A robot conformal transfer method and system for correcting a cast vane wax pattern

Abstract

The present application relates to the technical field of investment casting, and discloses a kind of robot shape-preserving transfer method and system after casting vane wax mould correction, the method comprises: the shape-preserving support piece is positioned and locked in the lower tool main body of reverse deformation correction tool, so that the following surface support surface constitutes the part of lower correction profile;Casting vane wax mould keeps contact with following surface support surface after completing reverse deformation correction, the relative pose between industrial robot end effector and robot connecting portion is obtained by industrial vision device and mechanical connection is established, then the positioning and locking of shape-preserving support piece and lower tool main body is released, and shape-preserving support piece and casting vane wax mould are driven by industrial robot and are transferred to receiving station as a whole and are transferred to receiving station.The present application makes following surface support surface continuously bear shape-preserving support during disengagement and transfer process, and reduces the risk of casting vane wax mould bending or twisting again caused by support state change.

Description

Technical Field

[0001] This invention relates to the field of investment casting technology, and more specifically, to a method and system for robot-based shape-preserving transfer of cast blade wax patterns after correction. Background Technology

[0002] Investment casting is widely used in the manufacture of casting blades for aero engines and gas turbines. The surface condition of the wax pattern of the casting blade directly affects the quality of subsequent shell making, pouring, and casting. For casting blade wax patterns with slender blades and large local thickness variations, bending or twisting can easily occur during pressing, demolding, and subsequent processes. Therefore, in actual production, anti-deformation correction fixtures are usually used to straighten the wax pattern after it is formed, so that the casting blade wax pattern is pre-formed into an anti-deformation state to compensate for subsequent casting deformation. As precision casting production lines develop towards automation, the casting blade wax pattern that has completed anti-deformation correction still needs to be removed, transferred, and received at subsequent workstations. Maintaining the shape after anti-deformation correction becomes a crucial link connecting the wax pattern correction process with subsequent automated processes.

[0003] In the prior art, Chinese invention patent application CN119426521A discloses a design method for anti-deformation tooling of wax patterns for solid high-temperature alloy blades. This method designs anti-deformation tooling by analyzing the deformation of different blade cross-sections and uses this tooling to press and straighten the blade wax pattern, improving the accuracy of anti-deformation correction for different deformation patterns in the middle region of the blade and the inlet and outlet edges. This technology can improve the anti-deformation correction effect of cast blade wax patterns, but it mainly focuses on the design of the anti-deformation tooling and the correction process. After the anti-deformation correction is completed, the cast blade wax pattern still needs to undergo removal and subsequent transfer processes. For cast blade wax patterns that have already reached an anti-deformation state, if the support state changes during subsequent removal and transfer, the wax pattern is easily subjected to its own weight, local load, or handling actions, causing changes in the corrected shape and reducing the stability of the previous anti-deformation correction results in subsequent processes. How to reduce the risk of re-deformation during the period from the end of anti-deformation correction to the receiving position in automated production remains a technical problem that needs further resolution.

[0004] Therefore, it is necessary to design a robotic conformal transfer method and system for casting blades after wax pattern correction to solve the problems existing in the current technology. Summary of the Invention

[0005] In view of this, the present invention proposes a robot-based conformal transport method and system for cast blade wax pattern correction, which aims to solve the problem of re-deformation caused by changes in support state during the removal and robot transport of cast blade wax pattern after reverse deformation correction.

[0006] This invention proposes a robotic conformal transport method for cast blades after wax pattern correction, comprising: Position and lock the conformal support to the lower fixture body of the anti-deformation correction fixture, so that the conformal support surface of the conformal support constitutes part of the lower correction surface. After the cast blade wax model completes the anti-deformation correction, open the upper correction part of the anti-deformation correction fixture to keep the cast blade wax model in contact with the conformal support surface. The relative pose between the end effector of the industrial robot and the robot connection part of the conformal support is obtained by an industrial vision device, and the mechanical connection between the end effector of the industrial robot and the robot connection part is established according to the relative pose. After the end effector of the industrial robot establishes a mechanical connection with the robot connection part, the positioning lock between the conformal support and the lower tooling body is released, and the industrial robot is controlled to drive the conformal support and the casting blade wax mold to detach as a whole from the anti-deformation correction tooling. The industrial robot is controlled to transfer the conformal support and the casting blade wax model as a whole to the receiving station. During the separation and transfer process, the casting blade wax model is kept in contact with the conformal support surface, so that the conformal support surface continuously bears the conformal support of the casting blade wax model.

