Full-automatic gas turbine blade weight moment detection work station

Abstract

The invention discloses a full-automatic gas turbine blade weight moment detection workstation which comprises conveying line assemblies, a mechanical arm assembly, a control cabinet, a weight moment measurement assembly and a supporting platform, the two conveying line assemblies are arranged on one side of the mechanical arm assembly, and a force sensor A and a force sensor B are installed at the top end of the supporting platform. The weight moment measuring assembly is supported by a force sensor A and a force sensor B; the weight moment measuring assembly comprises a guide rail, a first supporting assembly, a first supporting block, a second supporting block and a second supporting assembly, the first supporting block and the second supporting block are installed at the two ends of the guide rail respectively, the second supporting assembly is adjustably installed on the second supporting block, and the first supporting assembly is slidably installed on the guide rail. The mechanical arm runs at a high speed according to the preset program, manual waiting is not needed, the detection efficiency is greatly improved, meanwhile, measurement errors caused by manual operation differences are eliminated, and the data accuracy is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of gas turbine blade weight moment detection technology, specifically a fully automated gas turbine blade weight moment detection workstation. Background Technology

[0002] Force sensors are core measuring devices capable of accurately capturing and quantifying force signals in different directions. They are widely used in aerospace, drone development, industrial automation, robotics, gas turbines, and other fields. Furthermore, in electric vehicles, especially range-extended electric vehicles, the range-extending architecture provides an optimal application scenario for gas turbines.

[0003] Gas turbine blades are the core equipment for modern energy conversion, and measuring the weight moment of their moving blades is a crucial step in ensuring the stability and reliability of the entire machine. Due to manufacturing processes, blade weights vary, resulting in different centrifugal forces, inconsistent blade arrangement during installation, and varying overall imbalance. Traditional measurement methods require operators to manually place the blades onto the measuring device and record the data, then use software to calculate the blade arrangement order. This method is inherently dangerous; the generally heavy blades could easily injure personnel or damage the measuring equipment; different operators may perform the same procedure, causing the measuring device to shake during blade placement, leading to inaccurate data, and the method is inefficient; incorrect weighing can result in excessive imbalance, causing delays and economic losses during installation and disassembly. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automated gas turbine blade weight moment detection workstation to solve the problems in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a fully automated gas turbine blade weight moment detection workstation, comprising a conveyor assembly, a robotic arm assembly, a control cabinet, a weight moment measurement assembly, and a support platform. Two conveyor assemblies are provided on one side of the robotic arm assembly. Force sensor A and force sensor B are installed at the top of the support platform. The weight moment measurement assembly is supported by force sensor A and force sensor B. The weight moment measuring component includes a guide rail, a first support component, a first support block, a second support block, and a second support component. The first support block and the second support block are respectively installed at both ends of the guide rail. The second support component is adjustablely installed on the second support block, and the first support component is slidably installed on the guide rail.

[0006] Preferably, a first spherical bolt rod is installed at the bottom end of the first support block, and two second spherical bolt rods are installed at the bottom end of the second support block.

[0007] Preferably, the second support component includes a tenon support plate and a tenon support rod. The top of the tenon support plate is equipped with a tenon support rod that mates with the blade tenon. The tenon support rod is cylindrical in shape. The tenon support plate is slidably mounted on the second support block. The tenon support plate and the second support block are locked together by bolts.

[0008] Preferably, the guide rail includes a guide rail body, and two parallel guide bars are provided inside the guide rail body. The cross-sectional shape of the guide bars is semi-circular, and the shape of the slider is cylindrical. A guide groove that mates with the guide bars is provided on the outer side of the cylinder.

[0009] Preferably, the robotic arm assembly includes a robotic arm body, a finger cylinder, and grippers. The robotic arm body is equipped with a finger cylinder, which drives two grippers to open and close. The robotic arm body also includes a visual recognition component.

[0010] Preferably, the conveyor assembly includes a belt conveyor, a support frame, and limiting posts. The belt conveyor is fixed on the support frame, and the support frame is limited by the limiting posts.

