A blade wax mold deformation detection device

Abstract

This utility model relates to a blade wax pattern deformation detection device, belonging to the field of product testing technology, and solves the problem of blade wax pattern deformation affecting casting accuracy. The blade wax pattern deformation detection device of this utility model includes: a wax pattern gripping system, a wax pattern positioning system, and a wax pattern deformation detection system; the wax pattern gripping system is used to realize automatic loading and unloading; the wax pattern positioning system includes: a multi-station turntable and multiple sets of wax pattern positioning mechanisms set on the multi-station turntable; the wax pattern positioning mechanism includes: a positioning support fixture, a circumferential clamping mechanism, an axial clamping mechanism, and a tenon clamping mechanism, which can support and position the blade wax pattern; the wax pattern deformation detection system uses multi-point laser sensors to detect the deformation amount at multiple preset points of the blade wax pattern. This utility model realizes the shape detection of the pressed wax pattern, thereby enabling the screening of the wax pattern yield.

Description

Technical Field

[0001] This utility model relates to the field of product testing technology, and in particular to a device for detecting the deformation of a blade wax mold. Background Technology

[0002] Investment casting, also known as lost-wax casting, is a process in precision casting that often involves pressing a wax pattern of blades at high temperatures; the casting is then produced by casting the part using the lost-wax method.

[0003] The pressed wax model still has a certain temperature. After leaving the mold, it is prone to twisting and deformation due to its own temperature change. The accuracy and stability of the geometric dimensions of the blade wax model directly affect the product quality of the final casting.

[0004] Therefore, there is an urgent need for a device that can quickly detect the deformation of wax molds and check the pass rate of pressed wax molds. Utility Model Content

[0005] Based on the above analysis, the present invention aims to provide a blade wax pattern deformation detection device to solve the problem that the deformation of existing blade wax patterns affects the accuracy of casting products.

[0006] The objective of this utility model is mainly achieved through the following technical solutions:

[0007] A blade wax pattern deformation detection device includes: a wax pattern gripping system, a wax pattern positioning system, and a wax pattern deformation detection system;

[0008] The wax model gripping system is used to realize the automatic loading and unloading of the blade wax model on the wax model positioning system; the wax model positioning system includes: a multi-station turntable and multiple sets of wax model positioning mechanisms set on the multi-station turntable.

[0009] The wax model positioning mechanism includes: a positioning support fixture, a circumferential clamping mechanism, an axial clamping mechanism, and a tenon clamping mechanism; the positioning support fixture can support the blade wax model; the circumferential clamping mechanism and the axial clamping mechanism can clamp the blade wax model in the circumferential and axial directions; the tenon clamping mechanism can clamp the tenon part of the blade wax model onto the positioning support fixture, and when the tenon clamping mechanism clamps the blade wax model, the circumferential clamping mechanism and the axial clamping mechanism are in a reset state;

[0010] The wax model deformation detection system detects the amount of deformation of the blade wax model.

[0011] Furthermore, the wax model deformation detection system uses a multi-point laser sensor to detect the deformation at multiple preset points of the blade wax model; multiple sets of wax model positioning mechanisms are symmetrical about the rotation axis of the multi-station turntable.

[0012] Furthermore, the multi-station turntable is provided with two sets of wax model positioning mechanisms, and the two sets of wax model positioning mechanisms are symmetrical about the rotation axis of the multi-station turntable.

[0013] Furthermore, the wax model grasping system includes a robotic arm and a robotic hand, the robotic hand being disposed at the end of the robotic arm, the robotic arm being used to drive the robotic hand to perform position transfer; the robotic hand being used to grip the blade wax model to be inspected.

[0014] Furthermore, the robotic arm is a pneumatic gripper; the pneumatic gripper includes: a clamping cylinder fixing plate, a clamping cylinder, and a clamping gripper; the clamping cylinder fixing plate is fixedly installed at the end of the robotic arm; the clamping cylinder is fixedly installed on the clamping cylinder fixing plate by bolts, and the clamping cylinder is used to drive the clamping gripper to move, thereby realizing the clamping or releasing of the blade wax model.

[0015] Furthermore, it also includes a testing platform; the testing platform is used to provide a support structure for the installation and positioning of the wax model grasping system, wax model positioning system, wax model deformation detection system and control system.