[0007] Furthermore, the positioning and locking of the conformal support includes: The positioning part of the conformal support is inserted into the positioning groove of the lower tooling body, and the locking part restricts the positioning part from exiting the positioning groove; after positioning and locking, the conformal support surface and the fixed correction surface of the lower tooling body together form the lower correction profile.

[0008] Furthermore, the release of the positioning lock includes: after the industrial robot end effector establishes a mechanical connection with the robot connection part, the restriction of the locking part on the positioning part exiting the positioning groove is released, the positioning part is kept in the positioning groove, and the conformal support is driven out of the positioning groove by the industrial robot.

[0009] Furthermore, the conformal support component exiting the positioning groove includes: the industrial robot driving the conformal support component to move linearly in the opposite direction of the positioning part entering the positioning groove; no turning action is performed before the positioning part completely exits the positioning groove; after the positioning part completely exits the positioning groove, the movement direction of the conformal support component is changed, and the conformal support component and the casting blade wax model are transferred as a whole to the receiving station.

[0010] Furthermore, when the industrial robot end effector establishes a mechanical connection with the robot connection part, it includes: The robot connection part is located on the extension of the conformal support, which is outside the area where the conformal support surface supports the casting blade wax model; the end effector of the industrial robot establishes a mechanical connection with the robot connection part and drives the casting blade wax model to move through the conformal support.

[0011] Furthermore, when acquiring the relative pose, the process includes: the industrial vision device identifying the end-effector connection reference of the industrial robot end effector and the support member connection reference of the robot connection part, determining the position offset and attitude deviation between the end-effector connection reference and the support member connection reference, determining the relative pose based on the position offset and attitude deviation, and controlling the industrial robot end effector to complete the mechanical connection based on the relative pose.

[0012] Furthermore, when the conformal support is received at the receiving station, the following steps are included: the receiving station is provided with a receiving support seat, and the receiving support seat is provided with a receiving positioning groove; an industrial robot drives the conformal support to move to the receiving support seat, and the positioning part of the conformal support is installed into the receiving positioning groove, while the wax mold of the cast blade is kept in contact with the conformal support surface during the installation of the positioning part into the receiving positioning groove.

[0013] Furthermore, the receiving and locking mechanism of the conformal support includes: after the positioning part is inserted into the receiving positioning groove, the receiving locking part restricts the positioning part from exiting the receiving positioning groove; before the receiving locking part completes locking, the mechanical connection between the industrial robot end effector and the robot connection part is maintained.

[0014] Furthermore, the disconnection of the industrial robot end effector includes: After the receiving locking part completes the locking of the positioning part, it releases the mechanical connection between the industrial robot end effector and the robot connection part, and controls the industrial robot end effector to exit the receiving station.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: By positioning and locking the conformal support to the lower fixture body of the anti-deformation correction fixture, the conformal support surface directly participates in forming the lower correction surface. After the casting blade wax model completes the anti-deformation correction, it continues to maintain contact with the conformal support surface, so that the same conformal support surface continuously transforms from the support interface in the correction stage to the conformal support interface in the release and transfer stage. At the same time, the end effector of the industrial robot first establishes a mechanical connection with the robot connection part according to the relative pose obtained by the industrial vision device, and then releases the positioning and locking of the conformal support to the lower fixture body. This allows the conformal support to maintain continuous mechanical support during the transition from the constraint of the anti-deformation correction fixture to the load-bearing of the industrial robot, avoiding the support interruption and local stress change caused by the transfer of the casting blade wax model from the correction surface to another support structure when it is removed. This reduces the risk of the casting blade wax model bending or twisting again due to its own weight, local load and handling action, improves the stability of the anti-deformation correction result in the automated transfer process, and enhances the continuity and consistency between the correction process and the subsequent receiving station.

