Small-to-medium blade kerf milling structure

Abstract

The application provides a small and medium-sized blade sawing and milling structure, which comprises at least one placing mechanism, at least one robot for performing feeding and discharging operations, and a plurality of processing mechanisms for different processing procedures. The placing mechanism is provided with a plurality of placing cavities, and each placing cavity is internally provided with a flexible positioning mechanism for clamping and posture arrangement of the blade. The execution end of the robot is equipped with a gripper, which can grab the blade in the placing cavity and convey it to the corresponding processing mechanism, and meanwhile, the processed blade is taken out and transferred to a preset position. The gripper is provided with a 3D camera for identifying the posture information of the blade at the placing cavity and the processing mechanism, and judging whether it meets the preset grabbing or clamping requirements. The system realizes the posture stability of the blade through the flexible positioning mechanism, facilitates the quick grabbing of the robot, and realizes the centralized processing of the cutting and milling procedures through the multiple processing mechanisms, thereby improving the processing efficiency and the automation level.

Description

Technical Field

[0001] This invention relates to the field of blade processing, specifically to a sawing and milling structure for small and medium-sized blades. Background Technology

[0002] In existing turbine blade manufacturing processes, blades typically require multiple steps, including cutting, milling, and grinding, to meet design requirements. As a critical power component, turbine blades are usually small to medium-sized, with significant variations in thickness and width, complex geometry, and a certain degree of curvature. The surface and tip precision of the blades have a significant impact on the unit's efficiency and safety. In traditional production, blades are often placed and positioned manually or using rigid restraints, resulting in inconsistent handling postures, susceptibility to tilting or swaying, surface damage, and frequent manual adjustments. Furthermore, the multi-step processing is often dispersed across different workstations, making blades prone to damage or misalignment during transport, increasing operational difficulty and affecting processing speed and overall production efficiency.

[0003] Therefore, in the existing technology, the following problems generally exist in the blade processing process:

[0004] Unstable positioning: Due to differences in blade size and shape, traditional rigid positioning or random placement methods cannot guarantee a uniform grasping posture, resulting in a high failure rate for robot grasping or manual handling.

[0005] Low processing efficiency: processes such as cutting, milling, and grinding are scattered across different equipment or workstations, resulting in long workpiece transfer distances and waiting times between equipment, which affects the production line cycle time.

[0006] High quality risk: Blades are prone to damage or attitude deviation during handling, positioning or transfer, which affects processing consistency and surface quality.

[0007] High reliance on manual labor: To ensure the accuracy of grasping and processing, traditional processes still require a lot of manual intervention or repeated adjustments, which limits the level of production automation.

[0008] The above problems indicate that, in order to meet the high-precision and highly automated processing requirements of turbine blades, there is an urgent need for an automated processing solution that can flexibly position the blades and simultaneously perform multi-process processing to improve gripping accuracy, ensure blade quality, and increase production efficiency. Summary of the Invention

[0009] This invention provides a sawing and milling structure for small and medium-sized turbine blades to solve the problems of unstable positioning, difficulty in grasping, easy damage during transportation, and low efficiency of multi-process machining in traditional turbine blade processing.

[0010] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0011] The present invention provides a sawing and milling structure for small and medium blades, including at least one placement mechanism for placing blades, at least one robot for performing loading and unloading operations, and multiple processing mechanisms for different processing steps.

[0012] The placement mechanism is provided with multiple placement cavities for placing blades, and each placement cavity is provided with a positioning mechanism for flexibly clamping and positioning the blades.

[0013] The robot is equipped with an execution end, on which a gripper is installed for grasping blades. The gripper is used to grasp the blades located in the placement cavity and transport them to the corresponding processing mechanism. At the same time, it is used to remove the processed blades from the processing mechanism and transfer them to a preset position.

[0014] A 3D camera is installed on the gripper. The 3D camera is used to identify the posture information of the blade in the placement cavity and at the processing mechanism to determine whether the placement posture or clamping posture of the blade meets the preset processing requirements.

[0015] This invention utilizes a positioning mechanism that can flexibly position the blades, facilitating mechanized gripping of the blades by robots. Integrating multiple processing mechanisms allows for more concentrated blade cutting and milling processes.

[0016] In this technical solution, the placement mechanism includes at least two holding shells, and an inner liner is provided in the inner cavity of the holding shell. The inner liner is recessed downward to form multiple placement cavities distributed in a rectangular array. A positioning mechanism is provided inside the placement cavity on one of the holding shells.

[0017] A container with a positioning mechanism holds the blades to be processed, while a container without a positioning mechanism holds the processed blades.

[0018] In this technical solution, the positioning mechanism includes a driving component, a straightening component, and a clamping component. The driving component is located in the inner cavity of the container at the bottom of the inner liner and is connected to the straightening component and the clamping component for transmission, so as to drive the two to move synchronously.

[0019] The alignment component is located at the top of the placement cavity and includes two flexible limiting bands that can move synchronously in opposite directions. The limiting bands are used to push the two sides of the blade during the movement, so that the blade attitude tends to be vertical.