[0016] Furthermore, it also includes a control system; the control system is used to control the actions of the wax model grasping system and the wax model positioning system, as well as to record and analyze the data measured by the wax model deformation detection system.

[0017] Furthermore, the end of the robotic arm is also equipped with a vision camera; the vision camera is used to take pictures to detect whether there is a blade wax model in the blade wax model material frame, and to locate the position of the blade wax model.

[0018] Furthermore, the circumferential clamping mechanism includes: a circumferential clamping cylinder and a circumferential positioning clamping block; the circumferential clamping cylinder is used to drive the circumferential positioning clamping block to move; the axial clamping mechanism includes: an axial clamping cylinder and an axial positioning clamping block; the axial clamping cylinder is used to drive the axial positioning clamping block to move.

[0019] Furthermore, the tenon clamping mechanism includes a clamping cylinder and a clamping swing arm; the clamping cylinder is used to drive the clamping swing arm to rotate, and the clamping swing arm can clamp the tenon position of the blade wax mold when it rotates.

[0020] The technical solution of this utility model can achieve at least one of the following effects:

[0021] 1. The blade wax pattern deformation detection device of this utility model automatically loads and unloads the blade wax pattern onto the wax pattern positioning system through the wax pattern gripping system; the positioning support fixture of the wax pattern positioning mechanism can support the blade wax pattern; the wax pattern deformation detection system uses a multi-point laser sensor to detect the deformation of multiple preset points of the blade wax pattern, which can be used for defective product identification before wax pattern assembly, and can effectively improve the yield of the final casting.

[0022] 2. The blade wax mold deformation detection device of this utility model has a circumferential clamping mechanism and an axial clamping mechanism in the wax mold positioning system that can clamp the blade wax mold in the circumferential and axial directions to maintain its positional consistency. Before detection, the tenon part of the blade wax mold is clamped onto the positioning support fixture by the tenon clamping mechanism, while the circumferential clamping mechanism and the axial clamping mechanism are reset. Through the coordinated action of the circumferential clamping mechanism, the axial clamping mechanism and the tenon clamping mechanism of the wax mold positioning system, the consistency of the blade wax mold detection position can be maintained, the detection accuracy can be improved, and the yield rate of the same batch of wax mold products can be improved through the screening of the wax mold deformation detection system.

[0023] 3. The blade wax model deformation detection device of this utility model includes a wax model positioning system comprising: a multi-station turntable and multiple sets of wax model positioning mechanisms disposed on the multi-station turntable; the multi-station turntable can drive the multiple sets of wax model positioning mechanisms to rotate, realizing multi-station rotation switching of the multiple sets of wax model positioning mechanisms, and different stations can be used for loading, unloading and shape detection of blade wax models, realizing multi-station coordinated action to achieve continuous detection of blade wax models and improve detection efficiency.

[0024] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages will become apparent from the description or be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained from the description and accompanying drawings, which are particularly pointed out. Attached Figure Description

[0025] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0026] Figure 1 This is a schematic diagram of the structure of a blade wax mold deformation detection device according to the present invention;

[0027] Figure 2 This is a schematic diagram of the wax model grasping system of this utility model;

[0028] Figure 3This is a schematic diagram of the wax mold positioning system in this utility model;

[0029] Figure 4 This is a schematic diagram of the wax mold deformation detection system of this utility model;

[0030] Figure 5 This is a schematic diagram of the detection platform in this utility model.

[0031] Figure label:

[0032] 1- Wax model gripping system; 2- Wax model positioning system; 3- Wax model deformation detection system; 4- Detection platform; 5- Blade wax model material frame;

[0033] 11-Robotic arm; 12-Vision camera mounting plate; 13-Vision camera; 14-Clamp cylinder fixing plate; 15-Clamp cylinder; 16-Clamp gripper; 17-Wax model of blade;

[0034] 21-Servo motor; 22-Hollow rotary platform; 23-Mounting plate on the turntable; 24-Positioning support fixture; 25-Circumferential clamping mechanism; 26-Axial clamping mechanism; 27-Tongue clamping mechanism;

[0035] 241-Positioning fixture mounting plate; 242-Wax mold positioning fixture; 243-Wax mold support fixture;

