block 34 is fixedly connected to the discharge end of the storage cylinder 32. A needle 35 is fixedly connected to the lower side of the fixed block 331.

[0028] It should be noted that the output end of the dual-axis positioner 4 is equipped with a clamping device to fix the blade workpiece 6. A valve is installed between the storage cylinder 32 and the hollow block 34. The needle 35 is designed as a hollow tube. The brazing filler metal inside the storage cylinder 32 is usually prepared using either a strip brazing filler metal 20g, powder brazing filler metal 20g, acetone 5g, and resin glue 10g, or a strip brazing filler metal 20g, powder brazing filler metal 20g, acetone 5g, glycerin 2g, thickener 2g, and resin glue 10g. The former preparation scheme has no solid-liquid separation and the best penetration effect (4mm), and is preferred for general scenarios. The latter preparation scheme has slight solid-liquid separation but higher viscosity and is suitable for specific needs. When preparing the brazing filler metal, the material must be fully mixed in a light-proof environment and immediately loaded into a syringe for sealed storage to avoid solid-liquid separation and ensure the brazing penetration effect of the aluminum plate gap (<0.1mm).

[0029] In this embodiment, the specific implementation scenario is as follows: When preparing to coat the blade workpiece 6, the blade workpiece 6 is first clamped and fixed by the clamping device on the outside of the dual-axis positioner 4. Then, with the assistance of the vision camera 5, since the vision camera 5 can use the contour shape information extracted from the object to search and compare it with the actual placement position of the blade workpiece 6, the placement direction of the blade workpiece 6 is finally confirmed. Then, the six-axis robot 2 is started to carry the coating structure 3 to carry out the coating work. The valve on the outside of the storage cylinder 32 is opened. When the brazing filler inside the storage cylinder 32 enters the hollow block 34, the rotating component 31 is started to allow the brazing filler to enter the needle 35. The six-axis robot 2 carries the needle 35 to press against the blade and the inner and outer rings, thus carrying out the brazing filler coating work on the blade workpiece 6.

[0030] Refer to the instruction manual appendix Figures 1-3The rotating component 31 includes a motor 311, which is fixedly connected to the end effector of the six-axis robot 2. A rotating rod 312 is fixedly connected to the output end of the motor 311, and a helical blade rod 313 is fixedly connected to the end of the rotating rod 312 away from the motor 311.

[0031] It should be noted that L1 is the central axis of the rotating component 31, L2 is the central axis of the storage cylinder, L1 and L2 are parallel, L3 is the central axis of the hollow block, L1 and L3 are perpendicular, L2 and L3 are perpendicular, and the end of the spiral blade rod 313 away from the motor 311 is set inside the needle 35 for conveying the brazing filler metal inside the needle 35.

[0032] Refer to the instruction manual appendix Figure 2 A fixing component 33 is installed between the storage cylinder 32 and the motor 311. The fixing component 33 includes a fixing block 331, which is fixedly connected to the side of the motor near the storage cylinder 32. A clamping block 332 is provided on the outside of the storage cylinder 32, and a bolt 333 is installed between the clamping block 332 and the fixing block 331.

[0033] It should be noted that when the storage cylinder 32 needs to be replaced, it is easy to disassemble and assemble, which is convenient and quick.

[0034] Refer to the instruction manual appendix Figure 2 The clamping block 332 and the fixing block 331 are rotatably connected, and the clamping block 332 and the storage cylinder 32 are slidably connected.

[0035] Refer to the instruction manual appendix Figures 2-3 A circular hole 341 is provided on the side of the hollow block 34 away from the motor 311, the rotating rod 312 passes through the hollow block 34, and the spiral blade rod 313 is set inside the needle 35.

[0036] It should be noted that the motor 311 drives the rotating rod 312 to rotate, and the rotating rod 312 drives the spiral blade rod 313 to rotate and transport the brazing filler metal. The connection between the spiral blade rod 313 and the rotating rod 312 is located inside the hollow block 34.