[0016] On the other hand, this application also provides a robotic conformal transport system for casting blade wax pattern correction, used to perform the above-mentioned robotic conformal transport method for casting blade wax pattern correction, including: Anti-deformation correction fixture, including upper correction component and lower fixture body; The conformal support component is detachably positioned and locked to the lower tooling body. It is provided with a conformal support surface, a positioning part and a robot connection part. The conformal support surface forms part of the lower correction surface. An industrial robot is equipped with an end effector for establishing a mechanical connection with the robot's connection part and for driving the conformal support component to move. Industrial vision devices are used to acquire the relative pose between the end effector and the robot's connector in an industrial robot. The receiving station is equipped with a receiving support base, which has a receiving positioning groove for the receiving positioning part and a receiving locking part for locking the positioning part. The control unit connects to the industrial vision device and the industrial robot. It is used to control the end effector of the industrial robot to establish a mechanical connection with the robot's connection part according to the relative pose, and to control the industrial robot to transfer the conformal support to the receiving station.

[0017] It is understandable that the above-mentioned robot-based conformal transfer method and system for correcting the wax mold of cast blades has the same beneficial effects, and will not be elaborated further here. Attached Figure Description

[0018] The accompanying drawings are used to illustrate the technical solutions of the present invention and do not constitute a limitation on the scope of protection of the present invention. In the drawings: Figure 1 This is a flowchart of a robot-based conformal transport method for cast blades after wax pattern correction, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the anti-deformation correction fixture and conformal support structure provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the constraint migration state of the conformal support provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the robot conformal transfer system for the wax pattern correction of cast blades provided in an embodiment of the present invention.

[0019] The components include: 1. Upper alignment component; 2. Lower tooling body; 21. Fixed alignment surface; 3. Conformal support component; 31. Conformal support surface; 4. Cast blade wax model; 5. Positioning part; 6. Positioning groove; 7. Locking part; 8. Robot connection part; 9. Industrial robot end effector; 10. Receiving support seat; 11. Receiving positioning groove; 12. Receiving locking part; 13. Industrial vision device; 14. Control unit. Detailed Implementation

[0020] The specific embodiments of the present invention will now be described with reference to the accompanying drawings. These embodiments are used to illustrate the technical solutions of the present invention and do not limit the scope of protection of the present invention. Unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0021] In some embodiments of this application, see Figure 1 As shown, this application proposes a robot-based conformal transport method for cast blades after wax pattern correction, comprising: S100: Position and lock the conformal support to the lower fixture body of the anti-deformation correction fixture, so that the conformal support surface of the conformal support becomes part of the lower correction surface.

[0022] S200: After the cast blade wax model completes the anti-deformation correction, open the upper correction part of the anti-deformation correction fixture to keep the cast blade wax model in contact with the conformal support surface.

[0023] S300: The relative pose between the end effector of the industrial robot and the robot connector of the conformal support is obtained through an industrial vision device, and the mechanical connection between the end effector of the industrial robot and the robot connector is established based on the relative pose.

[0024] S400: After the end effector of the industrial robot establishes a mechanical connection with the robot connection part, the positioning lock between the conformal support and the lower tooling body is released, and the industrial robot is controlled to drive the conformal support and the casting blade wax mold to detach as a whole from the anti-deformation correction tooling.

[0025] S500: Controls an industrial robot to transfer the conformal support and the casting blade wax model as a whole to the receiving station. During the separation and transfer process, the casting blade wax model is kept in contact with the conformal support surface, so that the conformal support surface continuously bears the conformal support of the casting blade wax model.

[0026] Specifically, see Figure 2 and Figure 3 Please provide an explanation. Figure 2In this embodiment, the anti-deformation correction fixture includes an upper correction component 1 and a lower fixture body 2. The lower fixture body 2 is provided with a fixed correction surface 21, and a conformal support component 3 is detachably installed on the lower fixture body 2. The conformal support component 3 forms a conformal support surface 31 on the side facing the casting blade wax model 4. The conformal support surface 31 is set according to the local profile that needs to be maintained when the casting blade wax model 4 completes the anti-deformation correction, so that after the conformal support component 3 is installed in place, the conformal support surface 31 and the fixed correction surface 21 of the lower fixture body 2 together constitute the lower correction profile. In this embodiment, the blade area that needs to be continuously supported during the transfer stage is determined according to the predetermined lower correction profile. The lower correction profile of the blade area is set as the conformal support surface 31, and the remaining lower correction profiles are set as the fixed correction surface 21. After the conformal support component 3 is positioned and locked, the conformal support surface 31 and the fixed correction surface 21 maintain the same design profile position at the connection boundary. The conformal support 3 is not a transfer tray placed separately under the casting blade wax model 4 after the anti-deformation correction is completed. Instead, it directly constitutes part of the anti-deformation correction tooling during the anti-deformation correction process. Therefore, the support interface does not need to be replaced when the casting blade wax model 4 enters the robot transfer stage from the anti-deformation correction stage.