[0036] 251 - Circumferential clamping cylinder mounting base; 252 - Circumferential clamping cylinder; 253 - Circumferential positioning clamping block;

[0037] 261-Axial clamping cylinder mounting base; 262-Axial clamping cylinder; 263-Axial positioning clamping block;

[0038] 271-Cushioning cylinder mounting plate; 272-Cushioning cylinder; 273-Cushioning swing arm;

[0039] 31-Detection device support; 32-Sensor bracket; 33-Multi-point laser sensor;

[0040] 41-Mounting plate; 42-Welded frame; 43-Casts; 44-Control cabinet. Detailed Implementation

[0041] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0042] Example 1

[0043] A specific embodiment of this utility model provides a blade wax mold deformation detection device, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, it includes: a wax model gripping system 1, a wax model positioning system 2, and a wax model deformation detection system 3; the wax model gripping system 1 is used to realize the automatic loading and unloading of the blade wax model 17 on the wax model positioning system 2; the wax model positioning system 2 includes: a multi-station turntable and multiple sets of wax model positioning mechanisms set on the multi-station turntable; the wax model positioning mechanism includes: a positioning support fixture 24, a circumferential clamping mechanism 25, an axial clamping mechanism 26, and a tenon clamping mechanism 27; the positioning support fixture 24 can support the blade wax model 17. The circumferential clamping mechanism 25 and the axial clamping mechanism 26 can clamp the blade wax model 17 in the circumferential and axial directions, respectively. The tenon clamping mechanism 27 can clamp the tenon part of the blade wax model 17 onto the positioning support fixture 24, and when the tenon clamping mechanism 27 clamps the blade wax model 17, the circumferential clamping mechanism 25 and the axial clamping mechanism 26 are in a reset state. The wax model deformation detection system 3 uses a multi-point laser sensor 33 to detect the deformation of multiple preset points of the blade wax model 17.

[0044] The wax model grasping system 1, wax model positioning system 2, and wax model deformation detection system 3 are all installed on the detection platform 4, and the installation method is bolt connection. The detection platform 4 serves as a support structure for the installation and positioning of the wax model grasping system 1, wax model positioning system 2, wax model deformation detection system 3, and control system.

[0045] Specifically, such as Figure 1 , Figure 5 As shown, the testing platform 4 includes: a mounting plate 41, a welded frame 42, casters 43, and a control cabinet 44. The mounting plate 41 is located on top of the welded frame 42, and casters 43 are installed at the bottom of the welded frame 42. The control cabinet 44 is located inside the welded frame 42. The mounting plate 41 is used to fix the wax model grasping system 1, the wax model positioning system 2, and the wax model deformation detection system 3. The casters 43 are of the form of casters, which have both movement and fixing functions. The control cabinet 44 is equipped with a control system, which is used to analyze and process the data measured by the wax model deformation detection system 3, record the data, and control the movement of the mechanical structures in the wax model grasping system 1 and the wax model positioning system 2.

[0046] In this embodiment, the wax model gripping system 1 has the ability to grip and move wax material. During the detection process, it mainly plays the role of gripping wax model and is responsible for loading and unloading wax model.

[0047] like Figure 2As shown, the wax model grasping system 1 includes a robotic arm 11 and a robotic hand. The robotic arm 11 is mounted on the detection platform 4 by bolts and positioning pins. The robotic hand is located at the end of the robotic arm 11, and the robotic arm 11 is used to drive the robotic hand to perform position transfer; the robotic hand is used to grip the blade wax model 17 to be inspected.

[0048] Furthermore, the robotic arm is a pneumatic gripper; the pneumatic gripper includes: a clamping cylinder fixing plate 14, a clamping cylinder 15, and a clamping gripper 16; the clamping cylinder fixing plate 14 is fixedly installed at the end of the robotic arm 11; the clamping cylinder 15 is fixedly installed on the clamping cylinder fixing plate 14 by bolts, and the clamping cylinder 15 is used to drive the clamping gripper 16 to move, thereby realizing the clamping or releasing of the blade wax model 17. The clamping cylinder fixing plate 14 is fixedly connected to the vision camera mounting plate 12 by bolts, and the clamping cylinder 15 is connected to the clamping cylinder fixing plate 14 by bolts.

