Automatic aligning and milling equipment for power turbine rotor blade rivet

Abstract

The utility model belongs to the technical field of automation equipment, and discloses power turbine rotor blade rivet automatic aligning and milling equipment which comprises a base, a clamping unit, an overturning unit, a rotating unit, a milling unit, a lifting unit, a horizontal moving unit, a visual inspection and alignment unit and a control system. The overturning unit is fixedly installed on the horizontal moving unit, the rotating unit is fixedly installed on the overturning unit, the clamping unit is fixedly installed on the rotating unit, the lifting unit is fixedly installed on one side of the base, the milling unit is fixedly installed on the lifting unit, and the visual inspection alignment unit is fixedly installed on one side of the milling unit. The control system is fixedly installed on one side of the base. By means of numerical control machining and visual inspection, circumferential, radial and central positions of the turbine disc can be automatically adjusted, the turbine disc blade rivet disassembling and machining device is suitable for disassembling and machining of turbine disc blade rivets of different specifications, sizes and angles, production cost is remarkably reduced, and production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to automatic equipment technical field especially relates to a power turbine rotor blade rivet automatic alignment milling equipment. BACKGROUND

[0002] At present, the connection of the turbine disk and the blade of the aero-engine rotor usually adopts the tenon and groove cooperation, and utilizes the rivet riveting connection structure, the rivet diameter is generally 2.45mm, the number of circumferential rivets reaches more than 72, according to different rotor stage working requirements, the tenon and groove deviate from the axis direction angle is 16°±5', 13°±5' and different angle requirements, the rivet diameter is small and the center deviation angle requirement precision is high, in order to ensure the consistency of the working performance of the turbine disk and the blade after the assembly, the coincidence of the tool center and the product center needs to be strictly controlled when the rivet is riveted or decomposed, so that the characteristics of the engine rotor are ensured.

[0003] In the decomposition process of the power turbine rotor blade rivet assembly test run, the method that the existing technology adopts manual operation electric spark processing equipment to remove the rivet head exists. The method has certain limitations in the center position alignment, can cause damage to the rotor blade in the processing process, and the decomposition quality and efficiency depend on the experience and proficiency of the operator, and there are problems such as unstable decomposition quality, high labor intensity, high operation management difficulty and the like. These factors affect the efficiency and reliability of the engine assembly to some extent. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of power turbine rotor blade rivet automatic alignment milling equipment to solve the above technical problems.

[0005] To solve the above technical problems, a kind of power turbine rotor blade rivet automatic alignment milling equipment of the utility model is based on rivet decomposition schematic diagram, rivet size, tenon and groove angle and the like technical conditions, designs a set of special equipment specially used to solve the rivet decomposition of the first and second stage rotor of certain aero-engine power turbine, realizes the function of the rivet decomposition of two products by automatically adjusting circumferential angle, the stroke of horizontal movement shaft, the stroke of lifting shaft, realizes the function of automatic indexing and automatic alignment rivet position when rivet is decomposed, to improve efficiency. The specific technical scheme is as follows:

[0006] The application discloses a kind of power turbine rotor blade rivet automatic alignment milling equipment, including base, clamping unit, turnover unit, rotating unit, milling unit, lifting unit, horizontal moving unit, visual detection alignment unit and control system, the horizontal moving unit is fixed on base, the turnover unit is fixedly installed on horizontal moving unit, the rotating unit is fixedly installed on turnover unit, the clamping unit is fixedly installed on rotating unit, the lifting unit is fixedly installed on one side of base, the milling unit is fixedly installed on lifting unit, the visual detection alignment unit is fixedly installed on one side of milling unit, the control system is fixedly installed on one side of base, and is electrically connected with turnover unit, rotating unit, milling unit, lifting unit, horizontal moving unit, visual detection alignment unit, the lifting unit is used for adjusting milling processing height process etc.;The milling unit is used for rivet head milling removal processing;The horizontal moving unit is used for adjusting product horizontal position;The turnover unit is used for adjusting product horizontal, angle and so on attitude;The rotating unit is used for adjusting rotation angle;The visual detection alignment unit is used for rivet automatic detection position compensation positioning;The clamping unit is used for turbine rotor fixation;The control system is used for equipment electrical control.

