An adaptive propeller forming machine

Abstract

The application discloses a self-adaptive propeller forming machine and relates to the technical field of numerical control machining. The self-adaptive propeller forming machine comprises a machine frame, a retention gap, an automatic cutting machine head, a stress assembly and an adaptive adjustment assembly. The machine frame is installed in a machining room and is adjusted in position according to requirements. The retention gap is arranged in the middle of the top surface of the machine frame, and the machine frame is provided with a sliding rail at the retention gap. The automatic cutting machine head is installed on one side of the middle of the top surface of the machine frame and is used for machining propeller blanks. The stress assembly is arranged at one end of the top surface of the machine frame and can move axially along the sliding rail. The adaptive adjustment assembly is arranged at the other end of the top surface of the machine frame. In the machining process, the stress assembly moves axially along the sliding rail, the displacement is transmitted to the adaptive adjustment assembly through the traction arm and the traction turntable structure in the transmission assembly, corresponding linkage displacement of internal working parts is generated, the problem that the cooling liquid deviates from the machining area or is delayed in action can be avoided, and the machining area is always in a controlled cooling state.

Description

Technical Field

[0001] This invention relates to the field of CNC machining technology, specifically to an adaptive propeller forming machine. Background Technology

[0002] Due to their complex structure and significant surface variations, propellers undergo continuous changes in spatial position and cutting conditions across different processing areas during the manufacturing process, placing high demands on cooling and lubrication.

[0003] In existing technologies, fixed spray structures are typically used to cool or lubricate the machining area. These structures have a fixed spray direction, making it difficult to adjust in real-time according to changes in the contact position between the tool and the workpiece. During actual machining, as the machining position changes, the coolant can easily deviate from the effective machining area, leading to insufficient cooling or discontinuous lubrication in certain areas. This affects machining accuracy and exacerbates tool wear. A search revealed Chinese invention patent application CN121535567A, which proposes an integrated processing device suitable for large marine propellers. By integrating multi-axis linkage processing adjustment components and a 3D scanner, it can perform automatic path planning to achieve automated operation, thereby significantly reducing reliance on skilled technicians and significantly improving processing efficiency and product consistency. At the same time, this solution, through the coordinated design of a rotatable three-jaw chuck and a central support mechanism, can automatically achieve reliable support from both the inside and outside of the workpiece during clamping.

[0004] However, in practical applications, the cooling and lubrication in the above-mentioned solutions and similar existing technologies still rely on relatively fixed spraying or supply methods. When the processing trajectory changes in a complex manner or the processing area changes rapidly, there may be a certain deviation between the cooling and lubrication action area and the actual processing contact area, making it difficult to maintain sufficient coverage of the critical processing area in some processing stages. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive propeller forming machine to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an adaptive propeller forming machine, comprising: The machine frame is installed inside the processing room; The retention gap is located in the middle of the top surface of the machine frame, and the machine frame is equipped with a slide rail at the retention gap. The automated cutting head is installed on one side of the top surface of the machine frame in the middle. The force-bearing component is located at one end of the top surface of the machine frame and can move axially along the slide rail; An adaptive adjustment component is located at the other end of the top surface of the machine frame; And the transmission components are installed in the middle of the machine frame; The adaptive adjustment component includes: The storage box cover is fixed to the top surface of the machine frame at the end away from the force-bearing component. A liquid sprayer is installed at the top inside, and the bottom inside the storage box cover is hollow. Two track notches are provided at the end of the storage box cover facing the force-bearing component. An automatic clamping device is installed at the center of one end of the storage box cover. The track notches are symmetrically distributed at one end of the storage box cover with the automatic clamping device as the symmetrical point. The working part is installed at the bottom inside the storage box cover. The bottom of the storage box cover has an adjustment notch that penetrates the machine frame. The working part is connected to the sprayer, and the bottom of the working part is hinged to the transmission assembly through the adjustment notch.

[0007] As a further preferred embodiment of this technical solution, the automated clamping device is provided in multiple forms, which are respectively installed in the automated cutting head, the force-bearing component, and the adaptive adjustment component. The automated clamping device is an automated gripper.