[0027] Specifically, the conformal support 3 is provided with a positioning part 5, and the lower tooling body 2 is provided with a positioning groove 6 that matches the positioning part 5. After the positioning part 5 enters the positioning groove 6 along the predetermined insertion direction, the planar position and installation posture of the conformal support 3 on the lower tooling body 2 are restricted by the positioning groove 6, and the locking part 7 further restricts the positioning part 5 from exiting the positioning groove 6. The locking part 7 can be a swing block or a lateral limiting member. Taking the swing block as an example, when the locking part 7 is in the locked position, it enters the exit path of the conformal support 3, restricting the conformal support 3 from exiting along the positioning groove 6; when the locking is released, the locking part 7 rotates away from the exit path, without causing the conformal support 3 to rise, so that the positioning part 5 remains in the positioning groove 6. The mating dimensions of the positioning groove 6 are determined according to the surface positioning accuracy of the anti-deformation correction tooling, ensuring that after the conformal support 3 is repeatedly installed into the lower tooling body 2, the surface position deviation between the conformal support surface 31 and the fixed correction surface 21 at the connection boundary does not exceed the allowable error of the anti-deformation correction surface. In actual manufacturing, the positioning part 5 and the positioning groove 6 can use a clearance fit. The fit clearance is determined based on the allowable error of the wax model correction and the tooling machining accuracy. For example, when the repeatability error of the anti-deformation correction surface is required to be controlled within 0.10 mm, the single-sided fit clearance between the positioning part 5 and the positioning groove 6 can be controlled between 0.02 and 0.04 mm. The above values ​​are used to illustrate the principle for determining the positioning accuracy; the specific values ​​are adjusted according to the dimensions of the cast blade wax model 4, the allowable correction error, and the tooling machining accuracy.

[0028] During the anti-deformation correction, the cast blade wax model 4 is placed on the lower correction surface, and the upper correction component 1 is closed, together with the lower correction surface, restricting the shape of the cast blade wax model 4. The pressure, holding time, and temperature conditions used in the anti-deformation correction can be determined according to the wax material used for the cast blade wax model 4 and the blade size. This embodiment does not change the process parameters of the anti-deformation correction itself. After the anti-deformation correction is completed, the upper correction component 1 is opened first, and the cast blade wax model 4 remains on the conformal support surface 31. The cast blade wax model 4 is not lifted from the conformal support component 3 or transferred to another transport carrier. For the cast blade wax model 4 that can stably adhere to the conformal support surface 31 by its own weight, the conformal support component 3 keeps the conformal support surface 31 facing upward during robot takeover and subsequent transport. For the cast blade wax model 4 whose center of gravity deviates significantly from the conformal support area, the tilt angle of the conformal support 3 can be limited. The upper limit of the tilt angle is determined by the actual wax model mass, the position of the center of gravity, and the friction state of the conformal support surface, with the condition that the cast blade wax model 4 does not slip relative to each other or detach from the conformal support surface 31.

[0029] One end of the conformal support 3 forms an extension, and the robot connector 8 is disposed on the extension. The extension is located outside the area of ​​the conformal support surface 31 that supports the casting blade wax mold 4, so that the industrial robot end effector 9 does not directly clamp the casting blade wax mold 4 when establishing a mechanical connection with the robot connector 8. The robot connector 8 can adopt a plug-in structure with a guide surface or a quick-change connection structure, which forms a mechanical constraint after establishing a mechanical connection, restricting the industrial robot end effector 9 and the conformal support 3 from separating relative to each other in the separation direction. When the industrial robot end effector 9 reaches the designed connection endpoint of the robot connector 8, and the mechanical connection structure forms a constraint restricting the industrial robot end effector 9 and the robot connector 8 from separating relative to each other in the separation direction, the mechanical connection is considered complete. When using a quick-change connection structure, the mechanical connection is considered complete when the locking member of the quick-change connection structure enters the locking position. After the mechanical connection is completed, the restriction of the locking part 7 on the positioning part 5 exiting the positioning groove 6 is released.

