Laser cleaning equipment for oxidation film of aero-engine blade

Abstract

The utility model relates to the technical field of industrial equipment, and discloses laser cleaning equipment for an oxidation film of an aero-engine blade, a mechanical arm comprises a supporting arm, a movable arm and a clamping assembly, and the movable arm is rotatably connected to the supporting arm; the clamping assembly is connected to the movable arm, the clamping assembly comprises a flexible clamping piece and two movable clamping seats, the two clamping seats are oppositely arranged, the flexible clamping piece is arranged between the two clamping seats, and at least one of the two clamping seats is connected with the flexible clamping piece; wherein the two clamping seats get close to each other to clamp a workpiece and get away from each other to loosen the workpiece, and the flexible clamping piece is suitable for adjusting the shape of the flexible clamping piece when clamping the workpiece so as to be attached to the surface of the workpiece, so that the workpiece clamping stability of the mechanical arm can be improved.

Description

Technical Field

[0001] This utility model relates to the field of industrial equipment technology, specifically to a laser cleaning device for oxide film on aero-engine blades. Background Technology

[0002] Aero-engine blades are typically made of metals such as titanium alloys, high-temperature alloys, and stainless steel. Before assembly and welding, they require grinding and cleaning to remove the oxide film on the surface, improving the welding accuracy and strength during assembly and welding. Manual grinding cannot control precision, is prone to damaging the blades, and is inefficient. Aero-engine blade oxide film laser cleaning equipment can replace manual labor, improving cleaning accuracy and efficiency.

[0003] Currently, some laser cleaning equipment for oxide films on aero-engine blades uses mechanical structures to clamp and move workpieces for laser cleaning. However, the outer surface of the blades is irregular in shape, and the mechanical structure is difficult to adapt to the shape of the outer surface of the blades when clamping the workpieces, resulting in unstable clamping. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a laser cleaning device for oxide film on aero-engine blades, which can improve the stability of a robotic arm gripping workpieces.

[0005] The laser cleaning equipment for oxide film on aero-engine blades according to an embodiment of the present invention includes a robotic arm and a laser cleaning device. The robotic arm includes a support arm, a movable arm, and a clamping assembly. The movable arm is rotatably connected to the support arm. The clamping assembly is connected to the movable arm and includes a flexible clamping member and two movable clamping seats. The two clamping seats are arranged opposite to each other, and the flexible clamping member is disposed between the two clamping seats. At least one of the two clamping seats is connected to the flexible clamping member. The two clamping seats move closer to each other to clamp the workpiece and move further apart to release the workpiece. The flexible clamping member is adapted to adjust its shape to conform to the surface of the workpiece when clamping it. The movable arm is used to move the clamping assembly to the laser cleaning device, and the laser cleaning device is used to laser clean the workpiece clamped by the clamping assembly.

[0006] The robotic arm according to the embodiments of this utility model has at least the following beneficial effects: when the movable arm moves, it can drive the clamping assembly to move to clamp and move the workpiece. The clamping assembly is provided with two movable and oppositely arranged clamping seats to clamp or release the workpiece. The clamping assembly provides a flexible clamping member between the two clamping seats. The flexible clamping member is adapted to adjust its own shape to conform to the surface of the workpiece when clamping it. Thus, when the two clamping seats are close to each other to clamp the workpiece, the flexible clamping member can adjust its own shape according to the shape of the outer surface of the workpiece to better conform to the outer surface of the workpiece. Therefore, the clamping assembly can apply a more uniform clamping force to the workpiece, clamp the workpiece more stably, and help reduce the occurrence of the workpiece falling off the clamping assembly.

[0007] According to some embodiments of the present invention, the clamping assembly further includes a driving member connected to the movable arm, and one of the two clamping seats is connected to the driving end of the driving member. The driving member is used to drive the corresponding clamping seat to move.

[0008] According to some embodiments of the present invention, the driving member includes two driving ends, which are retractably disposed on opposite sides of the driving member. Each driving end is connected to a clamping seat, and the two driving ends are used to drive the two clamping seats to move towards or away from each other.

[0009] According to some embodiments of the present invention, the clamping assembly further includes a guide rod, which is connected to the driving member and extends along the moving direction of a clamping seat. The guide rod passes through the corresponding clamping seat to provide guidance for the movement of the clamping seat.

[0010] According to some embodiments of the present invention, the flexible clamping member includes a plurality of push rods, the end faces of the plurality of push rods cooperating to form a clamping surface for clamping the workpiece, and the plurality of push rods are configured to extend and retract independently relative to the clamping seat to adjust the shape of the clamping surface.

[0011] According to some embodiments of the present invention, the push rod has a first state and a second state. In the first state, the push rod can extend and retract relative to the clamping seat; in the second state, the push rod and the clamping seat are connected and fixed.