[0007] Further, the lifting unit includes a column, a linear guide rail, a ball screw, a lifting nut seat, a lifting speed reducer and a lifting servo motor, the column is vertically fixedly installed on one side of the base, the lifting servo motor and the lifting speed reducer are fixedly installed on the upper end of the column, the output end of the lifting servo motor is connected with the lifting speed reducer, the output end of the lifting speed reducer is fixedly connected with the ball screw, the lifting nut seat is threadedly connected with the ball screw, the linear guide rail is fixedly installed on both sides of the column, the milling unit is fixedly installed on the lifting nut seat and slidably connected with the linear guide rail, the lifting unit is guided by the linear guide rail, and the ball screw is driven to rotate by the lifting servo motor driving the lifting speed reducer, so that the milling unit moves up and down.

[0008] Further, the milling unit includes a spindle mounting seat, an electric spindle, a tool shank, a milling cutter and a spindle protective cover, the spindle mounting seat is fixedly installed on the lifting nut seat and slidably connected with the linear guide rail, the electric spindle is fixedly installed on the spindle mounting seat, the tool shank is installed at the lower end of the electric spindle, the milling cutter is fixedly installed on the tool shank, and the spindle protective cover is installed outside the spindle mounting seat and used for protection, the milling unit is lifted by the lifting unit to adjust the position of the electric spindle, and the milling cutter installed on the electric spindle is used for milling and removing the rivet head on the power turbine disc, so that the rivet is disassembled and the blade is separated.

[0009] Further, the horizontal moving unit comprises an X-axis moving unit and a Y-axis moving unit, the X-axis moving unit is fixedly installed on the base, the Y-axis moving unit is fixedly installed on the X-axis moving unit and moves back and forth under the drive of the X-axis moving unit, and the turnover unit is fixedly installed on the Y-axis moving unit and moves left and right under the drive of the Y-axis moving unit.

[0010] Further, the turnover unit comprises a turnover servo motor, a turnover reducer, cross roller bearings and a rotating bracket, the cross roller bearings are fixedly installed at both ends of the slide of the Y-axis moving unit, the rotating bracket is fixedly installed on the inner side of the cross roller bearings, the turnover reducer and the turnover servo motor are installed on the outer side of one cross roller bearing, the output end of the turnover servo motor is connected with the turnover reducer, the output end of the turnover reducer is fixedly connected with the rotating bracket through the cross roller bearings, and the rotating unit is installed on the rotating bracket, so that the rotating bracket is directly driven to rotate by the turnover servo motor and the turnover reducer, thereby realizing the turnover of the turbine rotor on the rotating unit.

[0011] Further, the rotating unit comprises a rotating table mounting base, a rotating table, a detection disc, a detection switch, a rotation reducer and a rotating servo motor, the rotating table mounting base is fixedly installed on the rotating bracket, the rotating table is rotatably installed on the rotating table mounting base, the rotation reducer and the rotating servo motor are fixedly installed on the rotating table mounting base, the output end of the rotating servo motor is connected with the rotation reducer, the output end of the rotation reducer is fixedly connected with the center of the rotating table, and the clamping unit is fixedly installed on the rotating table, so that the rotating table is driven to rotate around the center by the rotating servo motor and the rotation reducer, thereby realizing the 0-360° attitude change around the center axis of the turbine rotor in the assembly process and the function of rotor indexing in the rivet disassembly; the detection disc is installed on the rotating table, the detection switch is fixedly installed on one side of the milling cutter of the milling unit and is aligned with the detection disc, and is used for detecting the rotation of the detection disc, and the rotating table cannot be moved when the detection switch does not send a signal.