[0030] This embodiment further illustrates, based on the above embodiments, the process of industrial vision guidance and the constraint transfer of the conformal support 3 from the anti-deformation correction tooling to the industrial robot. For example... Figure 3As shown in the diagram, the industrial vision device is positioned above the anti-deformation correction station or on the end effector 9 of the industrial robot. The field of view of the industrial vision device at least covers the connection area of ​​the end effector 9 and the robot connector 8. After calibration in the robot coordinate system, the industrial vision device identifies the end connection reference of the end effector 9 and the support connection reference of the robot connector 8. The end connection reference can be determined by the connection center and connection direction of the end effector 9, and the support connection reference can be determined by the connection center and insertion direction of the robot connector 8. The position offset is the distance between the connection centers of the end effector and the support connection reference in a plane perpendicular to the insertion direction; the attitude deviation is the angle between the connection direction of the end effector and the insertion direction of the support connection reference. The industrial vision device determines the position offset and attitude deviation based on the two connection references, and then determines the relative pose based on the position offset and attitude deviation. The industrial robot corrects the position and attitude of the end effector 9 according to the relative pose, enabling the end effector 9 to establish a mechanical connection along the guide direction of the robot connector 8.

[0031] The allowable deviation for connection is determined based on the mechanical guide margin of the robot connector 8. The effective lateral guide clearance is the range of lateral positional offset allowed between the industrial robot end effector 9 and the robot connector 8 without structural interference. The allowable initial angular deviation of the guide structure is determined based on the guide structure of the robot connector 8. For example, when the effective lateral guide clearance is 1.2 mm, the allowable positional offset can be set to 0.5 mm. When the guide structure can guide itself within 2°, the allowable attitude deviation can be set to 1°. When both the positional offset and attitude deviation do not exceed their respective allowable values, the industrial robot end effector 9 is controlled to perform a mechanical connection along the guide direction of the robot connector 8. When either the positional offset or attitude deviation exceeds its corresponding allowable value, the industrial robot end effector 9 is controlled to correct its position and attitude based on the current relative pose. After correction, the industrial vision device re-identifies the end-connection reference and the support connection reference, and redetermines the positional offset and attitude deviation until both the positional offset and attitude deviation do not exceed their respective allowable values ​​before performing a mechanical connection. The aforementioned visual corrections are only used to complete the mechanical connection between the industrial robot end effector 9 and the conformal support 3, and are not used to evaluate the deformation state of the cast blade wax mold 4.

[0032] After the industrial robot end effector 9 completes the mechanical connection with the robot connector 8, it enters... Figure 3The constraint migration process is shown below. First, the locking part 7 releases the restriction on the positioning part 5 from exiting the positioning groove 6. At this time, the movement direction of the conformal support 3 is not immediately changed, and the positioning part 5 remains in the positioning groove 6. The positioning groove 6 continues to restrict the conformal support 3 from lateral movement and rotation. Thus, the constraint state of the conformal support 3 changes from being positioned and locked by the lower tooling body 2 to being supported by the industrial robot end effector 9 and guided by the positioning groove 6. Subsequently, the industrial robot drives the conformal support 3 to move linearly in the opposite direction to the movement direction when the positioning part 5 is inserted into the positioning groove 6, until the positioning part 5 completely exits the positioning groove 6.

[0033] The state in which the positioning part 5 is completely withdrawn from the positioning groove 6 can be determined based on the effective mating depth of the positioning groove 6 and the linear withdrawal displacement of the industrial robot, without the need for an additional independent and complex judgment mechanism. For example, when the effective mating depth of the positioning part 5 in the positioning groove 6 is 12mm, the initial linear withdrawal displacement of the industrial robot can be set to 15mm, with the additional 3mm serving as a disengagement allowance. The industrial robot does not perform a turning action before completing the 15mm linear withdrawal. After completing the above withdrawal displacement, it changes the movement direction of the conformal support 3 and enters the transfer path. The disengagement allowance is determined based on the maximum repeatability positioning error of the industrial robot along the withdrawal direction, the machining dimension error of the positioning groove 6, and the assembly position error. The disengagement allowance is taken as a value that can cover the upper limit of the cumulative error of the above. The linear withdrawal displacement is determined based on the effective mating depth of the positioning part 5 and the disengagement allowance to ensure that the positioning part 5 completely leaves the positioning groove 6. In this way, after the locking part 7 is released, the existing positioning groove 6 is still used to complete a mechanical guide in a defined direction, avoiding lateral deflection of the conformal support 3 before it has left the lower tooling body 2.