[0012] According to some embodiments of the present invention, the robotic arm further includes a rotating base and a rotating component. The clamping assembly is connected to the rotating base, the rotating component is rotatably connected to the movable arm, and the rotating base is rotatably connected to the rotating component around its central axis. The central axis of the rotating base and the rotation axis of the rotating component are set at an angle to each other.

[0013] According to some embodiments of the present invention, the laser cleaning equipment for oxide film on aero-engine blades has a loading station, a cleaning station, and a unloading station arranged in sequence. The laser cleaning device and the robotic arm are both located at the cleaning station. The laser cleaning equipment for oxide film on aero-engine blades also includes a conveying device located between the loading station and the unloading station. The conveying device transports the workpiece to be cleaned from the loading station to the cleaning station. The robotic arm picks up the workpiece from the cleaning station and moves it to the laser cleaning device for laser cleaning. The cleaned workpiece is then placed on the conveying device located at the cleaning station. The conveying device then transports the cleaned workpiece to the unloading station.

[0014] According to some embodiments of this utility model, the conveying device includes a base, a driving mechanism, a first clamping member, and a second clamping member. The first clamping member is used to clamp the workpiece to be cleaned, and the second clamping member is used to clamp the cleaned workpiece. The driving mechanism is connected to the base and drives the first clamping member and the second clamping member to move back and forth between the loading station and the cleaning station, and drives the second clamping member to move back and forth between the cleaning station and the unloading station. In this case, the driving mechanism drives the first clamping member to the cleaning station and the second clamping member to the unloading station. The robotic arm picks up and moves the workpiece clamped by the first clamping member to the laser cleaning device for laser cleaning. The driving mechanism drives the first clamping member to the loading station and the second clamping member to the cleaning station. The robotic arm places the cleaned workpiece in the second clamping member for clamping.

[0015] According to some embodiments of the present invention, both the first clamping member and the second clamping member include a mounting base and two clamping parts disposed opposite to each other, and a drive mechanism is connected to the mounting base; the two clamping parts are movably connected to the mounting base, and the two clamping parts move towards each other to clamp the workpiece and move away from each other to release the workpiece; at least one of the two clamping parts has a contoured surface on the clamping side for clamping the workpiece, and the contoured surface is adapted to conform to the surface of the workpiece when clamping the workpiece.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0018] Figure 1 This diagram illustrates the structure of a laser cleaning device for oxide film on aero-engine blades provided in an embodiment of the present invention.

[0019] Figure 2 It shows Figure 1 Enlarged structural diagram at point II;

[0020] Figure 3 It shows Figure 1 Enlarged structural diagram of section III.

[0021] Figure label:

[0022] 100 laser cleaning equipment for oxide film on aero-engine blades;

[0023] Robotic arm 110; support arm 111; movable arm 113; clamping assembly 115; flexible clamping component 1151; push rod 1153; clamping surface 1154; clamping seat 1155; first clamping seat 1157; second clamping seat 1159; drive component 1161; guide rod 1165; rotating seat 117; rotating component 119;

[0024] Laser cleaning device 130; laser cleaner 131; dust collector 133;

[0025] Loading station 150; Cleaning station 170; Unloading station 190;

[0026] Conveying device 210; first clamping member 211; mounting base 2111; clamping part 2113; contoured surface 2115; second clamping member 213; drive mechanism 215; connecting member 217;

[0027] Workpiece 300. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0029] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0031] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0032] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0033] Please see Figures 1 to 3 This application provides a laser cleaning device 100 for oxide film cleaning of aero-engine blades. The aero-engine blade oxide film laser cleaning device 100 can be, for example, emit a laser to clean the oxide film on the surface of a workpiece 300.

[0034] Workpiece 300 can be a metal part such as titanium alloy, high temperature alloy or stainless steel. For example, workpiece 300 can be a blade of an aero engine.

[0035] The laser cleaning equipment 100 for oxide film cleaning of aero-engine blades includes a laser cleaning device 130 and a robotic arm 110.

[0036] The robotic arm 110 is used to grip the workpiece 300 and move it to the laser cleaning device 130 for laser cleaning. This allows for flexible control of the workpiece 300's movement, facilitating a more comprehensive cleaning of the workpiece 300. Compared to manual cleaning of the workpiece 300, the aero-engine blade oxide film laser cleaning equipment 100 uses the robotic arm 110 to grip the workpiece 300 and move it to the laser cleaning device 130 for laser cleaning. This helps improve the cleaning effect while reducing damage to the workpiece 300, thus enhancing the cleaning effect and efficiency. Furthermore, the robotic arm 110's gripping and moving of the workpiece 300 also contributes to increasing the automation level of the aero-engine blade oxide film laser cleaning equipment 100.