[0037] In this embodiment, the specific implementation scenario is as follows: When preparing to coat the blade workpiece 6, the blade workpiece 6 is first clamped and fixed using the clamping device on the outside of the dual-axis positioner 4. The dual-axis positioner 4 is suitable for rotary coating displacement to obtain the ideal processing position and coating speed. Then, with the assistance of the vision camera 5, since the vision camera 5 can use the contour shape information extracted from the object to search and compare it with the actual placement position of the blade workpiece 6, the placement direction of the blade workpiece 6 is finally confirmed. When the vision camera 5 detects that the workpiece enters the detection area, the sensor triggers the camera and lighting system to acquire a clear image. Then, the acquired image is preprocessed, feature extracted, and pattern recognized to analyze the position coordinates and posture deviation of the workpiece. Finally, the position is judged to be accurate according to the preset standard. The six-axis robot 2, carrying the coating structure 3, is started to perform the coating work. The valve on the outside of the storage cylinder 32 is opened. When the brazing filler metal inside the storage cylinder 32 enters the hollow block 34, the rotating component 31 is activated to allow the brazing filler metal to enter the needle 35. The six-axis robot 2, carrying the needle 35, approaches the blade and the inner and outer rings to perform the brazing filler metal coating work on the blade workpiece 6. When the brazing filler metal is transported from the storage cylinder 32 into the hollow block 34, the brazing filler metal will slowly fill the hollow block 34. At this time, the motor 311 is activated, and the motor 311 drives the rotating rod 312 to rotate. The rotating rod 312 drives the threaded blade rod to rotate, which evenly and accurately delivers the brazing filler metal into the needle 35. Then the brazing filler metal is sprayed from the nozzle onto the blade and the connection between the inner and outer rings of the blade workpiece 6. At the same time, the dual-axis positioner 4 performs the coating work.

[0038] Refer to the instruction manual appendix Figures 1-3 , Figure 6 When applying brazing filler metal to the annular weld seam at the root of an aero-engine guide vane using the above structure, the coating trajectory needs to form a closed fan-shaped path with the beginning and end connected along the blade root contour. Due to the complex geometry of the blade root, especially in the high curvature corner area between adjacent blades (such as the tenon transition fillet or the junction of blade basin / blade back), the coating needle 35 is difficult to maintain a constant distance and contact posture with the workpiece surface during high-speed following trajectory movement.

[0039] When the needle 35 passes through such a corner, due to a sudden change in robot joint acceleration or discontinuous path interpolation, the needle 35 momentarily detaches from the workpiece surface (the gap suddenly increases from 0.5 mm to 2~3 mm). At this time, although the feeding rate remains unchanged, the increased gap between the needle 35 outlet and the workpiece causes a sudden drop in the pressure of the blade squeezing the needle 35 outlet. Under the action of internal thrust, the paste-like solder in the storage syringe undergoes an uncontrolled micro-surge (commonly known as "dripping" or "over-flushing out of glue"), resulting in local solder accumulation on the outer side of the corner.

[0040] Meanwhile, on the inner side of the corner (i.e., the inner arc side of the trajectory turn), due to the lag in the needle's 35° posture adjustment or the deceleration of the movement, the supply of brazing filler metal is insufficient, resulting in coating breaks or insufficient thickness. Ultimately, this leads to a severe asymmetry in the distribution of brazing filler metal on both sides of the same corner area—one side accumulates into a nodule, while the other side is thin or even has broken adhesive—making it impossible to form a smooth, continuous, and uniform annular weld, which seriously affects the capillary filling effect and joint strength of subsequent vacuum brazing.

[0041] In existing technologies, simply improving the smoothness of the robot trajectory or reducing the cornering speed can alleviate but not eliminate this problem, and traditional pneumatic dispensing systems are more likely to exacerbate this phenomenon due to their lag in response.

[0042] To solve this problem, the following technical solution is provided: A buffer component 351 is installed inside the needle 35. The buffer component 351 includes a hollow column 3511. A sliding rod 3512 is installed on the hollow column 3511. A conical head 3513 is fixedly connected to the end of the sliding rod 3512 away from the spiral blade rod 313. A spring 3514 is fixedly connected between the conical head 3513 and the hollow column. A baffle plate 3515 is fixedly connected to the end of the sliding rod 3512 near the spiral blade. A material hole 3516 is opened on the side of the baffle plate 3515 away from the hollow column.

[0043] Furthermore, several feed holes 3516 are provided, and hollow column blocks 3511 are provided inside the needle 35.

[0044] It should be noted that there are two feed holes 3516 to facilitate feeding. The end of the conical head 3513 that is away from the spring 3514 is also away from the discharge end of the needle head 35.