[0034] During the transfer process, the end effector 9 of the industrial robot only moves the conformal support 3, and the casting blade wax model 4 remains supported by the conformal support surface 31. The transfer path of the industrial robot preferentially adopts a path of first exiting the anti-deformation correction fixture in a straight line, then lifting, and finally moving to the receiving station. The transfer posture is set according to the center of gravity of the casting blade wax model 4 and the support range of the conformal support surface 31 to avoid slippage of the casting blade wax model 4 relative to the conformal support surface 31. During the transfer process, the conformal support 3 keeps the conformal support surface 31 facing the support side of the casting blade wax model 4, and the industrial robot does not perform the flipping action that would cause the casting blade wax model 4 to detach from the conformal support surface 31. The transfer speed and allowable tilt angle are determined according to the mass, center of gravity position, and support range of the conformal support surface 31 of the casting blade wax model 4. When the mass of the casting blade wax model 4 increases or the center of gravity moves away from the support range of the conformal support surface 31, the transfer speed and allowable tilt angle are reduced accordingly. The specific implementation parameters are set as follows.

[0035] This embodiment further illustrates the receiving process of the conformal support 3 at the receiving station, based on the above description. For example... Figure 3 As shown, a receiving support 10 is provided at the receiving station, and the receiving support 10 is provided with a receiving positioning groove 11 and a receiving locking part 12. The receiving positioning groove 11 cooperates with the positioning part 5 of the conformal support 3, so that the same positioning part 5 can be used for both positioning the conformal support 3 on the lower tooling body 2 and positioning the conformal support 3 on the receiving support 10. After the industrial robot drives the conformal support 3 to the receiving station, it first maintains the mechanical connection between the industrial robot end effector 9 and the robot connection part 8, and then inserts the positioning part 5 into the receiving positioning groove 11 along the guide direction of the receiving positioning groove 11. During the period when the positioning part 5 enters the receiving positioning groove 11, the industrial robot does not release the load on the conformal support 3, so that the conformal support 3 will not become a free state without support before the receiving support 10 establishes a positioning constraint.

[0036] After the positioning part 5 is inserted into the receiving positioning slot 11, the receiving locking part 12 restricts the positioning part 5 from exiting the receiving positioning slot 11. The receiving locking part 12 can be a transverse pin, a clamping block, or a wedge-shaped locking structure. Taking the transverse pin structure as an example, when the receiving locking part 12 enters the position that restricts the exit of the positioning part 5, a receiving locking state is formed. Before the receiving locking state is established, the industrial robot end effector 9 maintains a continuous mechanical connection with the robot connection part 8. After the receiving locking state is established, the mechanical connection between the industrial robot end effector 9 and the robot connection part 8 is released, and finally the industrial robot end effector 9 is controlled to exit the receiving station. Thus, the constraint conversion sequence on the receiving side is "industrial robot loading - receiving positioning establishment - receiving locking establishment - industrial robot disconnection", which forms a continuous mechanical constraint migration with the sequence on the calibration station side: "calibration fixture locking - industrial robot takeover - locking release - positioning guide exit".

[0037] In one specific implementation parameter setting, the wax model 4 of the cast blade is 285mm long, has a maximum width of 78mm, and weighs 0.42kg. The conformal support 3 is 320mm long, and the conformal support surface 31 covers the main anti-deformation area of ​​the blade. The effective mating depth of the positioning part 5 in the positioning groove 6 is 12mm, and the robot connection part 8 adopts a mechanical plug-in interface with a guide bevel. After the industrial vision device acquires the relative pose, the position offset of the industrial robot end effector 9 is controlled within 0.5mm, the posture deviation is controlled within 1°, and the final 20mm connection stroke is completed at a speed of 20mm / s. During the transfer, the tilt angle of the conformal support 3 relative to the horizontal plane is controlled within 10°. After the mechanical connection is completed, the locking part 7 is released, and the industrial robot withdraws 15mm in a straight line in the opposite direction to the movement direction when the positioning part 5 is inserted into the positioning groove 6 at a speed of 20mm / s, and then completes the subsequent transfer at a speed of 180mm / s. After reaching the receiving support 10, the positioning part 5 is inserted into the receiving positioning groove 11 at a speed of 15 mm / s. After the receiving locking part 12 enters the locking position, the mechanical connection between the industrial robot end effector 9 and the robot connecting part 8 is released. The above implementation parameters are mainly used to illustrate the matching relationship between vision connection, mechanical withdrawal, and receiving process, and do not limit the use of the same parameters for wax molds 4 of different specifications of cast blades. For cases of increased mass, reduced support area, or decreased robot positioning accuracy, the transfer speed can be reduced accordingly, the allowable posture deviation can be reduced, and the safety margin after the positioning part 5 completely withdraws from the positioning groove 6 can be increased.