[0037] In some embodiments, the laser cleaning apparatus 130 may include a laser emitter and a dust collector 133. The laser emitter can emit laser light to clean the workpiece 300, and the dust collector 133 can collect dust particles and other impurities generated during the cleaning process to reduce environmental pollution.

[0038] The laser cleaning device 130 can be installed on the ground or on a supporting structure.

[0039] In some embodiments, the robotic arm 110 includes a support arm 111, a movable arm 113, and a gripping assembly 115.

[0040] The clamping assembly 115 is connected to the movable arm 113, which is rotatably connected to the support. The movable arm 113 is used to move the clamping assembly 115 to the laser cleaning device 130. The laser cleaning device 130 is used to laser clean the workpiece 300 clamped by the clamping assembly 115. Specifically, the movable arm 113 can rotate relative to the support arm 111 to drive the clamping assembly 115 to move synchronously, so as to move the workpiece 300 clamped by the clamping assembly 115 to the laser cleaning device 130 for laser cleaning.

[0041] The clamping assembly 115 includes a flexible clamping member 1151 and two movable clamping seats 1155.

[0042] The two movable clamping seats 1155 can refer to two movable clamping seats 1155 or two rotatable clamping seats 1155.

[0043] Two clamping seats 1155 are arranged opposite each other. The two clamping seats 1155 are close to each other to clamp the workpiece 300 and far apart to release the workpiece 300. Thus, the robotic arm 110 can use the clamping assembly 115 to clamp the workpiece 300 and move it to the laser cleaning device 130 for laser cleaning. After the workpiece 300 is cleaned, the robotic arm 110 can release the workpiece 300 to make it easier to clamp the next workpiece 300 to be cleaned.

[0044] A flexible clamping member 1151 is disposed between two clamping seats 1155. At least one of the two clamping seats 1155 is connected to the flexible clamping member 1151. The flexible clamping member 1151 is adapted to adjust its own shape to conform to the surface of the workpiece 300 when clamping the workpiece 300. Thus, when the two clamping seats 1155 are close to each other to clamp the workpiece 300, the flexible clamping member 1151 can adjust its own shape according to the shape of the outer surface of the workpiece 300 to better conform to the outer surface of the workpiece 300. As a result, the clamping assembly 115 can apply a more uniform clamping force to the workpiece 300, and can clamp the workpiece 300 more stably. This helps to reduce the possibility of the workpiece 300 falling off the clamping assembly 115 and also helps to reduce the possibility of damage to the workpiece 300 due to uneven force during the clamping process.

[0045] For ease of description, the two clamping seats 1155 are defined as the first clamping seat 1157 and the second clamping seat 1159, respectively.

[0046] As an example, the flexible clamping member 1151 may be connected to the first clamping seat 1157 and located between the first clamping seat 1157 and the second clamping seat 1159.

[0047] As another example, the flexible clamping member 1151 may be connected to the second clamping seat 1159 and located between the first clamping seat 1157 and the second clamping seat 1159.

[0048] As another example, the first clamping seat 1157 and the second clamping seat 1159 are both connected to the flexible clamping member 1151, and the two flexible clamping members 1151 can be located between the two clamping seats 1155.

[0049] In some embodiments, the clamping assembly 115 may further include a drive element 1161, which may be connected to the movable arm 113.

[0050] The drive unit 1161 can serve as a connecting structure, and both clamping seats 1155 can be connected to the drive unit 1161.

[0051] The drive unit 1161 can also be used to drive the two clamping seats 1155 to move, thereby controlling the two clamping seats 1155 to clamp or release the workpiece 300.

[0052] Among them, the drive component 1161 can be selected in several ways.

[0053] As an example, the drive unit 1161 can be used to drive the first clamping seat 1157 to move. The drive unit 1161 can adopt a linear drive structure, and the drive end of the linear drive structure can be connected to the first clamping seat 1157. When the drive end of the linear drive structure extends or retracts, it can drive the first clamping seat 1157 to move back and forth, so that the first clamping seat 1157 and the second clamping seat 1159 move closer or further apart.

[0054] Understandably, the drive unit 1161 in this example can also be used to drive the second clamping seat 1159 to move, or there can be two drive units 1161, with the two drive units 1161 driving the first clamping seat 1157 and the second clamping seat 1159 to move respectively.

[0055] As another example, the drive element 1161 can drive the clamping seat 1155 to rotate. The drive element 1161 can adopt a linear drive structure, and the clamping assembly 115 can also include a connecting rod, which can be hinged between the drive end of the linear drive structure and the first clamping seat 1157. The first clamping seat 1157 can be hinged to the drive element 1161 or the movable arm 113. When the drive end of the linear drive structure extends or retracts, it can drive the connecting rod to move and rotate, thereby driving the first clamping seat 1157 to rotate.