[0045] Furthermore, the slide bar and the hollow column 3511 are slidably connected, and the baffle plate 3515 and the needle 35 are slidably connected.

[0046] Furthermore, an arc-shaped block 3517 is fixedly connected to the outside of the hollow column. Several arc-shaped blocks 3517 are provided, and the arc-shaped blocks 3517 are fixedly connected to the needle 35.

[0047] It should be noted that there are two arc-shaped blocks 3517, and there is space between them to facilitate the flow of brazing filler metal.

[0048] In this embodiment, the specific implementation scenario is as follows: When the needle 35 is working normally, the conical head 3513 inside the needle 35 is compressed. The conical head 3513 compresses the sliding rod 3512, which in turn compresses the spring 3514. At the same time, the sliding rod 3512 moves the baffle plate 3515 away from the hollow cylinder. Then, the solder is still fed into the output end of the needle 35 through the feed hole 3516. When the needle 35 passes a corner, i.e., the outline of the blade root, especially the high curvature corner area between adjacent blades, such as the tenon transition rounded corner or the junction of the blade base / blade back, the conical head loses pressure. At this time, the compressed spring 3514 extends and retracts, and moves the sliding rod 3512 along with it. The sliding rod 3512 moves the baffle plate 3515. The baffle plate 3515 and the solder inside the needle 35 interact with each other. The baffle plate 3515 provides a blocking force to the solder, buffering the solder and allowing it to continue working while preventing the solder from spraying out.

[0049] Working principle: First, the staff uses the clamping device on the outside of the dual-axis positioner 4 to clamp and fix the blade workpiece 6. Then, with the help of the vision camera 5, the position of the blade workpiece 6 is further adjusted. After that, the six-axis robot 2 is started to coat the blade workpiece 6 with the coating structure 3.

[0050] Second, when the brazing filler metal inside the storage cylinder 32 enters the hollow block 34, there is a rotating component 31 to allow the brazing filler metal to enter the needle 35. The needle 35 will cause the conical head 3513 of the buffer component 351 to be squeezed, and then the blade workpiece 6 is coated. The fixed component 33 can be disassembled and installed in the storage cylinder 32.

[0051] Third, when the needle 35 passes through the corner, the squeezing pressure on the conical head 3513 decreases. At this time, the buffer structure provides a blocking force to the brazing filler metal inside the needle 35, preventing it from gushing out from the needle 35. This works in conjunction with the normal operation of the dual-axis positioner 4.

[0052] The present invention also provides a coating method for a high-precision brazing filler metal automatic coating device for blade welding, comprising the following steps: S1: Fix the blade workpiece 6 by clamping mechanism of dual-axis positioner 4, and start vision camera 5 to acquire images and contour recognition of blade workpiece 6, and correct its spatial posture and position deviation in real time to ensure accurate coating reference. S2: Start the six-axis robot 2 and coating structure 3, open the control valve between the storage cylinder 32 and the hollow block 34, so that the paste-like brazing filler metal flows into the hollow block 34; S3: The motor 311 in the drive rotating component 31 drives the rotating rod 312 and the spiral blade rod 313 to rotate, pushing the brazing filler metal from the hollow block 34 into the needle 35 evenly, and maintaining a constant extrusion pressure in the normal coating section to achieve continuous and quantitative output of brazing filler metal.

[0053] S4: The six-axis robot 2 controls the needle 35 to move along the contour of the annular weld seam at the root of the blade according to a preset path, and synchronously coordinates the dual-axis positioner 4 to adjust the spatial angle of the blade workpiece 6, ensuring that the needle 35 is always close to the coating area at a set distance and posture. This set distance is to ensure that the conical head 3513 inside the needle 35 is squeezed into the needle. The coating area is... Figure 7 Point B in the middle; S5: When the needle 35 passes through the high curvature corner area between adjacent blades, the contact pressure decreases instantaneously. The spring 3514 in the buffer component 351 pushes the baffle plate 3515 to move towards the discharge port, partially closing the material hole 3516 and forming a damping effect on the flow of the brazing filler metal.

[0054] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A high-precision soldering automatic coating device for blade welding, comprising a support device (1), characterized in that: The inner side of the support device (1) is provided with a six-axis robot (2), a two-axis positioner (4) and a visual camera (5), the end effector of the six-axis robot (2) is fixedly connected with a coating structure (3), and the output end of the two-axis positioner (4) is provided with a blade workpiece (6); The coating structure (3) comprises a rotating part (31), a storage cylinder (32) is installed on the side away from the six-axis robot (2) of the rotating part (31), a hollow block (34) is fixedly connected to the discharge end of the storage cylinder (32), and a needle (35) is fixedly connected to the lower side of the fixed block (331).