[0038] In this embodiment, the conformal support does not simply serve as a transfer element after the anti-deformation correction. Instead, during the anti-deformation correction stage, it directly forms part of the lower correction profile through its conformal support surface. After the anti-deformation correction is completed, it maintains the original support relationship. The industrial robot's end effector then takes over the conformal support before gradually releasing the locking and positioning constraints of the lower tooling body. At the receiving station, the reverse constraint migration is completed in the order of positioning, locking, and then releasing the robot connection. This embodiment further ensures that the conformal support remains in a defined mechanical constraint state between the correction tooling, the industrial robot, and the receiving support, avoiding free deflection or sudden changes in the force path of the conformal support during the locking release, positioning exit stage, and receiving handover stage. This not only reduces the risk of the cast blade wax pattern bending or twisting again due to the change of the support interface, but also reduces the superimposed impact of robot takeover errors and station handover errors on the corrected profile, allowing the shape obtained from the anti-deformation correction to be more stably continued to subsequent stations.

[0039] Based on another preferred embodiment described above, see [link to preferred embodiment]. Figure 4As shown, this embodiment provides a robotic conformal transport system for casting blade wax pattern correction, used to perform the above-described robotic conformal transport method for casting blade wax pattern correction, including: The anti-deformation correction fixture includes an upper correction component 1 and a lower fixture body 2; The conformal support 3 is detachably positioned and locked to the lower tooling body 2, and is provided with a conformal support surface 31, a positioning part 5 and a robot connection part 8. The conformal support surface 31 constitutes part of the lower correction surface. An industrial robot is equipped with an industrial robot end effector 9 for establishing a mechanical connection with the robot connection part 8 and driving the conformal support component to move; Industrial vision device 13 is used to acquire the relative pose between the end effector 9 of the industrial robot and the robot connector 8; The receiving station is provided with a receiving support 10, which has a receiving positioning groove 11 for receiving positioning part 5 and a receiving locking part 12 for locking positioning part 5. The control unit 14 is connected to the industrial vision device 13 and the industrial robot. It is used to control the end effector 9 of the industrial robot to establish a mechanical connection with the robot connection part 8 according to the relative pose, and to control the industrial robot to transfer the conformal support 3 to the receiving station.

[0040] The industrial vision device 13 sends the determined relative pose to the control unit 14, which generates position and attitude correction commands for the industrial robot end effector 9 based on the relative pose. When the position offset and attitude deviation do not exceed their respective allowable values, the control unit 14 establishes a mechanical connection with the industrial robot end effector 9 along the guide direction of the robot connector 8. After the mechanical connection is established, the system enters the positioning lock release and linear exit process. After the conformal support 3 reaches the receiving support 10 and forms a receiving lock state, the control unit 14 releases the mechanical connection between the industrial robot end effector 9 and the robot connector 8.

[0041] When the above system executes the aforementioned method, it can achieve the same technical effect as the aforementioned method.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for robot-based conformal transport of cast blades after wax pattern correction, characterized in that, include: Position and lock the conformal support to the lower fixture body of the anti-deformation correction fixture, so that the conformal support surface of the conformal support constitutes part of the lower correction surface. After the cast blade wax model completes the anti-deformation correction, open the upper correction part of the anti-deformation correction fixture to keep the cast blade wax model in contact with the conformal support surface. The relative pose between the end effector of the industrial robot and the robot connection part of the conformal support is obtained by an industrial vision device, and the mechanical connection between the end effector of the industrial robot and the robot connection part is established according to the relative pose. After the end effector of the industrial robot establishes a mechanical connection with the robot connection part, the positioning lock between the conformal support and the lower tooling body is released, and the industrial robot is controlled to drive the conformal support and the casting blade wax mold to detach as a whole from the anti-deformation correction tooling. The industrial robot is controlled to transfer the conformal support and the casting blade wax model as a whole to the receiving station. During the separation and transfer process, the casting blade wax model is kept in contact with the conformal support surface, so that the conformal support surface continuously bears the conformal support of the casting blade wax model.