[0012] Further, the clamping unit is fixed on the rotating unit and is used for fixing the turbine rotor product, and the clamping unit comprises a mounting base, a lower guide limiting seat, an upper guide limiting seat, a locking screw and a protective cover plate, the mounting base and the lower guide limiting seat are installed on the rotating table, the turbine rotor is placed, the upper guide limiting seat is clamped into the clamping groove at the upper end of the turbine rotor, the locking screw is finally tightened, the protective cover plate is covered, and the turbine rotor is fixed.

[0013] Further, the visual detection alignment unit adopts a high-precision industrial camera for detecting the position of the rotating unit for actually machining the rivet head center according to the product theory, automatically calculating the actual deviation value from the theory by a visual software system, and feeding back the deviation value to the control system to automatically compensate and align the rivet position for precise secondary positioning.

[0014] Further, the protective cover unit includes a workbench protective cover, a bottom protective cover and an organ cover, the workbench protective cover is installed on the Y-axis moving unit for protecting the product and the operator during the machining process, the workbench protective cover is designed with a transparent observation window, a safety door and a door lock, the door lock is provided with a proximity switch to ensure that the safety door is in a closed state during the machining process, the bottom protective cover is installed on the outer periphery of the base for foot protection, and the organ cover is installed on the upper and lower ends of the linear guide rail, the surface of the X-axis moving unit and the Y-axis moving unit for dust protection.

[0015] Further, the control system includes a control cabinet and an HMI touch screen, the control cabinet is fixed on one side of the base, the HMI touch screen is installed on the control cabinet, the control cabinet is provided with a numerical control machining system for receiving the signal of the visual detection alignment unit and controlling the lifting unit, the horizontal moving unit, the overturning unit, the rotating unit and the milling unit to perform lifting, moving, overturning, rotating and milling actions, and the HMI touch screen is used for displaying, editing and controlling the lifting, moving, overturning and rotating actions of the equipment.

[0016] The power turbine rotor blade rivet automatic alignment milling equipment has the following advantages: according to the rivet decomposition requirements of the power turbine rotor blade, the control system is programmed to automatically adjust the position in the circumferential direction during the decomposition process of the power turbine rotor blade rivet according to different rotor decomposition sizes and rivet center angle changes, the visual system detects the position deviation between the riveting center and the tool center in real time, the position deviation is corrected, and the rivet is automatically machined and removed, which is an important practical and innovative change from the traditional fixed assembly mode to the automatic, digital and artificial intelligence assembly technology in the assembly of an aero-engine, and has a wide application prospect in the field of digital and intelligent assembly of aerospace engines.

[0017] The power turbine rotor blade rivet automatic alignment milling equipment changes the traditional manual observation decomposition mode, automatically adjusts the circumferential direction, radial direction and center position of the turbine disc through numerical control machining and visual detection, is suitable for turbine disc blade rivet decomposition machining of different specifications, sizes and angles, has the characteristics of high flexibility, intelligentization and high technical level, has stable machining performance and good quality consistency, effectively avoids damage to blade parts caused by human errors, significantly reduces production cost, and improves decomposition efficiency by more than 10 times compared with the original method. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the whole structure schematic view of the power turbine rotor blade rivet automatic alignment milling equipment of the utility model;

[0019] Figure 2 It is the rotating unit structure schematic view of the utility model;

[0020] Figure 3 It is the lifting unit structure schematic view of the utility model;

[0021] Figure 4 It is the milling unit structure schematic view of the utility model;

[0022] Figure 5 It is the turnover unit structure schematic view of the utility model;

[0023] Figure 6 It is the clamping unit structure schematic view of the utility model;