[0011] Preferably, the force sensor A displays the following value: Force sensor B displays the following value: The vertical distance between the centers of the second spherical bolt at the second support block and the first spherical bolt at the first support block is L; the vertical distance from the center of gravity of the blade to the center of the second spherical bolt at the second support block is L1. The radius of the mortise supported by the tenon root support rod from the center of rotation is R, and the center of the tenon root support rod is aligned with the center of the second spherical bolt rod at the second support block. The first support component is moved to a suitable position, which is found based on the 3D model. The line connecting the blade's center of gravity to the tenon root end face is kept parallel to the ground. At this point, ensure that the first support component is moved to support the blade body. Record the position of the first support component on the guide rail and lock the slider in this position to ensure that the position of the device will not change. Enter the R and L values ​​into the computer; At this point, the blade is placed on the moment measurement assembly according to the specified direction and requirements, and the system automatically records the data. and The blade's moment of mass is automatically calculated using the following formula: The formula for the centrifugal force of the blade is: F is the centrifugal force of the blade, and m is the weight of the blade. ω is the blade angular velocity, and r is the radius of the distance from the blade's center of gravity to its center of rotation. When the blades rotate a full circle, the angular velocity is consistent, so the factors affecting the centrifugal force are m and r, where m r is called the weight moment; since the center of gravity of the blade cannot be obtained, the formula is equivalently replaced to obtain: Where r = R + L1; Therefore, the above formula is replaced with: Where m = After simplification, we get: M is the current blade weight moment value. The value of force sensor A, Let B be the value of the force sensor, L be the vertical distance between the centers of the two support blocks, and R be the radius of the mortise supported by the tenon root support rod from the center of rotation.

[0012] Preferably, the automatic adjustment steps are as follows: The visual recognition component of the robotic arm will automatically identify the blade number and enter the number into the system as the serial number of the weight moment. At the same time, it will find the shape and size characteristics of the blade in the system, as well as which tenon is placed on the blade support rod for this type of blade. The robotic arm assembly automatically adjusts the opening and closing range of the grippers and the clamping posture. It uses a vision recognition component to locate the blade support rod and the tenon support rod, and accurately places the mortise corresponding to the blade onto the tenon support rod.

[0013] Preferably, the optimal assembly sequence of the blades refers to the sequence in which the total rotor imbalance is minimized or the design maximum imbalance is met. Based on the calculated weight moment of each blade, the formula for calculating the total unbalance of the blade is as follows: n is the total number of blades, i is the i-th blade, θ is the angle between blades, and Mi is the weight moment of the i-th blade. Step 1: Sort by Ui in ascending order, and prioritize the selection of blades with small unbalance moments to reduce the base number of total unbalance in the group; Step 2: If the Ui deviation is ≤3%, then it is considered as a blade of equal magnitude; Step 3: Group simulation, group symmetrically, place blades of the same magnitude symmetrically, i.e., 180° apart; Step 4: Calculate the total unbalance. If it is not less than the maximum design unbalance value, replace the adjacent blades in the sequence until the design requirements are met.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. Fully automated, safe and efficient: Completely replaces the traditional manual placement and recording operation mode. The entire process, from blade picking, positioning, detection to output and sorting, is automated, avoiding safety risks such as personnel injury and equipment damage caused by the weight of the blades. The robotic arm runs at high speed according to a preset program, eliminating the need for manual waiting, greatly improving detection efficiency, and eliminating measurement errors caused by human operation differences (such as shaking during placement or inconsistent steps), ensuring data accuracy.

[0015] 2. High flexibility and adaptability, with a wide range of applications: The robotic arm acquires three-dimensional information of the blade through visual recognition, and combined with intelligent adaptive clamping technology, it can adapt to blades of different shapes and sizes without the need to change special clamps. The slider-guide rail sliding structure and adjustable support components of the weight moment measurement component work in conjunction with the robotic arm's vision system to achieve adaptive positioning and measurement of different types of blades, reducing equipment adaptation costs.

[0016] 3. Precise and stable measurement, reliable data: The weight moment measurement component is equipped with a high-precision force sensor, and the overall stability is ensured by ball bolt rods and limiting structures. The blade support uses dedicated tenon support rods and blade support rods, ensuring precise positioning and reducing measurement interference. Data acquisition, calculation, and storage are fully automated. Blade information is linked to the test results, allowing traceability of the test data for each blade. The system automatically calculates the assembly sequence, avoiding human calculation errors and ensuring the balance and reliability of the entire assembly.