[0056] Understandably, the drive unit 1161 in this example can also be used to drive the second clamping seat 1159 to rotate, or there can be two drive units 1161, with the two drive units 1161 driving the first clamping seat 1157 and the second clamping seat 1159 to rotate respectively.

[0057] It should be noted that the drive unit 1161 can also use other drive structures to drive the first clamping seat 1157 and / or the second clamping seat 1159 to rotate or move. The structure of the drive unit 1161 in the above example is only an example for the purpose of understanding.

[0058] In some embodiments, the drive member 1161 may include two drive ends, which are telescopically disposed on opposite sides of the drive member 1161. Each drive end is connected to a clamping seat 1155. The two drive ends are used to drive the two clamping seats 1155 to move towards each other to clamp the workpiece 300, or to move away from each other to release the workpiece 300. Thus, one drive member 1161 can drive two clamping seats 1155 to move, which helps to reduce the number of drive members 1161 and also helps to make the overall structure of the robotic arm 110 more compact.

[0059] As an example, the drive component 1161 can adopt a cylinder drive structure, which may include a first drive cylinder and two telescopic rods, the telescopic rods being the drive ends of the first drive cylinder. The two telescopic rods are respectively connected to opposite sides of the first drive cylinder. The two telescopic rods are defined as a first telescopic rod and a second telescopic rod, the first telescopic rod being connected to a first clamping seat 1157, and the second telescopic rod being connected to a second clamping seat 1159.

[0060] When the clamping assembly 115 needs to release the workpiece 300, the first drive cylinder can drive the first telescopic rod to extend relative to the first drive cylinder, and the second telescopic rod to extend relative to the first drive cylinder, thereby causing the first clamping seat 1157 and the second clamping seat 1159 to move away from each other, so as to release the workpiece 300. When the clamping assembly 115 needs to clamp the workpiece 300, the first drive cylinder can drive the first telescopic rod to retract relative to the first drive cylinder, and the second telescopic rod to retract relative to the first drive cylinder, thereby causing the first clamping seat 1157 and the second clamping seat 1159 to move closer to each other, so as to clamp the workpiece 300.

[0061] It should be noted that the drive component 1161 can also adopt other drive structures besides the cylinder drive structure, such as a linear drive structure or other drive structures.

[0062] In some embodiments, the clamping assembly 115 may further include a guide rod 1165, which may be connected to the drive member 1161 and extend along the moving direction of a clamping seat 1155. The guide rod 1165 may pass through the corresponding clamping seat 1155 to provide guidance for the movement of the clamping seat 1155, which helps the clamping seat 1155 to have a more stable moving trajectory and makes the movement of the clamping seat 1155 smoother and more stable. In addition, the guide rod 1165 can also provide additional support force for the clamping seat 1155, which helps the clamping seat 1155 to be more stably connected to the drive member 1161.

[0063] It should be noted that the number of guide rods 1165 can be one or more, with "more" referring to two or more. When there are multiple guide rods 1165, the clamping seat 1155 can be guided by multiple guide rods 1165, or each clamping seat 1155 can be guided by its corresponding guide rod 1165.

[0064] As an example, taking a first clamping seat 1157 and a guide rod 1165 as an example, the guide rod 1165 can be connected to the driving member 1161 and extends in the moving direction of the first clamping seat 1157. The first clamping seat 1157 can be provided with a first guide hole, and the guide rod 1165 can pass through the first guide hole. When the first clamping seat 1157 moves, it can move along the guide rod 1165, so that the guide rod 1165 can provide guidance for the movement of the first clamping seat 1157.

[0065] As another example, there are two guide rods 1165, with the first clamping seat 1157 and the second clamping seat 1159 each guided by a guide rod 1165. The two guide rods 1165 are defined as the first guide rod and the second guide rod, respectively connected to opposite sides of the driving member 1161. The first guide rod extends in the moving direction of the first clamping seat 1157. The first clamping seat 1157 may have a first guide hole, and the first guide rod can pass through the first guide hole, allowing the first clamping seat 1157 to move along the first guide rod during movement. The second guide rod extends in the moving direction of the second clamping seat 1159. The second clamping seat 1159 may have a second guide hole, and the second guide rod can pass through the second guide hole, allowing the second clamping seat 1159 to move along the second guide rod during movement.

[0066] In some embodiments, the flexible clamping member 1151 may be made of flexible materials such as rubber or silicone. When the two clamping seats 1155 move toward each other, the flexible clamping member 1151 is deformed by pressure after contacting the workpiece 300, thereby adjusting its own shape to better fit the outer surface of the workpiece 300.

[0067] The flexible clamping member 1151 can be bonded to the corresponding clamping seat 1155, dissolved in the corresponding clamping seat 1155, or snapped into the corresponding clamping seat 1155.