[0020] The clamping assembly is located at the bottom of the placement cavity and includes two clamping shafts that can move synchronously in opposite directions. The clamping shafts are used to clamp and position the other two sides of the blade, and the clamping shafts can rotate during the movement in opposite directions to reduce clamping resistance, prevent blade deformation, and improve positioning stability.

[0021] Two opposing flexible limiting bands lift the blade above the placement cavity, making it tend to be vertically positioned. The blade is then clamped on the other two sides of the bottom by two opposing clamping shafts that rotate during movement, thus completing the four-point positioning of the blade.

[0022] In this technical solution, the drive assembly includes a drive unit, a linkage unit, and a transmission unit. The drive unit is connected to the linkage unit in a transmission connection, and the linkage unit is connected to the alignment assembly and the clamping assembly in a transmission connection through the transmission unit.

[0023] In this technical solution, the alignment component includes two symmetrically arranged alignment units that can move towards each other, and the two alignment units are slidably connected to the inner wall of the placement cavity.

[0024] The alignment unit includes a first mounting bracket, the bottom of which passes through the bottom side wall of the corresponding placement cavity and is connected to the drive unit in a driving connection.

[0025] The top two sides of the first mounting frame are respectively equipped with winding components with a retraction function. The two winding components are connected by a limit belt drive to achieve synchronous tensioning and retraction of the limit belt under the drive of the drive unit, thereby driving the blade to be subjected to force on both sides and to perform attitude correction.

[0026] In this technical solution, the winding component includes a connecting frame, which is fixed to the corresponding end of the top of the first mounting frame. A rotatable rotating shaft is installed on the connecting frame. The rotating shaft is arranged vertically, and a winding drum is sleeved and fixed on the surface of the rotating shaft. One end of the connecting strip is wound on the winding drum, and the other end of the connecting strip is fixedly connected to one end of the limiting strip. That is, both ends of the limiting strip are respectively connected to the connecting strips on both sides, and the connecting strip is wound on the winding drum.

[0027] A coil spring is fitted onto the surface of the rotating shaft, and the two ends of the coil spring are fixed to the rotating shaft and the connecting frame, respectively.

[0028] In this technical solution, the clamping assembly includes two clamping units that can move towards each other, and the two clamping units are slidably connected to the inner wall of the placement cavity;

[0029] The clamping unit includes a second mounting bracket, both ends of which are fixed with connectors that can spring back in the horizontal direction. A rotatable connecting shaft is installed between the two connectors, and a clamping shaft is sleeved and fixed on the surface of the connecting shaft.

[0030] A driving component is provided on the extended end of the connecting shaft to drive the connecting shaft to rotate.

[0031] In this technical solution, the connecting component includes a first connecting rod and a second connecting rod. The first connecting rod is fixed to one end of the horizontal shaft, and a bushing is fixed to the end of the second connecting rod. The bushing is sleeved on the surface of the connecting shaft.

[0032] The first link and the second link are connected to each other by a horizontally arranged telescopic rod. The surface of the telescopic rod is fitted with a spring, and the two ends of the spring are fixed to the two ends of the telescopic rod respectively.

[0033] Specifically, the transmission unit includes a vertically arranged transmission main shaft, which is mounted on the bottom outer wall of the corresponding placement cavity and can rotate. A first transmission gear and a second transmission gear are sleeved and fixed on the surface of the transmission main shaft. Two centrally symmetrical first transmission racks and second transmission racks are respectively meshed on both sides of the first transmission gear and the second transmission gear, with a symmetry angle of 180°.

[0034] One end of each of the two first transmission racks is fixedly connected to the bottom end of the vertical rod of each of the two alignment units, and one end of each of the two second transmission racks is fixedly connected to the bottom end of the vertical shaft of each of the two clamping units.

[0035] Preferably, both the first and second transmission racks are fitted with sliding sleeves, which are fixed to the outer wall at the bottom of the placement cavity, and the first and second transmission racks are slidably connected inside the corresponding sliding sleeves.

[0036] In this technical solution, the linkage unit is used to realize the synchronous driving of multiple positioning mechanisms in the placement cavity, including multiple linkage units that are arranged in a one-to-one correspondence with the number of placement cavities.

[0037] Each linkage unit includes a vertically arranged linkage spindle, which is rotatably mounted on the side wall at the bottom of the inner cavity of the container, or its bottom end is connected to the output end of the drive unit to achieve rotation under the drive of the drive unit; the top of the linkage spindle is fixedly connected to the bottom end of the transmission spindle in the corresponding placement cavity, thereby transmitting the rotational torque to the positioning mechanism in the corresponding placement cavity.

[0038] In this technical solution, a second linkage wheel is sleeved on the outer surface of the linkage spindle. The second linkage wheels corresponding to multiple placement cavities located in the same row are connected by a second linkage belt, so that each linkage spindle in the same row can rotate synchronously, thereby realizing the synchronous action of the positioning mechanism in the corresponding placement cavity.

[0039] In this technical solution, the processing mechanism includes a first processing mechanism, a second processing mechanism, and a third processing mechanism. The first processing mechanism, the second processing mechanism, and the third processing mechanism are all existing mature processing equipment, which are used to perform different processing procedures on the blades. Preferably, one of the processing mechanisms is a cutting mechanism, which is used to cut the blades to a fixed length; one processing mechanism is a milling mechanism, which is used to perform contour milling or end face processing on the blades; and the other processing mechanism is a grinding mechanism, which is used to deburr or surface finish the blades.