[0024] Marking illustration in the drawing: 1, base; 2, clamping unit; 21, mounting seat; 22, lower guide limit seat; 23, upper guide limit seat; 24, locking screw; 25, protective cover plate; 26, turbine rotor; 3, turnover unit; 31, turnover servo motor; 32, turnover speed reducer; 33, cross roller bearing; 34, rotating bracket; 4, rotating unit; 41, rotating table mounting seat; 42, rotating table; 43, detection disc; 44, detection switch; 45, rotary speed reducer; 46, rotating servo motor; 5, milling unit; 51, main shaft mounting seat; 52, electric spindle; 53, tool shank; 54, milling cutter; 55, main shaft protective cover; 6, lifting unit; 61, stand column; 62, linear guide rail; 63, ball screw; 64, lifting nut seat; 65, lifting speed reducer; 66, lifting servo motor; 7, horizontal moving unit; 71, X-axis moving unit; 72, Y-axis moving unit; 8, visual detection alignment unit; 9, control system; 91, control cabinet; 92, HMI touch screen; 10, protective cover unit; 101, workbench protective cover; 102, bottom protective cover; 103, organ case. DETAILED DESCRIPTION

[0025] In order to better understand the purpose, structure and function of the utility model, the utility model a kind of power turbine rotor blade rivet automatic alignment milling equipment is further described in detail in conjunction with the drawings.

[0026] As Figures 1-6As shown, the utility model discloses a kind of power turbine rotor blade rivet automatic alignment milling equipment, including base 1, clamping unit 2, turnover unit 3, rotating unit 4, milling unit 5, lifting unit 6, horizontal moving unit 7, visual detection alignment unit 8, control system 9 and protective cover unit 10.Horizontal moving unit 7 is fixed on base 1, turnover unit 3 is fixedly installed on horizontal moving unit 7, rotating unit 4 is fixedly installed on turnover unit 3, clamping unit 2 is fixedly installed on rotating unit 4, lifting unit 6 is fixedly installed on one side of base 1, milling unit 5 is fixedly installed on lifting unit 6, visual detection alignment unit 8 is fixedly installed on one side of milling unit 5, control system 9 is fixedly installed on one side of base 1, and is electrically connected with turnover unit 3, rotating unit 4, milling unit 5, lifting unit 6, horizontal moving unit 7, visual detection alignment unit 8, and protective cover unit 10 is set in product processing area.Lifting unit 6 is used for adjusting milling processing height course etc.;Milling unit 5 is used for rivet head milling removal processing.;Horizontal moving unit 7 is used for adjusting product horizontal position.;Turnover unit 3 is used for adjusting product horizontal, angle etc. attitude.;Rotating unit 4 is used for adjusting rotation angle.;Visual detection alignment unit 8 is used for rivet automatic detection position compensation positioning.;Clamping unit 2 is used for product fixation.;Control system 9 is used for equipment electrical control.;Protective cover unit 10 is mainly used for the protection of product processing area.

[0027] Lifting unit 6 includes column 61, linear guide 62, ball screw 63, lifting nut base 64, lifting speed reducer 65 and lifting servo motor 66, column 61 is vertically fixedly installed on one side of base 1, lifting servo motor 66 and lifting speed reducer 65 are fixedly installed on the upper end of column 61, the output end of lifting servo motor 66 is connected with lifting speed reducer 65, the output end of lifting speed reducer 65 is fixedly connected with ball screw 63, lifting nut base 64 is threadedly connected with ball screw 63, linear guide 62 is fixedly installed on both sides of column 61, milling unit 5 is fixedly installed on lifting nut base 64 and is slidably connected with linear guide 62, lifting unit is guided by linear guide 62, ball screw 63 is rotated by lifting servo motor 66 driving lifting speed reducer 65 to drive milling unit 5 to carry out lifting movement, and lifting stroke is 300mm, lifting unit 6 has arbitrary position stop function, and has self-locking and power-off protection function.Organ case 103 is installed on the upper and lower ends of linear guide 62, for protection, organ case 103 in lifting unit 6 has the characteristics of structure is strict, reasonable, noiseless, stroke is big, movement is fast, service life is long etc., avoids operator body and work site contact, organ case 103 can bear the impact from equipment parts, workpieces and operators, additionally has the effects of dustproof, oil-proof etc.