[0017] 4. Streamlined workflow for cost reduction and efficiency improvement: Integrating the entire process of "transportation-inspection-sorting-assembly planning" eliminates the need for additional manual intervention in data processing and sorting planning, shortening the blade inspection and installation preparation cycle. This reduces problems such as machine imbalance and rework caused by manual weighing errors, minimizing economic losses, while improving the consistency and production efficiency of batch blade inspection.

[0018] 5. Streamlined Measurement-Sorting-Assembly Process: The robotic arm works in conjunction with the measurement system. During the gripping process, it automatically reads and binds the blade information, ensuring data traceability. After all blades are measured, the system automatically calculates the assembly sequence, improving efficiency and ensuring the accuracy of data calculation. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the weight torque measuring component and force sensor of the present invention; Figure 3This is a schematic diagram of the weight moment measuring component of the present invention; Figure 4 This is a schematic diagram of the guide rail structure of the present invention; Figure 5 This is a schematic diagram of the structure of the first support component of the present invention; Figure 6 This is a schematic diagram of the structure of the second support component of the present invention; Figure 7 This is a schematic diagram of the structure of the first support block of the present invention; Figure 8 This is a schematic diagram of the structure of the robotic arm assembly of the present invention; Figure 9 This is a schematic diagram of the belt conveyor line of the present invention; Figure 10 This is a schematic diagram of the structure of the locking measuring blade of the present invention; Figure 11 This is a schematic diagram of the present invention.

[0020] In the diagram: 1. Conveyor line assembly; 2. Robotic arm assembly; 3. Control cabinet; 4. Weight moment measurement assembly; 51. Force sensor A; 52. Force sensor B; 6. Support platform; 41. Guide rail; 42. First support assembly; 43. First support block; 44. Second support block; 45. Second support assembly; 411. Guide rail body; 412. Guide bar; 421. Blade support rod; 422. Blade support plate; 423. Push rod; 424. Base plate; 425. Slider; 431. First support block body; 432. First ball bolt rod; 441. Second support block body; 442. Second ball bolt rod; 451. Tenon support plate; 452. Tenon support rod; 11. Belt conveyor line; 12. Support frame; 13. Limiting post; 21. Robotic arm body; 22. Finger cylinder; 23. Gripper. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0022] Please see Figure 1-10In this embodiment of the invention, a fully automated gas turbine blade weight moment detection workstation includes a conveyor assembly 1, a robotic arm assembly 2, a control cabinet 3, a weight moment measurement assembly 4, and a support platform 6. The robotic arm assembly 2 has two conveyor assemblies 1 on one side (one for conveying the blade to be tested, and the other for outputting the tested blade). Force sensors A51 and B52 are installed on the top of the support platform 6, and the weight moment measurement assembly 4 is supported by force sensors A51 and B52. The weight moment measuring component 4 includes a guide rail 41, a first support component 42, a first support block 43, a second support block 44, and a second support component 45. The first support block 43 and the second support block 44 are respectively installed at both ends of the guide rail 41. The second support component 45 is adjustablely installed on the second support block 44. The first support component 42 is slidably installed on the guide rail 41. A first ball bolt rod 432 is installed at the bottom end of the first support block 43, and two second ball bolt rods 442 are installed at the bottom end of the second support block 44 to ensure structural stability. The second support component 45 includes a tenon support plate 451 and a tenon support rod 452. The top end of the tenon support plate 451 is equipped with a tenon support rod 452 that mates with the blade tenon. The tenon support rod 452 is cylindrical. The tenon support plate 451 is slidably installed on the second support block, and the tenon support plate 451 and the second support block are locked together by bolts.

[0023] The first support assembly 42 includes a blade support plate 422 and a base plate 424, which are fixed together by bolts. A blade support rod 421 is installed at the top of the blade support plate 422 to support the blade body. The blade support rod 421 is cylindrical in shape. A push rod 423 is installed on one side of the base plate 424, and a plurality of sliders 425 that cooperate with the guide rail 41 are installed at the bottom of the base plate 424.

[0024] The guide rail 41 includes a guide rail body 411, and two parallel guide bars 412 are provided inside the guide rail body 411. The cross-sectional shape of the guide bars 412 is semi-circular. The slider 425 is cylindrical. The outer side of the cylinder is provided with a guide groove that cooperates with the guide bars 412 to ensure that the slider slides smoothly on the guide rail.