2. The method for robot-based conformal transport of cast blades after wax pattern correction according to claim 1, characterized in that, The positioning and locking of the conformal support includes: The positioning part of the conformal support is inserted into the positioning groove of the lower tooling body, and the locking part restricts the positioning part from exiting the positioning groove; after positioning and locking, the conformal support surface and the fixed correction surface of the lower tooling body together form the lower correction profile.

3. The method for robot-based conformal transport of cast blades after wax pattern correction according to claim 2, characterized in that, The release of the positioning lock includes: after the industrial robot end effector establishes a mechanical connection with the robot connection part, the restriction of the locking part on the positioning part exiting the positioning groove is released, the positioning part is kept in the positioning groove, and the conformal support is driven by the industrial robot to exit the positioning groove.

4. The method for robot-based conformal transport of cast blades after wax pattern correction according to claim 3, characterized in that, The conformal support component exiting the positioning groove includes: the industrial robot driving the conformal support component to move linearly in the opposite direction of the positioning part being inserted into the positioning groove; no turning action is performed before the positioning part is completely exiting the positioning groove; after the positioning part is completely exiting the positioning groove, the movement direction of the conformal support component is changed, and the conformal support component and the casting blade wax model are transferred as a whole to the receiving station.

5. The method for robot-based conformal transport of cast blades after wax pattern correction according to claim 1, characterized in that, When the end effector of the industrial robot establishes a mechanical connection with the robot's connecting part, it includes: The robot connection part is located on the extension of the conformal support, which is outside the area where the conformal support surface supports the casting blade wax model; the end effector of the industrial robot establishes a mechanical connection with the robot connection part and drives the casting blade wax model to move through the conformal support.

6. The method for robot-based conformal transport of cast blades after wax pattern correction according to claim 1, characterized in that, When acquiring the relative pose, the process includes: the industrial vision device identifying the end-effector connection reference of the industrial robot end effector and the support member connection reference of the robot connection part, determining the position offset and attitude deviation between the end-effector connection reference and the support member connection reference, determining the relative pose based on the position offset and attitude deviation, and controlling the industrial robot end effector to complete the mechanical connection based on the relative pose.

7. The method for robot-based conformal transport of cast blades after wax pattern correction according to claim 1, characterized in that, When the conformal support is received at the receiving station, the following steps are taken: the receiving station is provided with a receiving support seat, and the receiving support seat is provided with a receiving positioning groove; an industrial robot drives the conformal support to move to the receiving support seat, and the positioning part of the conformal support is installed into the receiving positioning groove, and the wax mold of the cast blade is kept in contact with the conformal support surface during the installation of the positioning part into the receiving positioning groove.

8. A method for robot-based conformal transport of cast blades after wax pattern correction according to claim 7, characterized in that, The receiving and locking mechanism of the conformal support includes: after the positioning part is inserted into the receiving positioning groove, the receiving locking part restricts the positioning part from exiting the receiving positioning groove; before the receiving locking part completes locking, the mechanical connection between the industrial robot end effector and the robot connection part is maintained.

9. A method for robot-based conformal transport of cast blades after wax pattern correction according to claim 8, characterized in that, The disconnection of the industrial robot end effector includes: After the receiving locking part completes the locking of the positioning part, it releases the mechanical connection between the industrial robot end effector and the robot connection part, and controls the industrial robot end effector to exit the receiving station.

10. A robotic conformal transport system for cast blade wax pattern correction, used to perform the robotic conformal transport method for cast blade wax pattern correction as described in any one of claims 1 to 9, characterized in that, include: Anti-deformation correction fixture, including upper correction component and lower fixture body; The conformal support component is detachably positioned and locked to the lower tooling body. It is provided with a conformal support surface, a positioning part and a robot connection part. The conformal support surface forms part of the lower correction surface. An industrial robot is equipped with an end effector for establishing a mechanical connection with the robot's connection part and for driving the conformal support component to move. Industrial vision devices are used to acquire the relative pose between the end effector and the robot's connector in an industrial robot. The receiving station is equipped with a receiving support base, which has a receiving positioning groove for the receiving positioning part and a receiving locking part for locking the positioning part. The control unit connects to the industrial vision device and the industrial robot. It is used to control the end effector of the industrial robot to establish a mechanical connection with the robot's connection part according to the relative pose, and to control the industrial robot to transfer the conformal support to the receiving station.

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