[0068] In some embodiments, the flexible clamping member 1151 may include a plurality of push rods 1153, the end faces of which can cooperate to form a clamping surface 1154 for clamping the workpiece 300. The plurality of push rods 1153 are configured to extend and retract independently relative to the clamping seat 1155 to adjust the shape of the clamping surface 1154. Thus, the flexible clamping member 1151 can adjust the extension and retraction state of the push rods 1153 to adjust the shape of the clamping surface 1154, thereby allowing the clamping surface 1154 to better conform to the outer surface of the workpiece 300, which helps to stably clamp the workpiece 300. Furthermore, compared to flexible materials such as rubber and silicone, the plurality of push rods 1153 in this embodiment are rigid structures, which helps to provide a more stable clamping force to more stably clamp the workpiece 300, further reducing the possibility of the workpiece 300 falling off the clamping assembly 115.

[0069] The top rod 1153 can be made of stainless steel or other metal materials.

[0070] As an example, the clamping assembly 115 may also include a second drive cylinder, to which a plurality of push rods 1153 may be connected. When the second drive cylinder is filled with high-density gas, the high-density gas can support the push rods 1153, allowing them to be fixed to the second drive cylinder for stable clamping of the workpiece 300. When the gas density inside the second drive cylinder decreases, the push rods 1153 can be in a retractable state. When the push rods 1153 contact the outer surface of the workpiece 300, they are pressed and retract into the second drive cylinder to adjust the shape of the clamping surface 1154, thereby better adapting to the shape of the outer surface of the workpiece 300.

[0071] Each clamping seat 1155 can serve as a second drive cylinder, thereby reducing the number of structural components of the clamping assembly 115, making the overall structure of the clamping assembly 115 more compact, reducing the weight of the clamping assembly 115, and helping the movable arm 113 to drive the clamping assembly 115 to move more stably.

[0072] In some embodiments, the push rod 1153 may have a first state and a second state. When the push rod 1153 is in the first state, the push rod 1153 can extend and retract relative to the clamping seat 1155, so that each push rod 1153 can extend and retract when clamping the outer surface of the workpiece 300 to adjust its own position, thereby adjusting the shape of the clamping surface 1154 to fit the outer surface of the workpiece 300.

[0073] When the push rod 1153 is in the second state, the push rod 1153 and the clamping seat 1155 are connected and fixed, so that the workpiece 300 can be stably clamped.

[0074] In some embodiments, the robotic arm 110 may include a vision sensor, which may be connected to the gripping assembly 115 or the movable arm 113. The vision sensor may be oriented between the two gripping seats 1155 to capture a position image of the push rod 1153 when it grips the workpiece 300. When the captured position image determines that the push rod 1153 is in contact with the surface of the workpiece 300, the vision sensor sends a control signal. After receiving the control signal, the second drive cylinder inflates to switch the push rod 1153 from the first state to the second state.

[0075] Understandably, the second drive cylinder can also be manually controlled to inflate and deflate, so that the push rod 1153 can switch between the first and second states.

[0076] In some embodiments, the robotic arm 110 may further include a rotating base 117 and a rotating element 119.

[0077] The clamping assembly 115 can be connected to the rotating base 117, and the rotating component 119 is rotatably connected to the movable arm 113. The rotating base 117 is rotatably connected to the rotating component 119 around its central axis. The central axis of the rotating base 117 and the rotation axis of the rotating component 119 are set at an angle, so that when the movable arm 113 and the rotating component 119 rotate, they can drive the clamping assembly 115 to move in multiple directions, so as to flexibly control the movement of the clamping assembly 115. When the rotating base 117 rotates around its central axis, it can drive the clamping assembly 115 to rotate, so as to drive the workpiece 300 clamped by the clamping assembly 115 to rotate, so that the laser emitted by the laser cleaning device 130 can more comprehensively clean multiple surfaces of the workpiece 300.

[0078] The robotic arm 110 can be a six-axis robot. The rotating base 117 and the rotating component 119 can both be used as one of the moving axes of the six-axis robot. The movable arm 113 can include multiple moving axes. The specific structure of the six-axis robot can refer to the existing technology, and will not be described in detail here.

[0079] In some embodiments, the laser cleaning equipment 100 for oxide film on aero-engine blades may have a loading station 150, a cleaning station 170 and a unloading station 190 arranged in sequence. The workpiece 300 to be cleaned can be loaded from the loading station 150, and after laser cleaning at the cleaning station 170, it can be unloaded from the unloading station 190.

[0080] The laser cleaning equipment 100 for oxide film on aero-engine blades may also include a conveying device 210, which may be located between the loading station 150 and the unloading station 190. Understandably, the conveying device 210 is also partially located at the cleaning station 170. The conveying device 210 can transport the workpiece 300 to be cleaned from the loading station 150 to the cleaning station 170 for laser cleaning, and transport the cleaned workpiece 300 to the unloading station 190. This helps to improve the automation level of the laser cleaning equipment 100 for oxide film on aero-engine blades and reduce labor costs.