[0028] The milling unit 5 comprises a spindle mounting seat 51, an electric spindle 52, a tool holder 53, a milling cutter 54, and a spindle guard 55. The spindle mounting seat 51 is fixedly installed on the lifting nut seat 64 and is in sliding connection with the linear guide rail 62. The electric spindle 52 is fixedly installed on the spindle mounting seat 51. The tool holder 53 is installed at the lower end of the electric spindle 52. The milling cutter 54 is fixedly installed on the tool holder 53. The spindle guard 55 is installed outside the spindle mounting seat 51 for protection. The milling unit 5 is lifted by the lifting unit 6 to adjust the position of the electric spindle 52. The milling cutter 54 installed on the electric spindle 52 is used to mill and remove the rivet heads on the blades of the power turbine disc, so as to achieve the purpose of disassembling the rivets and separating the blades.

[0029] The horizontal moving unit 7 comprises an X-axis moving unit 71 and a Y-axis moving unit 72. The X-axis moving unit 71 is fixedly installed on the base 1. The Y-axis moving unit 72 is fixedly installed on the X-axis moving unit 71 and can move forward and backward under the driving of the X-axis moving unit 71. The turnover unit 3 is fixedly installed on the Y-axis moving unit and can move left and right under the driving of the Y-axis moving unit 72. The X-axis moving unit 71 and the Y-axis moving unit 72 each comprise a linear guide rail, a ball screw, and a translation servo motor, which are existing translation structures and will not be described here. The X-axis moving unit 71 and the Y-axis moving unit 72 are mainly used to adjust the horizontal position of the product in the X direction and the Y direction, optimize the human-machine engineering, improve the work efficiency, and reduce the labor intensity. The surfaces of the X-axis moving unit 71 and the Y-axis moving unit 72 are covered with an organ case 103, which is used to cover the translation working area, prevent dust from entering, and ensure the safety of the operation.

[0030] The turnover unit 3 comprises a turnover servo motor 31, a turnover reducer 32, a cross roller bearing 33, and a rotating bracket 34. The cross roller bearing 33 is fixedly installed at both ends of the sliding seat of the Y-axis moving unit. The rotating bracket 34 is fixedly installed on the inner side of the cross roller bearing 33. The turnover reducer 32 and the turnover servo motor 31 are installed on the outer side of one cross roller bearing 33. The output end of the turnover servo motor 31 is connected with the turnover reducer 32. The output end of the turnover reducer 32 is fixedly connected with the rotating bracket 34 through the cross roller bearing 33. The rotating unit 4 is installed on the rotating bracket 34. The turnover unit 3 drives the rotating bracket 34 to rotate through the turnover servo motor 31 and the turnover reducer 32, so as to realize the turnover of the turbine rotor 26 on the rotating unit 4. The turnover angle is ±25°.

[0031] The rotating unit 4 comprises a rotating table mounting seat 41, a rotating table 42, a detection disc 43, a detection switch 44, a rotating reducer 45 and a rotating servo motor 46. The rotating table mounting seat 41 is fixedly installed on the rotating bracket 34. The rotating table 42 is rotatably installed on the rotating table mounting seat 41. The rotating reducer 45 and the rotating servo motor 46 are fixedly installed on the rotating table mounting seat 41. The output end of the rotating servo motor 46 is connected with the rotating reducer 45. The output end of the rotating reducer 45 is fixedly connected with the center of the rotating table 42. The clamping unit 2 is fixedly installed on the rotating table 42. The rotating unit 4 drives the rotating table 42 to rotate along the center through the rotating servo motor 46 and the rotating reducer 45, so as to realize the 0-360° attitude change around the center axis of the turbine rotor 26 in the assembly process, and realize the rotor indexing function in the rivet disassembly. The rotating unit 4 has the function of stopping at any position, and has the functions of self-locking and power-off protection. The rotating angle is 360°.