[0040] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0041] The positive and progressive effects of this invention are as follows:

[0042] By incorporating a positioning mechanism capable of flexibly positioning the blades, their posture and position can be regulated and constrained during placement, ensuring the blades are in a relatively uniform and stable spatial position before grasping. This facilitates rapid identification and mechanized grasping by the robot's actuator. Compared to traditional random stacking or rigid limiting methods, this flexible positioning method can adapt to the size and shape errors of different blade models while reducing the risk of surface damage and minimizing grasping failures or repeated adjustments caused by posture deviations, thus improving the grasping success rate and operational cycle stability.

[0043] Meanwhile, by integrating multiple processing mechanisms for different machining operations into the same production system, the cutting, milling, and subsequent finishing processes of the blades can be completed in a relatively centralized and continuous workstation layout. This reduces the transfer distance and waiting time of workpieces between different devices, facilitating the formation of a coherent automated machining process. This centralized process layout not only improves overall production efficiency but also reduces the degree of manual intervention, minimizes the risk of workpiece damage or posture disorder during transfer, and helps achieve multi-process collaborative control and unified management of production line cycle time, thereby improving the consistency and automation level of blade processing. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the housing structure of the present invention;

[0045] Figure 2 For the present invention Figure 1 A top-down view;

[0046] Figure 3 This is a schematic diagram of a single placement cavity and its associated structures according to the present invention;

[0047] Figure 4 For the present invention Figure 3 Top view of the structure;

[0048] Figure 5 For the present invention Figure 4 Schematic diagram of the cross-sectional structure at point AA;

[0049] Figure 6 For the present invention Figure 5 A magnified schematic diagram of the structure at point I;

[0050] Figure 7 For the present invention Figure 3 A schematic diagram of the structure after the inner liner has been removed;

[0051] Figure 8 For the present invention Figure 7 A front view structural diagram;

[0052] Figure 9 This is a schematic diagram of the alignment component of the present invention;

[0053] Figure 10 For the present invention Figure 9 A magnified schematic diagram of the structure at point J;

[0054] Figure 11 This is a schematic diagram of the structure of a single clamping unit in the clamping assembly of the present invention;

[0055] Figure 12 This is a partial structural diagram of the interior of the housing of the present invention;

[0056] Figure 13 For the present invention Figure 12 A magnified schematic diagram of the local structure at point K;

[0057] Figure 14 This is a schematic diagram of the overall structure of the present invention.

[0058] Explanation of reference numerals in the attached figures

[0059] 1. Shell; 11. Supporting legs; 12. Inner liner; 13. Placement cavity; 14. Connecting channel;

[0060] 2. Drive motor;

[0061] 3. Linkage section; 31. Linkage spindle; 32. First linkage wheel; 33. Second linkage wheel; 34. First linkage belt; 35. Second linkage belt;

[0062] 4. Transmission unit; 41. Transmission spindle; 42. First transmission gear; 43. Second transmission gear; 44. First transmission rack; 45. Second transmission rack;

[0063] 5. Alignment assembly; 51. Horizontal bar; 52. Vertical bar; 53. Connecting frame; 54. Rotation shaft; 55. Take-up drum; 56. Connecting belt; 57. Limiting belt; 58. Slider; 59. Slide rail;

[0064] 6. Clamping assembly; 61. Horizontal axis; 62. Vertical axis; 63. First connecting rod; 64. Telescopic rod; 65. Spring; 66. Second connecting rod; 67. Connecting shaft; 671. Clamping shaft; 68. Traveling gear; 69. Drive rack;

[0065] 101. Placement mechanism; 102. Detection platform; 103. First fixture library; 104. First robot; 105. First gripper; 106. First gripper library; 107. First machining mechanism; 108. Second fixture library; 109. Temporary storage platform; 1010. Second machining mechanism; 1011. Third fixture library; 1012. Second robot; 1013. Third machining mechanism; 1014. Second gripper library; 1015. Second gripper. Detailed Implementation

[0066] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0067] like Figure 1 and Figure 14 As shown, the small and medium blade sawing and milling structure includes at least one placement mechanism 101 for placing blades, at least one robot for performing loading and unloading operations, and multiple processing mechanisms for different processing steps.

[0068] The placement mechanism 101 is provided with multiple placement cavities 13 for placing blades, and each placement cavity 13 is provided with a positioning mechanism for flexibly clamping and positioning the blades.

[0069] The robot is equipped with an execution end, on which a gripper is installed for grasping blades. The gripper is used to grasp the blades located in the placement cavity 13 and transport them to the corresponding processing mechanism. At the same time, it is used to remove the processed blades from the processing mechanism and transfer them to a preset position.

[0070] A 3D camera is installed on the gripper. The 3D camera is used to identify the posture information of the blade in the placement cavity 13 and at the processing mechanism to determine whether the placement posture or clamping posture of the blade meets the preset processing requirements.