[0081] Both the laser cleaning device 130 and the robotic arm 110 are located at the cleaning station 170. In this way, the robotic arm 110 can conveniently pick up the workpiece 300 located at the cleaning station 170 and place it in the laser cleaning device 130 for laser cleaning, which helps to reduce the travel distance of the robotic arm 110.

[0082] The conveying device 210 can transport the workpiece 300 to be cleaned from the loading station 150 to the cleaning station 170. The robotic arm 110 picks up the workpiece 300 from the cleaning station 170 and moves it to the laser cleaning device 130 for laser cleaning. The cleaned workpiece 300 is then placed on the conveying device 210 at the cleaning station 170. The conveying device 210 then transports the cleaned workpiece 300 to the unloading station 190.

[0083] Specifically, the workpiece 300 to be cleaned can be loaded from the loading station 150 to the conveying device 210. The conveying device 210 transports the workpiece 300 to the cleaning station 170. The movable arm 113 drives the clamping assembly 115 to move to clamp the workpiece 300 and move it to the laser cleaning device 130 for laser cleaning. After the workpiece 300 is laser cleaned, the movable arm 113 moves the clamping assembly 115 to place the workpiece 300 in the cleaning station 170. The conveying device 210 then transports the cleaned workpiece 300 to the unloading station 190 for unloading.

[0084] In some embodiments, the conveying device 210 may include a base, a drive mechanism 215, a first clamping member 211, and a second clamping member 213.

[0085] The laser cleaning device 130 and the drive mechanism 215 can both be connected to the base. The first clamping member 211 and the second clamping member 213 are movably connected to the base, which helps to make the conveying device 210 and the laser cleaning device 130 more compact.

[0086] The first clamping member 211 is used to clamp the workpiece 300 to be cleaned, and the second clamping member 213 is used to clamp the cleaned workpiece 300. The driving mechanism 215 is connected to the first clamping member 211 and the second clamping member 213, and is used to drive the first clamping member 211 to reciprocate between the loading station 150 and the cleaning station 170, and to drive the second clamping member 213 to reciprocate between the cleaning station 170 and the unloading station 190. In this way, both the workpiece 300 to be cleaned and the cleaned workpiece 300 can have a fixed clamping position on the conveying mechanism, which helps to better distinguish between the workpiece 300 to be cleaned and the cleaned workpiece 300. In addition, the workpiece 300 can also have a more accurate clamping posture, which helps the robotic arm 110 to more stably clamp the workpiece 300 to the laser cleaning device 130 for laser cleaning.

[0087] The general operation of the laser cleaning equipment 100 for oxide film cleaning of aero-engine blades is as follows: The drive mechanism 215 moves the first clamping member 211 to the cleaning station 170 and the second clamping member 213 to the unloading station 190. The robotic arm 110 picks up and moves the workpiece 300 held by the first clamping member 211 to the laser cleaning device 130 for laser cleaning. The drive mechanism 215 moves the first clamping member 211 to the loading station 150 and the second clamping member 213 to the cleaning station 170. The robotic arm 110 places the cleaned workpiece 300 into the second clamping member 213 for clamping.

[0088] It should be noted that, in this embodiment, the laser cleaning equipment 100 for cleaning the oxide film on aero-engine blades can be manually loaded, i.e., the workpiece 300 can be manually placed and clamped by the first clamping member 211 located at the loading station 150. Alternatively, the laser cleaning equipment 100 for cleaning the oxide film on aero-engine blades can be equipped with an automatic loading mechanism at the loading station 150 to achieve automatic loading. Similarly, in unloading, the laser cleaning equipment 100 for cleaning the oxide film on aero-engine blades can be manually unloaded, i.e., the workpiece 300 can be manually removed from the second clamping member 213 located at the unloading station 190. Alternatively, the laser cleaning equipment 100 for cleaning the oxide film on aero-engine blades can be equipped with an automatic unloading mechanism at the loading station 150 to achieve automatic unloading.

[0089] In some embodiments, the conveying device 210 may further include a connector 217, which may be connected between the first clamping member 211 and the second clamping member 213, so that the drive mechanism 215 may only drive one of the first clamping member 211 and the second clamping member 213, and the first clamping member 211 and the second clamping member 213 may achieve synchronous operation.

[0090] The number of first clamping members 211 can be one or more, and the number of corresponding second clamping members 213 can also be one or more. The first clamping members 211 and the second clamping members 213 can correspond one-to-one.

[0091] Multiple first clamping members 211 can be connected in sequence, and multiple second clamping members 213 can also be connected in sequence to achieve synchronous operation.