[0025] The robotic arm assembly 2 includes a robotic arm body 21, finger cylinders 22, and grippers 23. The robotic arm body 21 is equipped with finger cylinders 22, which drive the two grippers 23 to open and close, achieving precise gripping and placement of the blade. The robotic arm body 21 includes a vision recognition component. The vision recognition component of the robotic arm, in conjunction with intelligent adaptive clamping technology, automatically adjusts the opening and closing range of the grippers and the clamping posture according to the shape and size characteristics of the blade, ensuring that the blade is in the optimal measurement position.

[0026] The conveyor assembly 1 includes a belt conveyor 11, a support frame 12, and a limiting post 13. The belt conveyor 11 is fixed on the support frame 12, and the support frame 12 is limited by the limiting post 13.

[0027] The force sensor A51 displays the following value: The force sensor B52 displays the following value: The vertical distance between the centers of the second spherical bolt rod 442 at the second support block 44 and the first spherical bolt rod 432 at the first support block 43 is L; the vertical distance from the center of gravity of the blade to the center of the second spherical bolt rod 442 at the second support block 44 is L1. The radius of the mortise supported by the tenon support rod 452 from the center of rotation is R, and the center of the tenon support rod 452 is aligned with the center of the second ball bolt rod 442 at the second support block 44. The first support component 42 is moved to a suitable position, which is found based on the three-dimensional model. The line connecting the blade's center of gravity to the tenon root end face is kept parallel to the ground. At this time, ensure that the first support component 42 is moved to support the blade body. Record the position of the first support component 42 on the guide rail 41 and lock the slider 425 in this position to ensure that the position of the device will not change. Enter the R and L values ​​into the computer; At this point, the blade is placed on the moment measurement assembly 4 according to the specified direction and requirements, and the system automatically records the data. and The blade's moment of mass is automatically calculated using the following formula: The formula for the centrifugal force of the blade is: F is the centrifugal force of the blade, and m is the weight of the blade. ω is the blade angular velocity, and r is the radius of the distance from the blade's center of gravity to its center of rotation. When the blades rotate a full circle, the angular velocity is consistent, so the factors affecting the centrifugal force are m and r, where m r is called the weight moment; since the center of gravity of the blade cannot be obtained, the formula is equivalently replaced to obtain: Where r = R + L1; Therefore, the above formula is replaced with: Where m = After simplification, we get: M is the current blade weight moment value. The value of force sensor A51, The value of force sensor B52 is given, L is the vertical distance between the centers of the second ball bolt rod 442 at the second support block 44 and the first ball bolt rod 432 at the first support block 43, and R is the radius of the mortise supported by the tenon root support rod from the rotation center.

[0028] The automatic adjustment steps are as follows: The vision recognition component of the robotic arm assembly 2 will automatically recognize the blade number and enter the number into the system as the SN code of the weight moment. At the same time, it will find the shape and size characteristics of the blade in the system, as well as which tenon of this type of blade is placed on the blade support rod 421. The robotic arm component 2 automatically adjusts the opening and closing range and clamping posture of the gripper 23, locates the blade support rod 421 and the tenon support rod 452 through the visual recognition component, and accurately places the tenon corresponding to the blade on the tenon support rod 452.

[0029] The optimal assembly sequence of the blades refers to minimizing the total rotor imbalance or meeting the design maximum imbalance requirement. Based on the calculated weight moment of each blade, the formula for calculating the total unbalance of the blade is as follows: n is the total number of blades, i is the i-th blade, θ is the angle between blades, and Mi is the weight moment of the i-th blade. Step 1: Sort by Ui in ascending order, and prioritize the selection of blades with small unbalance moments to reduce the base number of total unbalance in the group; Step 2: If the Ui deviation is ≤3%, then it is considered as a blade of equal magnitude; Step 3: Group simulation, group symmetrically, place blades of the same magnitude symmetrically, i.e., 180° apart; Step 4: Calculate the total unbalance. If it is not less than the maximum design unbalance value, replace the adjacent blades in the sequence until the design requirements are met.