[0008] As a further preferred embodiment of this technical solution, the force-bearing component includes: Secure the plate frame and fix it to one end of the top of the machine frame; The movable seat is installed on the top of the slide rail and is located on one side of the stable plate frame. A placement slot is opened in the center of the interior, and the automated gripper is installed in the placement slot. An electric hydraulic push rod is installed on the other side of the stable plate frame, and its own telescopic rod passes through the stable plate frame and is fixedly connected to one side of the movable seat; The mounting platform is fixed to one end of the bottom of the movable seat, set inside the machine frame through a retaining notch, and hinged to the transmission assembly.

[0009] As a further preferred embodiment of this technical solution, the transmission component includes: An assembly arm is installed at the middle of the machine frame; A traction turntable is rotatably mounted on the connecting shaft fixed at the top of the assembly arm; Two traction arms, one end of which is hinged to the top edge of the traction turntable, and the other end is hinged to the bottom of the mounting protrusion and the bottom of the working piece, respectively.

[0010] As a further preferred embodiment of this technical solution, the working piece includes: The servo motor is installed at the center of the bottom inside the storage box, with its shaft passing through the storage box and fixedly connected to the automated gripper. The linkage lever is adapted to the adjustment notch, its bottom is hinged to the traction arm, and a U-shaped semi-ring is fixed at the top; Two linkage pipes, one end of which is movably connected to the two ends of the outside of the U-shaped semi-ring, and a telescopic connecting hose is installed between its surface and the sprayer. The other end passes through the track gap and is fixed with a water outlet tube. The linkage gear assembly is installed on the outside of the shaft body, and its surface is provided with two support arms. The top of one end of each support arm contacts the surface of the two linkage tubes respectively.

[0011] As a further preferred embodiment of this technical solution, the linkage gear assembly includes: A pair of linked gears, divided into two, one of which is mounted on the outside of the shaft, and the other is rotatably connected to the gear that carries the shaft inside; One end of the mounting shaft is fixedly connected to one end of the inner wall of the storage box cover, the two linkage gears mesh with each other, and the ends of the two support arms away from the linkage tube are respectively fixed to the outside of the two linkage gears.

[0012] As a further preferred embodiment of this technical solution, movable notches are respectively provided on both sides of the outer side of the storage box cover. The length specifications of the movable notches match the length specifications of the adjustment notches. The movable notches are adapted to the connecting hose. A maintenance window is installed on the back of the storage box cover. An injection pipe is fixed on the top of the storage box cover. The injection pipe is connected to the liquid filling port of the sprayer.

[0013] As a further preferred embodiment of this technical solution, a control panel is fixed to one side of the top edge of the machine frame. The control panel is used to electrically connect with the servo motor, the automated cutting head, the electro-hydraulic push rod, the automated gripper, and the sprayer.