[0071] Example 1

[0072] In this embodiment, the placement mechanism 101 includes at least two holding shells 1. An inner liner 12 is provided in the inner cavity of the holding shell 1. The inner liner 12 is recessed downward to form a plurality of placement cavities 13 distributed in a rectangular array. A positioning mechanism is provided inside the placement cavity 13 on one of the holding shells 1.

[0073] The bottom of the container 1 is fixed with four support legs 11.

[0074] The container 1 with a positioning mechanism holds the blades to be processed, while the container 1 without a positioning mechanism is used to hold the processed blades.

[0075] like Figure 7As shown, the positioning mechanism includes a drive component, a straightening component 5 and a clamping component 6. The drive component is located in the inner cavity of the holding shell 1 at the bottom of the inner liner 12 and is connected to the straightening component 5 and the clamping component 6 respectively to drive them to move synchronously.

[0076] The alignment component 5 is located on the upper part of the placement cavity 13 and includes two flexible limiting bands 57 that can move synchronously towards each other. The limiting bands 57 are used to push the two sides of the blade during the movement, so that the blade posture tends to be vertical.

[0077] The clamping assembly 6 is located at the lower part of the placement cavity 13 and includes two clamping shafts 671 that can move synchronously in opposite directions. The clamping shafts 671 are used to clamp and position the other two sides of the blade. The clamping shafts 671 can rotate during the movement in opposite directions to reduce clamping resistance, prevent blade deformation, and improve positioning stability.

[0078] By setting two opposing movable limiting bands 57 inside the placement cavity 13, the blade is flexibly pushed and supported on both sides after placement, gradually causing the blade to tend towards a vertically stable posture. This helps reduce the tipping or swaying phenomenon caused by the randomness of the initial posture of the blade, thus creating a good posture foundation for subsequent grasping and positioning. This flexible limiting method can reduce the local contact stress on the edge or surface of the blade while ensuring the positioning effect. It is suitable for blades of different thicknesses or curved shapes and has good adaptability.

[0079] Meanwhile, by setting two clamping shafts 671 at the bottom of the placement cavity 13 that can move towards each other and rotate during movement, the other two sides of the blade bottom are clamped and supported, so that the blade obtains stable lower positioning constraint after the vertical attitude is formed. The clamping shafts 671 generate rolling contact during the movement towards each other, which helps to reduce clamping resistance and frictional wear, and avoids damage to the blade surface or attitude deviation caused by sliding friction, thereby improving the stability and reliability of the positioning process.

[0080] The flexible limiting band 57 and the rotating clamping shaft 671 work together to form a four-point positioning structure that combines upper support and lower clamping for the blade in the placement cavity 13. This effectively constrains the blade in terms of spatial position and attitude, which helps to improve positioning accuracy and repeatability consistency. It also provides a reliable attitude guarantee for the robot to perform fast and stable automatic grasping, thereby improving the overall processing efficiency and operational stability.

[0081] Example 2

[0082] In this embodiment, the drive assembly includes a drive unit, a linkage unit 3, and a transmission unit 4. The drive unit is connected to the linkage unit 3 in a transmission manner, and the linkage unit 3 is connected to the alignment assembly 5 and the clamping assembly 6 in a transmission manner through the transmission unit 4.

[0083] like Figure 5 , Figure 7 , Figure 9 As shown, the alignment assembly 5 includes two symmetrically arranged alignment units that can move towards each other, and the two alignment units are slidably connected to the inner wall of the placement cavity 13.

[0084] The alignment unit includes a first mounting bracket, the bottom of which passes through the bottom side wall of the corresponding placement cavity 13 and is connected to the drive unit for transmission.

[0085] The top two sides of the first mounting frame are respectively equipped with winding components with a retraction function. The two winding components are connected by a limit belt 57 for transmission, so that the limit belt 57 is synchronously tensioned and retracted under the drive of the drive unit, thereby causing the blade to be subjected to force on both sides and to perform attitude correction.

[0086] The take-up component includes a connecting frame 53, which is fixed to the corresponding end of the top of the first mounting frame. A rotatable rotating shaft 54 ​​is mounted on the connecting frame 53. The rotating shaft 54 ​​is arranged vertically, and a take-up drum 55 is sleeved and fixed on the surface of the rotating shaft 54. One end of the connecting strip 56 is wound on the take-up drum 55, and the other end of the connecting strip 56 is fixedly connected to one end of the limiting strip 57. That is, both ends of the limiting strip 57 are respectively connected to the connecting strips 56 on both sides, and the connecting strip 56 is wound on the take-up drum 55.

[0087] A coil spring is fitted onto the surface of the rotation shaft 54, and the two ends of the coil spring are fixed to the rotation shaft 54 ​​and the connecting frame 53, respectively.

[0088] like Figure 10 As shown, a slider 58 is fixed on the connecting frame 53. The slider 58 is slidably connected to the slide rail 59, and the slide rail 59 is fixed on the inner wall of the placement cavity 13.

[0089] The first mounting bracket includes a horizontal bar 51 and a vertical bar 52. The two ends of the horizontal bar 51 are fixed with connecting brackets 53, and the vertical bar 52 is fixed in the middle area of ​​the horizontal bar 51. The vertical bar 52 passes through the bottom side wall of the placement cavity 13 through the connecting groove 14 at the bottom of the placement cavity 13 and is connected to the transmission part 4.