2. The high-precision brazing material automatic coating device for blade welding according to claim 1, characterized in that: The rotating part (31) comprises a motor (311), the motor (311) is fixedly connected to the end effector of the six-axis robot (2), the output end of the motor (311) is fixedly connected with a rotating rod (312), and one end of the rotating rod (312) away from the motor (311) is fixedly connected with a spiral blade rod (313).

3. The high-precision brazing material automatic coating device for blade welding according to claim 2, characterized in that: A fixing part (33) is installed between the storage cylinder (32) and the motor (311), the fixing part (33) comprises a fixed block (331), the fixed block (331) is fixedly connected to the side of the motor close to the storage cylinder (32), a clamping block (332) is arranged on the outer side of the storage cylinder (32), and a bolt (333) is installed between the clamping block (332) and the fixed block (331).

4. The high-precision brazing material automatic coating device for blade welding according to claim 3, characterized in that: The clamping block (332) and the fixed block (331) are rotationally connected, and the clamping block (332) and the storage cylinder (32) are slidingly connected.

5. The high-precision brazing material automatic coating device for blade welding according to claim 4, characterized in that: A circular hole (341) is formed in the side away from the motor (311) of the hollow block (34), the rotating rod (312) penetrates through the hollow block (34), and the spiral blade rod (313) is arranged in the interior of the needle (35).

6. The high-precision brazing material automatic coating device for blade welding according to claim 5, characterized in that: The interior of the needle (35) is provided with a buffer part (351), the buffer part (351) comprises a hollow column block (3511), a sliding rod (3512) is installed on the hollow column block (3511), a conical head (3513) is fixedly connected to one end of the sliding rod (3512) away from the spiral blade rod (313), a spring (3514) is fixedly connected between the conical head (3513) and the hollow cylinder, a blocking plate (3515) is fixedly connected to one end of the sliding rod (3512) close to the spiral blade, and a material hole (3516) is formed in the side away from the hollow cylinder of the blocking plate (3515).

7. The high-precision brazing material automatic coating device for blade welding according to claim 6, characterized in that: A plurality of material holes (3516) are arranged, and the hollow column block (3511) is arranged in the interior of the needle (35).

8. The high-precision brazing material automatic coating device for blade welding according to claim 7, characterized in that: The sliding rod and the hollow column block (3511) are slidingly connected, and the blocking plate (3515) and the needle (35) are slidingly connected.

9. The high-precision brazing material automatic coating device for blade welding according to claim 8, characterized in that: The outer side of the hollow cylinder is fixedly connected with an arc-shaped block (3517), a plurality of arc-shaped blocks (3517) are arranged, and the arc-shaped block (3517) is fixedly connected with the needle (35).

10. A coating method for the high-precision brazing material automatic coating apparatus for blade welding according to claim 9, characterized by, The method comprises the following steps: S1: Fix the blade workpiece (6) by the clamping mechanism of the biaxial displacement machine (4), and start the visual camera (5) to collect images and identify the profile of the blade workpiece (6), and correct its spatial attitude and position deviation in real time to ensure the accuracy of the coating reference; S2: Start the six-axis robot (2) and the coating structure (3), open the control valve between the storage cylinder (32) and the hollow block (34), and make the paste-like filler flow into the hollow block (34); S3: Drive the motor (311) in the rotating part (31) to rotate the rotating rod (312) and the spiral blade rod (313), uniformly push the filler from the hollow block (34) into the needle (35), maintain constant extrusion pressure in the normal coating section, and realize continuous and quantitative output of the filler. S4: The six-axis robot (2) controls the needle (35) to move along the profile of the blade root annular weld according to the preset path, synchronously adjusts the spatial angle of the blade workpiece (6) by the biaxial displacement machine (4), and ensures that the needle (35) is always close to the coating area at a set distance and attitude; S5: When the needle (35) passes through the high-curvature corner area between adjacent blades, the spring (3514) in the buffer part (351) pushes the blocking plate (3515) to move towards the discharge port, partially closes the material hole (3516), and forms a damping effect on the filler flow.

Images