[0030] The working principle of this invention is: The mechanical automation linkage principle is as follows: Conveyor assembly 1 sequentially transports the blades to be tested. The robotic arm assembly 2, equipped with a vision recognition component, accurately identifies the blade type, positioning point, and 3D information. A finger cylinder 22 drives the gripper 23 to grasp the blade. Following a preset program, the robotic arm precisely places the blade tenon onto the cylindrical tenon support rod 452 of the weight moment measurement assembly 4, simultaneously ensuring the blade body aligns with the cylindrical blade support rod 421, achieving automated blade positioning and clamping. After testing, the robotic arm again grasps the tested blade and transfers it to conveyor assembly 1 for output, completing a fully automated cycle of "conveyance-grabbing-testing-output" without human intervention.

[0031] Weight moment measurement principle: The weight moment measurement component 4 stably supports the blade through the first and second support groups (45). The entire component is supported by force sensors A51 and B52 on the support platform 6. After the blade is placed, the force sensors capture the pressure signal and transmit it to the system. The system automatically calculates the blade weight moment based on a preset formula, combined with parameters such as the distance between the blade support points (e.g., the distance between the ball bolt rods at both ends) and the force sensor measurement data. At the same time, the blade serial number is bound and recorded to ensure data traceability.

[0032] Adaptive adjustment principle: The robotic arm's vision recognition component works in conjunction with intelligent adaptive clamping technology to automatically adjust the opening and closing range and clamping posture of the gripper 23 according to the shape and size characteristics of the blade, ensuring that the blade is in the optimal measurement position. In the weight moment measurement component 4, the first support component 42 can be flexibly adjusted in position through the sliding structure of the slider 425 and the guide rail 41 (the guide bar 412 and the guide groove are precisely matched). Combined with the adjustable locking design of the second support component 45, it can adapt to the support requirements of different types of blades and achieve adaptive measurement.

[0033] Data linkage and process-oriented principle: When the robotic arm grasps the blade, it automatically reads the blade information and binds it with the force sensor measurement data and system calculation results for storage, forming a complete data chain to ensure data traceability. After all blades have been inspected, the system automatically calculates the optimal assembly sequence based on the weight moment data of each blade, realizing a process-oriented linkage of "measurement-sorting-assembly".

[0034] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully automated gas turbine blade weight moment detection workstation, characterized in that: The system includes a conveyor assembly (1), a robotic arm assembly (2), a control cabinet (3), a torque measurement assembly (4), and a support platform (6). Two conveyor assemblies (1) are provided on one side of the robotic arm assembly (2). Force sensor A (51) and force sensor B (52) are installed on the top of the support platform (6). The torque measurement assembly (4) is supported by force sensor A (51) and force sensor B (52). The weight moment measuring component (4) includes a guide rail (41), a first support component (42), a first support block (43), a second support block (44), and a second support component (45). The first support block (43) and the second support block (44) are respectively installed at both ends of the guide rail (41). The second support component (45) is adjustablely installed on the second support block (44), and the first support component (42) is slidably installed on the guide rail (41).

2. The fully automated gas turbine blade weight moment detection workstation according to claim 1, characterized in that: The first support block (43) is equipped with a first ball bolt rod (432) at its bottom end, and the second support block (44) is equipped with two second ball bolt rods (442) at its bottom end.

3. The fully automated gas turbine blade weight moment detection workstation according to claim 3, characterized in that: The second support assembly (45) includes a tenon support plate (451) and a tenon support rod (452). The top of the tenon support plate (451) is equipped with a tenon support rod (452) that cooperates with the tenon of the blade. The tenon support rod (452) is cylindrical in shape. The tenon support plate (451) is slidably mounted on the second support block. The tenon support plate (451) and the second support block are locked together by bolts.

4. The fully automated gas turbine blade weight moment detection workstation according to claim 1, characterized in that: The first support assembly (42) includes a blade support plate (422) and a base plate (424). The blade support plate (422) and the base plate (424) are fixed by bolts. A blade support rod (421) is installed at the top of the blade support plate (422). The blade support rod (421) is cylindrical. A push rod (423) is installed on one side of the base plate (424). A plurality of sliders (425) that cooperate with the guide rail (41) are installed at the bottom of the base plate (424).

5. The fully automated gas turbine blade weight moment detection workstation according to claim 4, characterized in that: The guide rail (41) includes a guide rail body (411), and two parallel guide bars (412) are provided inside the guide rail body (411). The cross-sectional shape of the guide bar (412) is semi-circular, and the slider (425) is cylindrical. A guide groove that cooperates with the guide bar (412) is provided on the outer side of the cylindrical shape.