[0090] During use, the blade to be processed is placed in the placement area between the two limiting bands 57 and the two clamping shafts 671. At this time, the blade is set in an inclined state, with the width direction of the blade facing the limiting band 57 and overlapping one of the limiting bands 57. The thickness direction of the blade faces the clamping shaft 671, thus forming the initial posture to be shaped.

[0091] The transmission unit 4 actuates, driving the two clamping shafts 671 and the two limiting belts 57 to move synchronously in opposite directions. After the two limiting belts 57 are respectively attached to both sides in the width direction of the blade, the limiting belts 57 continue to move inward and gradually form a flexible push against the blade, so that the limiting belts 57 are in full contact with the side of the blade. During this process, the connecting belt 56 drives the take-up drum 55 to rotate and unwind, so that the limiting belts 57 have a certain clearance stroke during the push-up process, thereby adapting to the change of blade posture and avoiding excessive compression force; until the blade tends to a stable position under the combined action of the limiting belts 57 and the clamping shafts 671 and no longer has obvious displacement, the coil spring in the take-up drum 55 undergoes elastic deformation and stores elastic potential energy.

[0092] After the blade is grasped by the robot and removed from the placement cavity 13, the drive unit reverses its movement, causing the two limiting belts 57 and the two clamping shafts 671 to reset synchronously. Simultaneously, under the elastic restoring force of the coil spring, the winding drum 55 retracts the connecting belt 56, causing the limiting belts 57 to tighten again and return to their initial taut state, preparing for the placement and orientation shaping of the next blade. Through this cycle of actions, automatic blade shaping and positioning, as well as rapid reset of the positioning mechanism, can be achieved, thus ensuring the stability and consistency of the continuous feeding process.

[0093] Example 3

[0094] like Figure 5 and Figure 11 As shown, the clamping assembly 6 includes two clamping units that can move towards each other, and the two clamping units are slidably connected to the inner wall of the placement cavity 13;

[0095] The clamping unit includes a second mounting bracket, both ends of which are fixed with connectors that can spring back in the horizontal direction. A rotatable connecting shaft 67 is installed between the two connectors, and a clamping shaft 671 is sleeved and fixed on the surface of the connecting shaft 67.

[0096] A driving component is provided on the extended end of the connecting shaft 67 to drive the connecting shaft 67 to rotate.

[0097] The connecting component includes a first connecting rod 63 and a second connecting rod 66. The first connecting rod 63 is fixed to one end of the horizontal shaft 61, and a bushing is fixed to the end of the second connecting rod 66. The bushing is sleeved on the surface of the connecting shaft 67.

[0098] The first link 63 and the second link 66 are connected to each other by a horizontally arranged telescopic rod 64. A spring 65 is sleeved on the surface of the telescopic rod 64, and the two ends of the spring 65 are respectively fixed to the two ends of the telescopic rod 64.

[0099] like Figure 6As shown, the driving component includes a traveling gear 68 and a driving rack 69. The traveling gear 68 is fixed on the extension end of the connecting shaft 67, and the traveling gear 68 and the driving rack 69 mesh with each other. The driving rack 69 is fixed on the inner wall of the placement cavity 13 in the horizontal direction.

[0100] During the positioning process, the transmission unit 4 drives the two clamping shafts 671 to move synchronously towards each other until the two clamping shafts 671 abut against both sides of the blade in the thickness direction. Then the clamping shafts 671 continue to move inward. At this time, the telescopic rod 64 connected to the clamping shafts 671 gradually shortens, the internal spring 65 is compressed and generates elastic preload, so that the clamping shafts 671 form a stable clamping and positioning effect on the blade, realizing reliable constraint on both sides of the blade in the thickness direction.

[0101] During the movement of the clamping shafts 671 towards each other, the traveling gear 68, located in the transmission path of the clamping shafts 671, moves synchronously along the direction of the drive rack 69. The traveling gear 68 rotates simultaneously with its movement, driving the clamping shafts 671 to rotate synchronously via the connecting shaft 67. This rotation of the clamping shafts 671 creates a rolling contact with the blades, which helps reduce sliding friction resistance during clamping, minimizing the risk of wear or scratches on the blade surface. Simultaneously, it allows for fine-tuning of the blade's attitude during clamping, improving the overall stability and repeatability of the positioning process.

[0102] Slider 58 is also fixed on both sides of the horizontal axis 61, and the slider 58 is slidably connected to the slide rail 59. The slide rail 59 is fixed on the inner wall of the placement cavity 13. Neither the slider 58 nor the slide rail 59 connected to the horizontal axis 61 are shown in the figure.

[0103] Example 4

[0104] Specifically, such as Figure 7 As shown, the transmission unit 4 includes a vertically arranged transmission main shaft 41, which is mounted on the bottom outer wall of the corresponding placement cavity 13 and can rotate. A first transmission gear 42 and a second transmission gear 43 are sleeved and fixed on the surface of the transmission main shaft 41. Two first transmission racks 44 and second transmission racks 45 arranged in a centrally symmetrical manner are respectively meshed on both sides of the first transmission gear 42 and the second transmission gear 43, with a symmetry angle of 180°.