[0014] As a further preferred embodiment of this technical solution, the bottom of the machine frame is fixed with casters with locking function around its four sides, and a load-bearing handrail is installed at one end of the machine frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This adaptive propeller forming machine, during processing, allows the force-bearing components to move axially along the slide rail. This displacement is transmitted to the adaptive adjustment components through the traction arm and traction turntable structure in the transmission components, causing the internal working parts to generate corresponding linkage displacement, thus forming a stable displacement driving foundation. On this basis, the working parts further convert the displacement changes into angle changes through structures such as linkage folding rods, U-shaped semi-rings, and linkage pipes. This allows the spraying structure to automatically adjust its orientation according to the spatial position of different processing areas of the propeller blank, forming a displacement driving-angle linkage conversion relationship. Under the action of the conversion relationship, the spray path formed by the spray nozzle through the connecting hose and water outlet can follow the changes in the processing area in real time, so that the coolant or lubricant always acts on the actual contact area between the tool and the workpiece, thus forming a dynamic response mechanism for synchronous spraying adjustment. Compared with the traditional fixed spraying method, this invention can avoid the problem of coolant deviating from the processing area or acting lag, so that the processing area is always in a controlled cooling state. In addition, the present invention can maintain a stable temperature in the processing area during the processing, reduce changes in material properties and processing errors caused by local temperature rise, thereby significantly improving the dimensional accuracy and surface quality of propeller forming. At the same time, since cooling and lubrication always act on the effective area, it can effectively reduce the degree of friction between the tool and the workpiece, slow down the tool wear rate, extend the tool life, and reduce processing costs. Furthermore, the linkage adjustment method proposed in this invention does not require additional complex control. It can achieve adaptive adjustment of the cooling direction by relying solely on structural linkage, so that the device has a certain degree of reliability and responsiveness while ensuring adjustment, and avoids the delay or error problems that may be caused by complex control systems. Finally, the present invention, through the linkage design of the force-bearing components and the transmission components, makes the workpiece stress state more balanced during the processing, which reduces the possibility of vibration to a certain extent. In addition, the multi-point clamping structure further improves the processing stability. However, all of the above effects are based on the effective operation of the cooling and lubrication synchronous adjustment mechanism. Attached Figure Description

[0016] Figure 1 This is an isometric drawing of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is the front view of the present invention; Figure 4 This is a structural composition diagram of the adaptive adjustment component of the present invention; Figure 5 for Figure 4 A magnified view of part A in the middle; Figure 6 This is a structural diagram of the force-bearing component of the present invention; Figure 7This is a structural diagram of the transmission component of the present invention.

[0017] In the diagram: 1. Machine frame; 2. Control panel; 3. Force-bearing handrail; 4. Adaptive adjustment component; 401. Storage box cover; 402. Maintenance window panel; 403. Injection pipe; 404. Connecting hose; 405. Movable notch; 406. U-shaped semi-ring; 407. Adjustment notch; 408. Linkage lever; 409. Water outlet; 410. Track notch; 411. Servo motor; 412. Linkage gear; 413. Mounting shaft; 414. Support arm; 415. Linkage pipe; 5. Automated cutting head; 6. Force-bearing component; 601. Movable seat; 602. Mounting protrusion seat; 603. Electro-hydraulic push rod; 604. Stabilizing plate frame; 605. Placement slot; 7. Retention notch; 8. Transmission component; 801. Assembly arm; 802. Connecting shaft; 803. Traction arm; 804. Traction turntable; 9. Slide rail; 10. Automated gripper. Detailed Implementation

[0018] 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 some embodiments of the present invention, and not all embodiments. 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.

[0019] Before understanding the technical solution proposed in this application, it is important to understand that the actual application scenario of this technical solution is a machining workshop environment for precision forming of propeller blanks of different specifications. It is particularly suitable for machining scenarios involving multiple specifications, small batches, or frequent model changes. This device is typically installed in a machining room with stable power supply, good ventilation, and vibration damping. During operation, the control panel 2 enables coordinated control of each execution unit to ensure machining accuracy and operational stability.

[0020] Example 1: In response to the problems of large changes in stress state, significant differences in the curved surface of the processing position, and the difficulty of achieving dynamic adaptation by traditional fixed clamping structures for propeller blanks of different specifications during processing, in order to achieve balanced adjustment of the force on the propeller blank during processing and adaptive matching of the processing trajectory, while ensuring processing stability and reducing the impact of vibration, it is necessary to construct a mechanism system that can realize force linkage and reverse adaptive adjustment of the working part. This example provides a core linkage layout scheme of force component 6, adaptive adjustment component 4, and transmission component 8.

[0021] like Figure 1 - Figure 7 As shown, this embodiment provides a core collaborative layout scheme among the machine frame 1, the force-bearing component 6, the adaptive adjustment component 4, and the transmission component 8.