[0092] In some embodiments, the drive mechanism 215 may be available in a variety of options to suit different needs.

[0093] As an example, the drive mechanism 215 can be a mechanism that drives a synchronous belt (such as...) Figure 3 The drive mechanism 215 shown has a first clamping member 211 and a second clamping member 213 that are movably connected to the base and are connected to the transmission belt of the synchronous belt mechanism. When the transmission belt rotates, it can drive the first clamping member 211 and the second clamping member 213 to move synchronously.

[0094] As another example, the drive mechanism 215 can be a lead screw transmission mechanism. The first clamping member 211 and the second clamping member 213 are both movably connected to the base and are connected to the lead screw of the lead screw transmission mechanism. When the lead screw rotates, it can drive the first clamping member 211 and the second clamping member 213 to move synchronously along the axial direction of the lead screw.

[0095] Understandably, the drive mechanism 215 can also adopt other drive structures; the above is only an example for illustrative purposes.

[0096] In some embodiments, the base may be provided with a slide groove extending from the loading station 150 to the unloading station 190. The first clamping member 211 may be provided with a first slider that cooperates with the slide groove, and the second clamping member 213 may be provided with a second slider that cooperates with the slide groove. The first slider and the second slider are slidably disposed in the slide groove, so that the first clamping member 211 and the second clamping member 213 can be movably connected to the base.

[0097] The number of slides can be two. Correspondingly, the first clamping member 211 can be provided with two first sliders, and the second clamping member 213 can be provided with two second sliders. The slides and the first sliders correspond one-to-one, and the slides and the second sliders correspond one-to-one, which helps the first clamping member 211 and the second clamping member 213 to move more smoothly.

[0098] Understandably, the base may also be provided with a slider extending from the loading station 150 to the loading station 190. In this case, the first clamping member 211 may be provided with a first sliding groove that cooperates with the slider, and the second clamping member 213 may be provided with a second sliding groove that cooperates with the slider. Similarly, the first clamping member 211 and the second clamping member 213 can be movably connected to the base, which will not be described in detail here.

[0099] In some embodiments, the first clamping member 211 and the second clamping member 213 both include a mounting base 2111 and two clamping portions 2113 arranged opposite to each other. That is, the structures of the first clamping member 211 and the second clamping member 213 are substantially the same. The first clamping member 211 may include a mounting base 2111 and two clamping portions 2113 arranged opposite to each other, and the second clamping member 213 may also include a mounting base 2111 and two clamping portions 2113 arranged opposite to each other.

[0100] For ease of description, the following explanation will take one of the first clamping member 211 and the second clamping member 213 as an example.

[0101] The drive mechanism 215 is connected to the mounting base 2111, so that the drive mechanism 215 can drive the mounting base 2111 to move, thereby driving the first clamping member 211 and the second clamping member 213 to move.

[0102] Two clamping parts 2113 are movably connected to the mounting base 2111. The two clamping parts 2113 move toward each other to clamp the workpiece 300 and move away from each other to release the workpiece 300.

[0103] The clamping part 2113 and the mounting base 2111 can also be connected by a slider and a groove so that the clamping part 2113 can move on the mounting base 2111, which will not be described in detail here.

[0104] At least one of the two clamping parts 2113 has a contoured surface 2115 on the clamping side for clamping the workpiece 300. The contoured surface 2115 is adapted to conform to the surface of the workpiece 300 when clamping the workpiece 300. This helps the two clamping parts 2113 to clamp the workpiece 300 more stably, and also helps the workpiece 300 to have a more defined clamping posture between the two clamping parts 2113, which is convenient for the subsequent clamping by the robotic arm 110.

[0105] The contour surface 2115 can be a plane, a stepped surface, an arc surface, or other types of surface. The contour surface 2115 can be a single surface or a combination of multiple surfaces, and can be designed according to the outer surface of the workpiece 300.

[0106] In the laser cleaning equipment 100 for oxide film on aero-engine blades provided in this application embodiment, when the movable arm 113 moves, it can drive the clamping assembly 115 to move to clamp and move the workpiece 300. The clamping assembly 115 has a flexible clamping member 1151 set between two clamping seats 1155. The flexible clamping member 1151 is adapted to adjust its own shape when clamping the workpiece 300 to fit the surface of the workpiece 300. In this way, when the two clamping seats 1155 approach each other to clamp the workpiece 300, the flexible clamping member 1151 can adjust its own shape according to the shape of the outer surface of the workpiece 300 to better fit the outer surface of the workpiece 300. As a result, the clamping assembly 115 can apply a more uniform clamping force to the workpiece 300 and clamp the workpiece 300 more stably, which helps to reduce the situation where the workpiece 300 falls off the clamping assembly 115.