[0105] One end of each of the two first transmission racks 44 is fixedly connected to the bottom end of the vertical rod 52 of the two alignment units, and one end of each of the two second transmission racks 45 is fixedly connected to the bottom end of the vertical shaft 62 of the two clamping units.

[0106] Preferably, both the first transmission rack 44 and the second transmission rack 45 are fitted with sliding sleeves, which are fixed to the outer wall of the bottom of the placement cavity 13, and the first transmission rack 44 and the second transmission rack 45 are slidably connected inside the corresponding sliding sleeves.

[0107] The first transmission gear 42 and the second transmission gear 43 rotate, thereby driving the two first transmission racks 44 and the two second transmission racks 45 to move towards or away from each other, thereby driving the limiting belt 57 and the clamping shaft 671 to move through the vertical rod 52 and the vertical shaft 62.

[0108] The first transmission gear 42 and the second transmission gear 43 are coaxially arranged and are used to drive the limiting belt 57 and the clamping shaft 671 to move in opposite directions, respectively. The diameter and number of teeth of the first transmission gear 42 and the second transmission gear 43 directly determine the relative speed and stroke ratio of the movement of the limiting belt 57 and the clamping shaft 671, so that the movement speed and synchronization relationship can be reasonably set according to the requirements of different blade sizes, thicknesses and processing cycles.

[0109] With this coaxial gear configuration, the limiting belt 57 can achieve precise synchronization or proportional adjustment with the clamping shaft 671 in the thickness direction during the process of straightening the blade's attitude in the width direction. This allows the blade to be fully flexibly shaped during the four-point positioning process, while ensuring a balanced distribution of clamping force and contact pressure, thereby effectively avoiding damage to the blade surface and attitude deviation.

[0110] Example 5

[0111] like Figure 7 , Figure 12 and Figure 13 As shown, the linkage unit 3 is used to realize the synchronous driving of the positioning mechanism in multiple placement cavities 13, including multiple linkage units that are the same number as the placement cavities 13 and are arranged in a one-to-one correspondence.

[0112] Each linkage unit includes a vertically arranged linkage spindle 31, which is rotatably mounted on the side wall at the bottom of the inner cavity of the housing 1, or its bottom end is connected to the output end of the drive unit to achieve rotation under the drive of the drive unit; the top of the linkage spindle 31 is fixedly connected to the bottom end of the transmission spindle 41 in the corresponding placement cavity 13, thereby transmitting the rotational torque to the positioning mechanism in the corresponding placement cavity 13.

[0113] The outer surface of the linkage spindle 31 is fitted with a second linkage wheel 33. The second linkage wheels 33 corresponding to multiple placement cavities 13 located in the same row are connected by a second linkage belt 35, so that each linkage spindle 31 in the same row can rotate synchronously, thereby realizing the synchronous action of the positioning mechanism in the corresponding placement cavity 13.

[0114] In addition, a first linkage wheel 32 is sleeved and fixed on the outer surface of each linkage main shaft 31 corresponding to the bottom of one of the placement cavities 13. Adjacent first linkage wheels 32 are connected to each other by a first linkage belt 34. The bottom end of the linkage main shaft 31 where any first linkage wheel 32 is located is fixedly connected to the output end of the drive unit. The drive unit is fixedly installed on the bottom side wall of the inner cavity of the container 1 so as to drive the linkage main shafts 31 of the same row of placement cavities 13 to rotate synchronously through the linkage main shaft 31, and further drive the linkage main shafts 31 in the same row to rotate through the second linkage belt 35, thereby realizing the overall linkage drive of the positioning mechanism of multiple placement cavities 13.

[0115] Preferably, the linkage belt is a flexible transmission component capable of synchronously driving multiple linkage wheels distributed along the same straight line to rotate, such as a chain, timing belt, or toothed belt; correspondingly, the linkage wheel can be a sprocket or a timing pulley to ensure synchronicity and stability during the transmission process.

[0116] Preferably, the linkage spindle 31 with the first linkage wheel 32 is correspondingly disposed at the placement cavity 13 located at the edge of the array, specifically the linkage spindle 31 corresponding to a row of placement cavities 13 located at the two sides of the rectangular array of placement cavities 13.

[0117] The linkage spindle 31, which is directly connected to the output end of the drive unit, is located at the edge of the column placement cavity 13, preferably at the intersection of the row edge and column edge of the rectangular array of the placement cavity 13, that is, at any corner of the four corners of the overall array.

[0118] By arranging the drive input end at the corner of the array, the rotational force output by the drive unit can be transmitted along the column direction to other linkage spindles 31 in the same column via the first linkage belt 34, and further transmitted along the row direction to other linkage spindles 31 via the second linkage belt 35, thereby forming a linkage drive path covering the entire placement cavity 13 array, so as to improve the transmission balance and reduce the transmission path length.

[0119] Specifically, the drive unit is a drive motor 2, which is fixed on the bottom side wall of the inner cavity of the container 1. The output end of the drive motor 2 is fixedly connected to the corresponding linkage spindle 31.