[0022] The machine frame 1 has a notch 7 at the top center and a slide rail 9 installed inside as a guide reference for the force-bearing component 6. The automated cutting head 5 is installed on one side of the top center of the machine frame 1 and adopts the high-speed electric spindle form of the existing five-axis machining center structure (for example, the KESSLER or HSD ES951 series electric spindle structure) for high-precision rotary cutting of the propeller blank and as a machining positioning reference and central constraint reference point. The force-bearing component 6 is set at one end and realizes axial linear movement through the slide rail 9. The adaptive adjustment component 4 is set at the other end and is used to implement adaptive adjustment of the processing area. The transmission component 8 is set in the middle of the machine frame 1 and is used to establish the mechanical linkage between the force-bearing component 6 and the adaptive adjustment component 4. It should be noted that in actual use, universal wheels with locking function are fixed around the bottom of the machine frame 1, and a force-bearing handrail 3 is installed at one end of the machine frame 1. The position of the machine frame 1 is adjusted by applying force to the force-bearing handrail 3.

[0023] Specifically, the transmission assembly 8 includes an assembly arm 801, a connecting shaft 802, a traction turntable 804, and two traction arms 803. The traction turntable 804 rotates around the connecting shaft 802, and the two traction arms 803 are respectively connected to the bottom of the working parts in the force-bearing assembly 6 and the adaptation and adjustment assembly 4, forming a linkage structure with double-end hinges and a central turntable drive.

[0024] It should be noted that when the force-bearing component 6 moves to one side along the slide rail 9 under the drive of the electric hydraulic push rod 603, the mounting protrusion 602 at its bottom drives the traction turntable 804 to deflect through the traction arm 803, and then pulls the working part in the adaptation and adjustment component 4 to move synchronously in the opposite direction through another traction arm 803, thus forming a motion relationship of one end pushing and the other end retracting.

[0025] During this process, while the workpiece is axially displaced, its working surface undergoes an angular change under the constraint of the linkage structure. This allows it to automatically adjust its contact posture according to the diameter, pitch, and surface distribution of the propeller blank, thereby achieving force balance and trajectory adaptation during the processing and avoiding the problems of local overload or vibration concentration caused by traditional fixed structures.

[0026] Example 2: In order to solve the problems of varying clamping range and insufficient stability during the feeding process caused by differences in specifications of propeller blanks during processing, and to ensure the continuity of force transmission and effective linkage with the transmission component 8, the structure of the force component 6 needs to be optimized. Based on Example 1, this example further describes the internal structure of the force component 6.

[0027] like Figure 1 - Figure 7As shown, the force-bearing component 6 includes a stabilizing frame 604, a movable seat 601, an electric hydraulic push rod 603, and a mounting protrusion platform 602. The movable seat 601 is slidably mounted on the slide rail 9, and its interior is equipped with an automated gripper 10 for clamping and positioning the propeller blank.

[0028] It should be noted that the telescopic rod of the electric hydraulic push rod 603 passes through the stable plate frame 604 and is fixedly connected to the movable seat 601. When the push rod extends, it pushes the movable seat 601 forward along the slide rail 9, thereby driving the clamped propeller blank to move towards the automatic cutting head 5, realizing the feeding motion.

[0029] Meanwhile, the mounting protrusion 602 at the bottom of the movable seat 601 extends into the machine frame 1 through the retention notch 7 and is hinged to the traction arm 803, so that the linear motion of the movable seat 601 can be synchronously transmitted to the transmission component 8, thereby driving the adaptive adjustment component 4 to produce a reverse response.

[0030] In addition, the placement slot 605 inside the movable seat 601 is larger than the stroke range of the automated gripper 10, so that there is a certain adjustment margin during the clamping process, thereby adapting to the clamping requirements of propeller blanks of different specifications.

[0031] It should be noted that the electro-hydraulic push rod 603 and the automated gripper 10 are both existing mature industrial components, therefore the applicant will not elaborate on the specific working principles of these devices.

[0032] Example 3: In order to solve the problem of uneven heating and difficulty in real-time matching of cooling positions in different curved areas of propeller blanks during processing, and to realize the dynamic adjustment of cooling direction of processing area with processing position, it is necessary to construct a structural system that links workpiece angle adjustment with liquid spraying system. In this example, the angle adjustment and cooling linkage mechanism of adaptive adjustment component 4 are optimized.