6. The fully automated gas turbine blade weight moment detection workstation according to claim 1, characterized in that: The robotic arm assembly (2) includes a robotic arm body (21), a finger cylinder (22) and grippers (23). The robotic arm body (21) is equipped with a finger cylinder (22), which drives two grippers (23) to open and close. The robotic arm body (21) includes a visual recognition component.

7. The fully automated gas turbine blade weight moment detection workstation according to claim 1, characterized in that: The conveyor assembly (1) includes a belt conveyor (11), a support frame (12) and a limiting post (13). The belt conveyor (11) is fixed on the support frame (12), and the support frame (12) is limited by the limiting post (13).

8. The fully automated gas turbine blade weight moment detection workstation according to claim 4, characterized in that: Force sensor A (51) displays the value as follows: Force sensor B (52) displays the value as follows: The vertical distance between the center of the second spherical bolt rod (442) at the second support block (44) and the center of the first spherical bolt rod (432) at the first support block (43) is L; the vertical distance from the center of gravity of the blade to the center of the second spherical bolt rod (442) at the second support block (44) is L1; The radius of the mortise supported by the tenon support rod (452) from the center of rotation is R, and the center of the tenon support rod (452) is aligned with the center of the second ball bolt rod (442) at the second support block (44); The first support component (42) is moved to a suitable position, which is found according to the three-dimensional model. The line connecting the center of gravity of the blade to the tenon root end face is parallel to the ground. At this time, ensure that the first support component (42) is moved to support the blade body. Record the position of the first support component (42) on the guide rail (41) and lock the slider (425) in this position to ensure that the position of the device will not change. Enter the R and L values ​​into the computer; At this point, the blade is placed on the moment of weight measurement component (4) according to the specified direction and requirements, and the system automatically records the data. and The blade's moment of mass is automatically calculated using the following formula: The formula for the centrifugal force of the blade is: F is the centrifugal force of the blade, and m is the weight of the blade. ω is the blade angular velocity, and r is the radius of the distance from the blade's center of gravity to its center of rotation. When the blades rotate a full circle, the angular velocity is consistent, so the factors affecting the centrifugal force are m and r, where m r is called the weight moment; since the center of gravity of the blade cannot be obtained, the formula is equivalently replaced to obtain: Where r = R + L1; Therefore, the above formula is replaced with: Where m = After simplification, we get: M is the current blade weight moment value. The value of force sensor A (51), Let L be the value of force sensor B (52), L be the vertical distance between the center of the second ball bolt rod (442) at the second support block (44) and the center of the first ball bolt rod (432) at the first support block (43), and R be the radius of the tenon support rod (452) from the center of rotation.

9. A fully automated gas turbine blade weight moment detection workstation according to claim 8, characterized in that: The automatic adjustment steps are as follows: The visual recognition component of the robotic arm assembly (2) will automatically recognize the blade number and enter the number into the system as the SN code of the weight moment. At the same time, it will find the shape and size characteristics of the blade in the system, as well as which tenon of the blade type is placed on the blade support rod (421). The robotic arm assembly (2) automatically adjusts the opening and closing range and clamping posture of the gripper (23), locates the blade support rod (421) and the tenon support rod (452) through the visual recognition component, and accurately places the tenon corresponding to the blade on the tenon support rod (452).

10. A fully automated gas turbine blade weight moment detection workstation according to claim 9, characterized in that: The optimal assembly sequence of the blades refers to minimizing the total rotor imbalance or meeting the design maximum imbalance requirement. Based on the calculated weight moment of each blade, the formula for calculating the total unbalance of the blade is as follows: n is the total number of blades, i is the i-th blade, θ is the angle between blades, and Mi is the weight moment of the i-th blade. Step 1: Sort by Ui in ascending order, and prioritize the selection of blades with small unbalance moments to reduce the base number of total unbalance in the group; Step 2: If the Ui deviation is ≤3%, then it is considered as a blade of equal magnitude; Step 3: Group simulation, group symmetrically, place blades of the same magnitude symmetrically, i.e., 180° apart; Step 4: Calculate the total unbalance. If it is not less than the maximum design unbalance value, replace the adjacent blades in the sequence until the design requirements are met.

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