[0107] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A laser cleaning device for oxide film on aero-engine blades, characterized in that, Includes a robotic arm and a laser cleaning device; the robotic arm includes: Support arm; A movable arm, rotatably connected to the support arm; and A clamping assembly is connected to the movable arm. The clamping assembly includes a flexible clamping member and two movable clamping seats. The two clamping seats are arranged opposite to each other. The flexible clamping member is disposed between the two clamping seats. At least one of the two clamping seats is connected to the flexible clamping member. The two clamping seats are close to each other to clamp the workpiece and far apart to release the workpiece. The flexible clamping member is adapted to adjust its shape to fit the surface of the workpiece when clamping it. The movable arm is used to move the clamping assembly to the laser cleaning device, which is used to laser clean the workpiece clamped by the clamping assembly.

2. The laser cleaning equipment for oxide film on aero-engine blades according to claim 1, characterized in that, The clamping assembly further includes a drive member connected to the movable arm, and one of the two clamping seats is connected to the drive end of the drive member. The drive member is used to drive the corresponding clamping seat to move.

3. The laser cleaning equipment for oxide film on aero-engine blades according to claim 2, characterized in that, The driving component includes two driving ends, which are retractably disposed on opposite sides of the driving component. Each driving end is connected to a clamping seat, and the two driving ends are used to drive the two clamping seats to move towards or away from each other.

4. The laser cleaning equipment for oxide film on aero-engine blades according to claim 3, characterized in that, The clamping assembly further includes a guide rod connected to the drive member and extending along the moving direction of one of the clamping seats. The guide rod passes through the corresponding clamping seat to provide guidance for the movement of the clamping seat.

5. The laser cleaning equipment for oxide film on aero-engine blades according to any one of claims 1 to 4, characterized in that, The flexible clamping member includes a plurality of push rods, the end faces of which cooperate to form a clamping surface for clamping the workpiece, and the plurality of push rods are configured to extend and retract individually relative to the clamping seat to adjust the shape of the clamping surface.

6. The laser cleaning equipment for oxide film on aero-engine blades according to claim 5, characterized in that, The push rod has a first state and a second state. When the push rod is in the first state, it can extend and retract relative to the clamping seat. When the push rod is in the second state, it is fixedly connected to the clamping seat.

7. The laser cleaning equipment for oxide film on aero-engine blades according to any one of claims 1 to 4, characterized in that, The robotic arm also includes a rotating base and a rotating component. The clamping assembly is connected to the rotating base, the rotating component is rotatably connected to the movable arm, and the rotating base is rotatably connected to the rotating component about a central axis. The central axis of the rotating seat and the rotation axis of the rotating component are set at an angle.

8. The laser cleaning equipment for oxide film on aero-engine blades according to any one of claims 1 to 4, characterized in that, The laser cleaning equipment for oxide film on aero-engine blades has a loading station, a cleaning station, and an unloading station arranged in sequence, with the laser cleaning device and the robotic arm both located at the cleaning station. The laser cleaning equipment for oxide film on aero-engine blades also includes a conveying device, which is located between the loading station and the unloading station; The conveying device transports the workpiece to be cleaned from the loading station to the cleaning station. The robotic arm grips the workpiece at the cleaning station and moves it to the laser cleaning device for laser cleaning. The cleaned workpiece is then placed on the conveying device at the cleaning station, and the conveying device transports the cleaned workpiece to the unloading station.

9. The laser cleaning equipment for oxide film on aero-engine blades according to claim 8, characterized in that, The conveying device includes a base, a drive mechanism, a first clamping member, and a second clamping member. The first clamping member is used to clamp the workpiece to be cleaned, and the second clamping member is used to clamp the cleaned workpiece. The drive mechanism is connected to the base and drives the first clamping member and the second clamping member to move back and forth between the loading station and the cleaning station, and drives the second clamping member to move back and forth between the cleaning station and the unloading station. The driving mechanism drives the first clamping member to the cleaning station and the second clamping member to the unloading station. The robotic arm picks up and moves the workpiece held by the first clamping member to the laser cleaning device for laser cleaning. The driving mechanism drives the first clamping member to the loading station and the second clamping member to the cleaning station. The robotic arm places the cleaned workpiece in the second clamping member for clamping.

10. The laser cleaning equipment for oxide film on aero-engine blades according to claim 9, characterized in that, Both the first clamping member and the second clamping member include a mounting base and two clamping parts disposed opposite to each other. The driving mechanism is pulsatorically connected to the mounting base. The two clamping parts are movably connected to the mounting base. The two clamping parts move towards each other to clamp the workpiece and move away from each other to release the workpiece. At least one of the two clamping portions has a contoured surface on the clamping side for clamping the workpiece, the contoured surface being adapted to conform to the surface of the workpiece when clamping the workpiece.

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