[0032] The detection disc 43 is installed on the rotating table 42. The detection switch 44 is fixedly installed on one side of the milling cutter 54 of the milling unit 5, is aligned with the detection disc 43, and is used for detecting the rotation of the detection disc 43. The two are used in cooperation, are mainly used for providing secondary safety protection for the product damage caused by mechanical failure such as coupling loosening during product processing. When the detection switch 44 does not send a signal, the rotating table 42 cannot be moved, and the risk of product damage is effectively avoided.

[0033] The clamping unit 2 is fixed on the rotating unit 4 and is used for fixing the turbine rotor 26 product. The clamping unit 2 mainly comprises a mounting seat 21, a lower guide limiting seat 22, an upper guide limiting seat 23, a locking screw 24 and a protective cover plate 25. When the rivet of the turbine rotor 26 is disassembled, the mounting seat 21 and the lower guide limiting seat 22 are installed on the rotating table 42. The turbine rotor 26 is placed. Then the upper guide limiting seat 23 is clamped into the clamping groove at the upper end of the turbine rotor 26. Finally, the locking screw 24 is tightened, and the protective cover plate 25 is covered. The turbine rotor 26 is fixed.

[0034] The visual detection alignment unit 8 adopts a high-precision industrial camera to detect the position of the rotating unit 4 according to the actual rivet head center to be processed of the product in theory. The visual software system automatically calculates the actual deviation value between the actual value and the theoretical value. The deviation value is fed back to the control system 9 to automatically compensate and align the rivet position for accurate secondary positioning, so as to ensure the safety of the machining position.

[0035] The guard cover unit 10 comprises a workbench guard cover 101, a bottom guard cover 102 and an organ cover 103. The workbench guard cover 101 is installed on the Y-axis moving unit and is mainly used for protecting products and operators during machining. The workbench guard cover 101 is designed with a transparent observation window, which facilitates operators to observe the machining condition of the products. A safety door and a door lock are arranged, which facilitates the loading of the products, and the door lock is provided with a proximity switch, so that the safety door is kept in the closed state during machining. The bottom guard cover 102 is installed on the outer periphery of the base 1 and is mainly used for protecting the feet and preventing the falling of parts to the bottom position. The organ cover 103 is installed outside each unit and is used for dustproof.

[0036] The control system 9 comprises a control cabinet 91 and an HMI touch screen 92. The control cabinet 91 is fixed on one side of the base 1, and the HMI touch screen 92 is installed on the control cabinet 91. The control cabinet 91 is provided with a numerical control machining system, which is used for receiving the signals of the vision detection alignment unit 8 and controlling the lifting unit 6, the horizontal moving unit 7, the overturning unit 3, the rotating unit 4 and the milling unit 5 to perform lifting, moving, overturning, rotating and milling actions. Through the HMI touch screen 92, the lifting, moving, overturning and rotating actions of the equipment can be displayed, edited and controlled, so as to meet the requirements of the product posture in different operating states of the artificial, optimize the man-machine engineering and improve the assembly efficiency.

[0037] It can be understood that the utility model is described through some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the utility model. In addition, these features and embodiments can be modified to adapt to specific conditions and materials under the guidance of the utility model without departing from the spirit and scope of the utility model. Therefore, the utility model is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope protected by the utility model.