[0033] Specifically, such as Figure 4 - Figure 5 As shown, the adaptive adjustment component 4 includes a storage box cover 401, a sprayer, a working part, and a linkage structure.

[0034] The storage box cover 401 is equipped with a sprayer on the top, which is used to spray coolant or lubricant onto the processing area of ​​the propeller blank during the processing. The bottom is a hollow structure with an adjustment notch 407, so that the internal working parts can be hinged to the traction arm 803 in the transmission assembly 8. It should be noted that the sprayer is a common industrial nozzle system in the prior art and is a mature existing technology device. Therefore, the applicant will not provide too much explanation of the working principle and specific structure of the sprayer.

[0035] The working components include a servo motor 411, a linkage lever 408, a U-shaped semi-ring 406, a linkage tube 415, and a linkage gear assembly structure.

[0036] It should be noted that when the transmission component 8 pulls the working part to move axially, the linkage lever 408 swings around its hinge point. The swinging motion is transmitted to the two linkage pipes 415 through the U-shaped semi-ring 406, causing them to deflect synchronously. The linkage gear 412 meshes and rotates under the drive of the servo motor 411, and applies an auxiliary adjustment force to the linkage pipe 415 through the support arm 414, making its angle change more stable and controllable. Ultimately, the water outlet 409 is always aligned with the processing area during movement, enabling the coolant spray direction to be dynamically adjusted according to the processing position. It should be noted that the working surface of the workpiece is the spray surface of the water outlet 409. In addition, the movable notch 405 is set on both sides of the storage box cover 401 of the adaptation and adjustment component 4 to avoid and guide the linkage pipe 415 and the external moving structure, so that the movement of the workpiece is not interfered with by the structure. Furthermore, in this embodiment, the maintenance window plate 402 is set on the back of the storage box cover 401 for equipment inspection and internal structure maintenance channel. The liquid injection pipe 403 is set on the top of the storage box cover 401 and is connected to the liquid inlet end of the sprayer for external liquid replenishment channel. The track notch 410 is set on the side of the storage box cover 401 facing the force-bearing component 6 for guiding the sliding path of the linkage pipe 415. The mounting shaft 413 is fixed to the end of the internal structure of the storage box cover 401 for installing the linkage gear 412.

[0037] The structure described in this embodiment forms a composite adjustment mechanism of displacement drive, angle linkage, and jet synchronization, which ensures that cooling and lubrication always act on the effective machining area, thereby improving machining quality and reducing tool wear.

[0038] Example 4: To address the issues of insufficient stability of single-point clamping structures during processing and the differences in clamping requirements at different processing stages, and to simultaneously achieve multi-point collaborative constraint and dynamic control of propeller blanks, this example provides supplementary explanations of the automated clamping device and control system based on the above examples.

[0039] Specifically, refer to Figure 1 - Figure 7 As can be seen, in this embodiment, the automated grippers 10 are respectively set in the top quadrant area of ​​the retention notch 7 at the corresponding positions of the automated cutting head 5, the force-bearing component 6 and the adaptive adjustment component 4, forming a multi-point clamping structure.

[0040] It should be noted that during the processing: The automated gripper 10 of the force-bearing component 6 is used for main gripping and feed control; The automated gripper 10 of the automated cutting head 5 is used for auxiliary positioning and stable constraint; The automated gripper 10 of the adaptive adjustment component 4 is used to adjust the posture of the workpiece to ensure the stability of the processing area; The multi-point clamping structure can be opened and closed in coordination according to the processing stage, thereby achieving dynamic switching between "rigid fixation and flexible adaptation" under different processing conditions.

[0041] In addition, the control panel 2 is electrically connected to the servo motor 411, the electro-hydraulic push rod 603, the automated gripper 10 and the liquid sprayer, respectively. Through preset programs, it realizes the control of the processing path, the control of the clamping sequence and the control of the cooling strategy, thereby forming a unified control link.