[0120] The drive motor 2 drives the linkage spindle 31 connected to it to rotate. The linkage spindle 31 drives the first linkage wheel 32 and the second linkage wheel 33 sleeved on its surface to rotate synchronously. The rotational power is transmitted to other linkage spindles 31 through the first transmission belt and the second transmission belt, so that the positioning mechanism in the entire placement cavity 13 array moves synchronously and realizes the unified flexible positioning of the blade.

[0121] When the placement shell area is large and the number of blades that can be placed increases, in order to ensure the stability and synchronization accuracy of the linkage drive, the placement cavity 13 array can be divided into multiple independent areas, each area is equipped with an independent drive motor 2 and a corresponding linkage unit 3. The linkage main shaft 31 in each area achieves synchronous rotation through the first and second linkage wheels 33 and the transmission belt in the area, while different areas achieve modular and zoned control through their own independent drives.

[0122] Example 6

[0123] like Figure 14 As shown, the processing mechanism includes a first processing mechanism 107, a second processing mechanism 1010, and a third processing mechanism 1013. The first processing mechanism 107, the second processing mechanism 1010, and the third processing mechanism 1013 are all existing mature processing equipment, which are used to perform different processing procedures on the blades. Preferably, one of the processing mechanisms is a cutting mechanism, which is used to cut the blades to a fixed length; one processing mechanism is a milling mechanism, which is used to perform contour milling or end face processing on the blades; and the other processing mechanism is a grinding mechanism, which is used to deburr or surface finishing the blades.

[0124] The robot includes a first robot 104 and a second robot 1012. The first robot 104 and the second robot 1012 are located on one side of the first processing mechanism 107, the second processing mechanism 1010 and the third processing mechanism 1013 to form loading and unloading operation areas corresponding to each processing mechanism. A temporary storage platform for temporarily storing blades and a first fixture library 103 are provided between the first robot 104 and the second robot 1012.

[0125] A second fixture library 108 and a third fixture library 1011 are respectively provided on one side of the first processing mechanism 107, the second processing mechanism 1010 and the third processing mechanism 1013. The first fixture library 103, the second fixture library 108 and the third fixture library 1011 are used to store processing fixtures adapted to different types of blades. The processing fixtures can be detachably installed on the worktable of the corresponding processing mechanism to realize rapid changeover processing of different types of blades.

[0126] The first robot 104 and the second robot 1012 are respectively equipped with a first gripper 105 and a second gripper 1015 on their execution ends. Both the first gripper 105 and the second gripper 1015 are equipped with 3D vision cameras. The robot also includes a first gripper library 106 and a second gripper library 1014. The first gripper library 106 and the second gripper library 1014 store grippers of various specifications that match the first gripper 105 and the second gripper 1015. The grippers are used to hold different types of blades and can be quickly changed at the robot execution end.

[0127] The 3D vision camera is an existing three-dimensional vision recognition system. It includes a structured light emission unit, an image acquisition unit, a three-dimensional point cloud reconstruction and processing unit, and a posture recognition algorithm module. It is used to perform three-dimensional contour scanning and posture recognition on the blade located on the placement cavity 13 or processing mechanism before the robot grasps it, so as to determine whether the spatial position, tilt angle and grasping point of the blade meet the preset grasping requirements. If the requirements are not met, a reminder or warning will be issued to the staff.

[0128] When the identification result indicates that the blade orientation does not meet the requirements for gripping or clamping, the system can issue prompts to the staff through existing human-machine interaction prompts or alarms. For example, an audible and visual alarm can be issued through an audible and visual alarm device installed on the production line, or an alarm message can be displayed on the operating terminal, industrial touch screen, or host computer interface through the control system to prompt the staff to intervene manually or readjust the blade orientation.

[0129] It also includes a detection platform 102, on which a CCD vision inspection system is installed. The CCD vision inspection system is an existing industrial vision inspection device, which includes an industrial CCD camera, a light source component, an image acquisition card, a vision processing industrial control computer, and a defect recognition software module. It is used to inspect the shape and size of the blades after processing, to detect edge defects, or to inspect the surface quality. Preferably, the detection platform 102 may also be equipped with a positioning fixture or a rotating support mechanism for auxiliary inspection, so as to realize automatic multi-angle inspection of the blades.

[0130] During use, the blade is placed on the positioning mechanism within the corresponding placement cavity 13. After the positioning mechanism completes the posture adjustment and position positioning, the first robot 104 or the second robot 1012 grasps the blade using the first gripper 105 or the second gripper 1015. Before grasping, a 3D vision camera identifies whether the blade's posture meets the grasping conditions. Subsequently, the blade is sequentially transported to the first processing mechanism 107, the second processing mechanism 1010, and the third processing mechanism 1013 for cutting, milling, and grinding processes. After processing, the robot transfers the blade to the inspection platform 102 for CCD vision inspection or manual assisted inspection. Blades that pass the inspection are finally placed in the holding shell 1 without a positioning mechanism for centralized storage.

[0131] Furthermore, the inspection platform 102 is existing technology, used to inspect the dimensions, appearance, or surface quality of the processed blades. Existing industrial automated production lines typically have independent inspection stations or equipment for judging the quality of workpieces after processing and performing sorting or subsequent processing based on the inspection results. Therefore, the inspection platform 102 in this application is only a standard configuration for achieving the integrity of the entire processing line.