Claims

1. An automatic milling machine for rivet alignment of power turbine rotor blades, characterized in that, The system includes a base (1), a clamping unit (2), a flipping unit (3), a rotating unit (4), a milling unit (5), a lifting unit (6), a horizontal moving unit (7), a visual inspection and alignment unit (8), and a control system (9). The horizontal moving unit (7) is fixed on the base (1), the flipping unit (3) is fixedly installed on the horizontal moving unit (7), the rotating unit (4) is fixedly installed on the flipping unit (3), the clamping unit (2) is fixedly installed on the rotating unit (4), the lifting unit (6) is fixedly installed on one side of the base (1), the milling unit (5) is fixedly installed on the lifting unit (6), the visual inspection and alignment unit (8) is fixedly installed on one side of the milling unit (5), and the control system (9) is... (9) Fixedly installed on one side of the base (1), and electrically connected to the flipping unit (3), rotating unit (4), milling unit (5), lifting unit (6), horizontal moving unit (7), and visual inspection and alignment unit (8). The lifting unit (6) is used to adjust the milling height, etc.; the milling unit (5) is used for milling and removing rivet heads; the horizontal moving unit (7) is used to adjust the horizontal position of the product; the flipping unit (3) is used to adjust the product's horizontal position, angle, etc.; the rotating unit (4) is used to adjust the rotation angle; the visual inspection and alignment unit (8) is used for automatic rivet detection, position compensation, and positioning; the clamping unit (2) is used to fix the turbine rotor (26); and the control system (9) is used for the electrical control of the equipment.

2. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 1, characterized in that, The lifting unit (6) includes a column (61), a linear guide rail (62), a ball screw (63), a lifting nut seat (64), a lifting reducer (65), and a lifting servo motor (66). The column (61) is vertically fixed on one side of the base (1). The lifting servo motor (66) and the lifting reducer (65) are fixedly installed on the upper end of the column (61). The output end of the lifting servo motor (66) is connected to the lifting reducer (65), and the output end of the lifting reducer (65) is connected to the ball screw. The rod (63) is fixedly connected, the lifting nut seat (64) is threadedly connected to the ball screw (63), the linear guide rail (62) is fixedly installed on both sides of the column (61), the milling unit (5) is fixedly installed on the lifting nut seat (64) and slidably connected to the linear guide rail (62), the lifting unit (6) is guided by the linear guide rail (62), and the lifting servo motor (66) drives the lifting reducer (65) to drive the ball screw (63) to rotate, thereby driving the milling unit (5) to perform lifting and lowering movements.

3. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 2, characterized in that, The milling unit (5) includes a spindle mounting base (21) (51), an electric spindle (52), a tool holder (53), a milling cutter (54), and a spindle guard (55). The spindle mounting base (21) (51) is fixedly mounted on a lifting nut seat (64) and slidably connected to a linear guide rail (62). The electric spindle (52) is fixedly mounted on the spindle mounting base (21) (51). The tool holder (53) is mounted on the lower end of the electric spindle (52). The milling cutter (54) is fixedly mounted on the tool holder (53). The spindle guard (55) is mounted on the outside of the spindle mounting base (21) (51) for protection. The milling unit (5) adjusts the height of the electric spindle (52) by lifting the unit (6). The milling cutter (54) mounted on the electric spindle (52) is used to mill and remove the rivet heads on the blades of the power turbine disk, thereby achieving the purpose of disassembling the rivets and separating the blades.

4. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 3, characterized in that, The horizontal moving unit (7) includes an X-axis moving unit (71) and a Y-axis moving unit (72). The X-axis moving unit (71) is fixedly installed on the base (1), and the Y-axis moving unit (72) is fixedly installed on the X-axis moving unit (71). The Y-axis moving unit (72) moves back and forth under the drive of the X-axis moving unit (71). The flipping unit (3) is fixedly installed on the Y-axis moving unit (72) and moves left and right under the drive of the Y-axis moving unit (72).

5. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 4, characterized in that, The flipping unit (3) includes a flipping servo motor (31), a flipping reducer (32), a cross roller bearing (33), and a rotating bracket (34). The cross roller bearing (33) is fixedly installed at both ends of the slide of the Y-axis moving unit (72). The rotating bracket (34) is fixedly installed inside the cross roller bearing (33). The flipping reducer (32) and the flipping servo motor (31) are installed outside the cross roller bearing (33) on one side. The output end of the flipping servo motor (31) is connected to the flipping reducer (32). The output end of the flipping reducer (32) is fixedly connected to the rotating bracket (34) through the cross roller bearing (33). The rotating unit (4) is installed on the rotating bracket (34). The flipping unit (3) directly drives the rotating bracket (34) to rotate through the flipping servo motor (31) and the flipping reducer (32), thereby realizing the flipping of the turbine rotor (26) on the rotating unit (4).

6. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 5, characterized in that, The rotating unit (4) includes a rotating platform mounting base (41), a rotating platform (42), a detection disk (43), a detection switch (44), a rotary reducer (45), and a rotary servo motor (46). The rotating platform mounting base (41) is fixedly mounted on a rotating bracket (34), and the rotating platform (42) is rotatably mounted on the rotating platform mounting base (41). The rotary reducer (45) and the rotary servo motor (46) are fixedly mounted on the rotating platform mounting base (41). The output end of the rotary servo motor (46) is connected to the rotary reducer (45), and the output end of the rotary reducer (45) is fixedly connected to the center of the rotating platform (42). The clamping unit (2) is fixedly installed on the rotary table (42). The rotating unit (4) drives the rotary table (42) to rotate around the center through the rotary servo motor (46) and the rotary reducer (45), thereby realizing the 0-360° attitude change around the central axis of the turbine rotor (26) during the assembly process, and realizing the rotor indexing function when the rivet is disassembled. The detection disk (43) is installed on the rotary table (42). The detection switch (44) is fixedly installed on one side of the milling cutter (54) of the milling unit (5), aligned with the detection disk (43), and used to detect the rotation of the detection disk (43). When the detection switch (44) does not send a signal, the rotary table (42) cannot move.

7. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 6, characterized in that, The clamping unit (2) is fixed on the rotating unit (4) and is used to fix the turbine rotor (26) product. The clamping unit (2) includes a mounting base (21), a lower guide limit seat (22), an upper guide limit seat (23), a locking screw (24), and a protective cover plate (25). The mounting base (21) and the lower guide limit seat (22) are installed on the rotating table (42). The turbine rotor (26) is placed in, and then the upper guide limit seat (23) is inserted into the slot at the upper end of the turbine rotor (26). Finally, the locking screw (24) is tightened and the protective cover plate (25) is covered to fix the turbine rotor (26).

8. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 6, characterized in that, The visual inspection and alignment unit (8) uses a high-precision industrial camera to detect the position of the center of the actual rivet head to be processed by the rotating unit (4) according to the product theory. The actual deviation value between the actual and theoretical values ​​is automatically calculated by the visual software system, and the deviation value is fed back to the control system (9) to automatically compensate and align the rivet position for precise secondary positioning.

9. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 5, characterized in that, It also includes a protective cover unit (10), which includes a workbench protective cover (101), a bottom protective cover (102), and a bellows cover (103). The workbench protective cover (101) is installed on the Y-axis moving unit (72) to protect the safety of the product and the operator during the processing. The workbench protective cover (101) is designed with a transparent observation window, a safety door, and a door lock. The door lock is equipped with a proximity switch to ensure that the safety door is closed during the processing. The bottom protective cover (102) is installed on the outer periphery of the base (1) for foot protection. The bellows cover (103) is installed on the upper and lower ends of the linear guide rail (62), the surface of the X-axis moving unit (71), and the Y-axis moving unit (72) for dust protection.

10. The automatic alignment milling equipment for rivets on power turbine rotor blades according to claim 1, characterized in that, The control system (9) includes a control cabinet (91) and an HMI touch screen (92). The control cabinet (91) is fixed on one side of the base (1). The HMI touch screen (92) is installed on the control cabinet (91). The control cabinet (91) contains a CNC machining system, which is used to receive signals from the vision inspection and alignment unit (8) and control the lifting unit (6), horizontal movement unit (7), flipping unit (3), rotation unit (4), and milling unit (5) to perform lifting, moving, flipping, rotating, and milling actions. The HMI touch screen (92) is used to display, edit, and control the lifting, moving, flipping, and rotating actions of the equipment.

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