[0042] Example 5: In order to achieve coordinated operation among the components and build a complete adaptive processing flow, so that the propeller blank can achieve unified coordination of force adjustment, attitude matching and cooling control during processing, this example, in conjunction with Examples 1 to 4, describes the overall operation process of the device.

[0043] First, the propeller blank to be processed is placed in the processing space between the force-bearing component 6 and the adaptive adjustment component 4. The propeller blank is clamped and positioned at multiple points by three sets of automated grippers 10 located at the force-bearing component 6, the adaptive adjustment component 4, and the automated cutting head 5. The automated grippers 10 on the force-bearing component 6 and the adaptive adjustment component 4 respectively provide clamping support to both ends of the propeller blank, while the automated grippers 10 at the automated cutting head 5 provides positioning constraint to the middle of the propeller blank. This forms a three-point stable clamping structure similar to that in a five-axis propeller processing equipment, so that the propeller blank maintains the stability of its central positioning during processing.

[0044] After initial positioning is completed, the control panel 2 activates the electric hydraulic push rod 603, causing the force-bearing component 6 to move axially along the slide rail 9, thereby driving the propeller blank relative to the automatic cutting head 5 into the processing position to achieve continuous cutting processing.

[0045] During the feeding process, the force-bearing component 6 operates through the electro-hydraulic push rod 603, causing the movable seat 601 to drive the mounting protrusion seat 602 to move on the slide rail 9. This causes the mounting protrusion seat 602 to drive the transmission component 8 through the traction arm 803. Even if the traction turntable 804 deflects, it will cause the working parts in the adaptation and adjustment component 4 to produce synchronous displacement in the opposite direction to the force-bearing component 6, thereby maintaining the overall force balance of the propeller blank during the processing.

[0046] At the same time, under the linkage of the transmission component 8, the linkage lever 408 moves axially and drives the U-shaped semi-ring 406 and the linkage tube 415 to deflect synchronously. The servo motor 411 drives the linkage gear 412 to continuously mesh and rotate, so that the support arm 414 dynamically corrects the posture of the linkage tube 415, thereby enabling the working surface of the workpiece to automatically adjust the contact angle according to the different curvature areas of the propeller blank, and realize the adaptive matching of the processing posture.

[0047] During this process, the automated cutting head 5 always serves as the central machining positioning reference, performing stable cutting on the propeller blank. At the same time, the liquid sprayer provides synchronous cooling and lubrication to the machining area through the connecting hose 404, linkage pipe 415, and water outlet 409. The spray direction of the water outlet 409 is adjusted in real time according to the change of the workpiece posture, so that the coolant always covers the machining contact area, thereby reducing the risk of local thermal deformation.

[0048] Throughout the entire processing, the three sets of automated grippers 10, under the coordinated control of the servo motor 411, dynamically adjust their gripping according to the processing stage and changes in force state, in order to maintain the stability of the propeller blank in the three-point support structure and suppress vibration. At the same time, the force-bearing component 6 and the adaptive adjustment component 4 maintain a reverse synchronous motion relationship through the transmission component 8, thereby achieving overall force balance and adaptive attitude adjustment during the processing.

[0049] After processing is completed, the control panel 2 controls the electric hydraulic push rod 603 to retract, so that the force-bearing component 6 is reset. At the same time, the transmission component 8 drives the adaptive adjustment component 4 and the workpiece to return to the initial state synchronously. The three sets of automatic grippers 10 are released in sequence, the liquid sprayer is turned off, and one propeller processing cycle based on multi-point clamping and adaptive adjustment is completed.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended embodiments and their equivalents.