[0132] A temporary storage platform 109 is provided on one side of the testing platform 102 for placing unqualified blades.

[0133] In this field, using visual inspection systems or manual inspection methods to inspect the quality of processed parts is a mature and widely used technical means. Related equipment typically has a standardized structure and modular configuration, and can be selected or integrated for different workpiece types. The inspection platform 102 used in this application does not involve new inspection principles or structural improvements. Its specific composition and working method can be directly implemented by those skilled in the art using existing equipment according to actual production needs; therefore, it is not shown in detail in the accompanying drawings.

[0134] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. A sawing and milling structure for small and medium-sized blades, comprising at least one placement mechanism (101) for placing blades, at least one robot for performing loading and unloading operations, and multiple processing mechanisms for different processing steps, characterized in that: The placement mechanism (101) includes at least two holding shells (1), and an inner liner (12) is provided in the inner cavity of the holding shell (1). The inner liner (12) is recessed downward to form a plurality of placement cavities (13) arranged in a rectangular array. A positioning mechanism for flexibly clamping and positioning the blade is provided inside the placement cavity (13) on one of the holding shells (1). The positioning mechanism includes a drive assembly, a centering assembly (5) and a clamping assembly (6). The drive assembly is located in the inner cavity of the holding shell (1) at the bottom of the inner liner (12) and is connected to the centering assembly (5) and the clamping assembly (6) respectively. The alignment component (5) is located on the upper part of the placement cavity (13) and includes two flexible limiting bands (57) that can move synchronously towards each other. The limiting bands (57) are used to push the two sides of the blade during the movement so that the blade posture tends to be vertical. The clamping assembly (6) is located at the lower part of the placement cavity (13) and includes two clamping shafts (671) that can move synchronously towards each other. The clamping shafts (671) are used to clamp and position the other two sides of the blade, and the clamping shafts (671) can rotate during the movement towards each other. The alignment component (5) includes two symmetrically arranged alignment units that can move towards each other, and the two alignment units are slidably connected to the inner wall of the placement cavity (13). The alignment unit includes a first mounting bracket, the bottom of which passes through the bottom sidewall of the corresponding placement cavity (13) and is connected to the drive unit in a transmission manner. The top two sides of the first mounting frame are respectively provided with winding components with a retraction function, and the two winding components are connected by a limiting belt (57). The robot is equipped with an execution end, on which a gripper for grasping the blade is installed; The gripper is equipped with a 3D camera, which is used to identify the posture information of the blade in the placement cavity (13) and at the processing mechanism.

2. The sawing and milling structure for small and medium-sized blades as described in claim 1, characterized in that: The drive assembly includes a drive unit, a linkage unit (3) and a transmission unit (4). The drive unit is connected to the linkage unit (3) in a transmission manner. The linkage unit (3) is connected to the alignment unit (5) and the clamping unit (6) in a transmission manner through the transmission unit (4).

3. The sawing and milling structure for small and medium-sized blades as described in claim 1, characterized in that: The winding component includes a connecting frame (53), which is fixed to the corresponding end of the top of the first mounting frame. A rotatable rotating shaft (54) is mounted on the connecting frame (53), and a winding drum (55) is sleeved and fixed on the surface of the rotating shaft (54). One end of a connecting strip (56) is wound on the winding drum (55), and the other end of the connecting strip (56) is fixedly connected to one end of a limiting strip (57). A coil spring is fitted onto the surface of the self-rotating shaft (54).

4. The sawing and milling structure for small and medium-sized blades as described in claim 2, characterized in that: The transmission unit (4) includes a vertically arranged transmission spindle (41), which is mounted on the bottom outer wall of the corresponding placement cavity (13) and can rotate. A first transmission gear (42) and a second transmission gear (43) are sleeved and fixed on the surface of the transmission spindle (41). Two centrally symmetrical first transmission racks (44) and second transmission racks (45) are respectively meshed on both sides of the first transmission gear (42) and the second transmission gear (43). One side end of each of the two first transmission racks (44) is fixedly connected to the bottom end of the vertical rod (52) of the two alignment units, and one side end of each of the two second transmission racks (45) is fixedly connected to the bottom end of the vertical shaft (62) of the two clamping units.

5. The sawing and milling structure for small and medium-sized blades as described in claim 2, characterized in that: The linkage unit (3) is used to realize the synchronous driving of the positioning mechanism in multiple placement cavities (13), including multiple linkage units that are consistent with the number of placement cavities (13) and are set one-to-one; Each linkage unit includes a linkage main shaft (31) arranged vertically. The linkage main shaft (31) is rotatably mounted on the side wall at the bottom of the inner cavity of the container (1), or its bottom end is connected to the output end of the drive unit. The top of the linkage main shaft (31) is fixedly connected to the bottom end of the transmission main shaft (41) in the corresponding placement cavity (13). The outer surface of the linkage spindle (31) is fitted with a second linkage wheel (33), and the second linkage wheels (33) corresponding to the multiple placement cavities (13) located in the same row are connected by a second linkage belt (35).

Images