Claims

1. An adaptive propeller forming machine, characterized in that, include: The machine frame is installed inside the processing room; The retention gap is located in the middle of the top surface of the machine frame, and the machine frame is equipped with a slide rail at the retention gap. The automated cutting head is installed on one side of the top surface of the machine frame in the middle. The force-bearing component is located at one end of the top surface of the machine frame and can move axially along the slide rail; An adaptive adjustment component is located at the other end of the top surface of the machine frame; And the transmission components are installed in the middle of the machine frame; The adaptive adjustment component includes: The storage box cover is fixed to the top surface of the machine frame at the end away from the force-bearing component. A liquid sprayer is installed at the top inside, and the bottom inside the storage box cover is hollow. Two track notches are provided at the end of the storage box cover facing the force-bearing component. An automatic clamping device is installed at the center of one end of the storage box cover. The track notches are symmetrically distributed at one end of the storage box cover with the automatic clamping device as the symmetrical point. The working part is installed at the bottom inside the storage box cover. The bottom of the storage box cover has an adjustment notch that penetrates the machine frame. The working part is connected to the sprayer, and the bottom of the working part is hinged to the transmission assembly through the adjustment notch.

2. The adaptive propeller forming machine according to claim 1, characterized in that: The automated clamping device is provided in multiple parts, which are respectively installed in the automated cutting head, the force-bearing component and the adaptive adjustment component. The automated clamping device is an automated gripper.

3. The adaptive propeller forming machine according to claim 2, characterized in that: The force-bearing component includes: Secure the plate frame and fix it to one end of the top of the machine frame; The movable seat is installed on the top of the slide rail and is located on one side of the stable plate frame. A placement slot is opened in the center of the interior, and the automated gripper is installed in the placement slot. An electric hydraulic push rod is installed on the other side of the stable plate frame, and its own telescopic rod passes through the stable plate frame and is fixedly connected to one side of the movable seat; The mounting platform is fixed to one end of the bottom of the movable seat, set inside the machine frame through a retaining notch, and hinged to the transmission assembly.

4. The adaptive propeller forming machine according to claim 3, characterized in that: The transmission assembly includes: An assembly arm is installed at the middle of the machine frame; A traction turntable is rotatably mounted on the connecting shaft fixed at the top of the assembly arm; Two traction arms, one end of which is hinged to the top edge of the traction turntable, and the other end is hinged to the bottom of the mounting protrusion and the bottom of the working piece, respectively.

5. The adaptive propeller forming machine according to claim 4, characterized in that: The workpiece includes: The servo motor is installed at the center of the bottom inside the storage box, with its shaft passing through the storage box and fixedly connected to the automated gripper. The linkage lever is adapted to the adjustment notch, its bottom is hinged to the traction arm, and a U-shaped semi-ring is fixed at the top; Two linkage pipes, one end of which is movably connected to the two ends of the outside of the U-shaped semi-ring, and a telescopic connecting hose is installed between its surface and the sprayer. The other end passes through the track gap and is fixed with a water outlet tube. The linkage gear assembly is installed on the outside of the shaft body, and its surface is provided with two support arms. The top of one end of each support arm contacts the surface of the two linkage tubes respectively.

6. The adaptive propeller forming machine according to claim 5, characterized in that: The linkage gear assembly includes: A pair of linked gears, divided into two, one of which is mounted on the outside of the shaft, and the other is rotatably connected to the gear that carries the shaft inside; One end of the mounting shaft is fixedly connected to one end of the inner wall of the storage box cover, the two linkage gears mesh with each other, and the ends of the two support arms away from the linkage tube are respectively fixed to the outside of the two linkage gears.

7. An adaptive propeller forming machine according to claim 5, characterized in that: The storage box cover has movable notches on both sides of its exterior. The length of the movable notches matches the length of the adjustment notches. The movable notches are compatible with the connecting hoses. A maintenance window is installed on the back of the storage box cover. An injection pipe is fixed on the top of the storage box cover and is connected to the liquid filling port of the sprayer.

8. An adaptive propeller forming machine according to claim 5, characterized in that: A control panel is fixed to one side of the top edge of the machine frame. The control panel is used to electrically connect with the servo motor, the automated cutting head, the electro-hydraulic push rod, the automated gripper, and the sprayer.

9. The adaptive propeller forming machine according to claim 1, characterized in that: The bottom of the machine frame is fixed with casters with locking function around its four sides, and a load-bearing handrail is installed at one end of the machine frame.

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