[0049] Furthermore, such as Figure 2 As shown, a vision camera 13 is also provided at the end of the robotic arm 11; the vision camera 13 is used to take pictures to detect whether there is a blade wax model 17 in the blade wax model material frame 5, and to locate the position of the blade wax model 17. The vision camera mounting plate 12 is fixed to the end flange of the robotic arm 11 by bolts and positioning pins. The vision camera 13 is fixed to the vision camera mounting plate 12 by bolts. The vision camera 13 is used to take pictures to detect whether there is a wax model in the blade wax model material frame 5 and to guide the robotic arm 11 to grasp the blade wax model 17.

[0050] In this utility model, such as Figure 3 As shown, the wax model positioning system 2 includes: a multi-station turntable and multiple sets of wax model positioning mechanisms mounted on the multi-station turntable; the multiple sets of wax model positioning mechanisms are symmetrical about the rotation axis of the multi-station turntable. Specifically, two sets of wax model positioning mechanisms are arranged on the multi-station turntable, and the two sets of wax model positioning mechanisms are symmetrical about the rotation axis of the multi-station turntable.

[0051] like Figure 3 As shown, the multi-station turntable includes a servo motor 21, a hollow rotating platform 22, and a mounting plate 23 on the turntable. The hollow rotating platform 22 is bolted to the detection platform 4. The servo motor 21 is bolted to the hollow rotating platform 22, and the output shaft of the servo motor 21 is fixedly connected to the mounting plate 23 on the turntable, thereby driving the mounting plate 23 to rotate. Two sets of wax model positioning mechanisms are installed on the mounting plate 23 on the turntable. The wax model positioning system 2 uses the servo motor 21 and the hollow rotating platform 22 to realize the two-station rotation of the two sets of wax model positioning mechanisms. One station is used for loading and unloading the blade wax model 17, and the other station is used for shape detection of the blade wax model 17.

[0052] In this embodiment, the wax model positioning mechanism is used to position and fix the blade wax model 17; the multi-station turntable can switch the wax model positioning mechanism to different positions when it rotates; the wax model positioning mechanism includes: a positioning support jig 24, a circumferential pressing mechanism 25, an axial pressing mechanism 26 and a tenon pressing mechanism 27, which are used to accurately position the tenon part of the blade wax model 17.

[0053] Furthermore, such as Figure 3 As shown, the wax model positioning fixture 24 includes: a positioning fixture mounting plate 241, a wax model positioning fixture 242, and a wax model support fixture 243; the positioning fixture mounting plate 241 is fixedly mounted on the detection platform 4 by bolts; the wax model positioning fixture 242 and the wax model support fixture 243 are respectively arranged on both sides of the positioning fixture mounting plate 241; the positioning fixture mounting plate 241, the wax model positioning fixture 242, and the wax model support fixture 243 are fixedly connected by bolts to form the positioning support fixture 24 for the blade wax model. Among them, the wax model positioning fixture 242 is contoured and can accurately position one side of the axial and circumferential direction of the tenon part of the blade wax model 17, maintaining the positional consistency of multiple blade wax models 17 during detection.

[0054] Furthermore, such as Figure 3 As shown, the circumferential clamping mechanism 25 includes: a circumferential clamping cylinder mounting base 251, a circumferential clamping cylinder 252, and a circumferential positioning clamping block 253; the circumferential clamping cylinder 252 is used to drive the circumferential positioning clamping block 253 to displacement; the axial clamping mechanism 26 includes: an axial clamping cylinder mounting base 261, an axial clamping cylinder 262, and an axial positioning clamping block 263; the axial clamping cylinder 262 is used to drive the axial positioning clamping block 263 to displacement.

[0055] Specifically, the circumferential clamping cylinder mounting base 251 is fixedly mounted on the testing platform 4, and the circumferential clamping cylinder 252 is fixedly mounted on the circumferential clamping cylinder mounting base 251; the circumferential positioning clamping block 253 is bolted to the output end of the circumferential clamping cylinder 252, forming a circumferential clamping mechanism 25 capable of circumferentially clamping the blade wax model 17, thus clamping the wax model in the circumferential direction. Similarly, the axial clamping cylinder mounting base 261, the axial clamping cylinder 262, and the axial positioning clamping block 263 constitute the axial clamping mechanism 26 of the blade wax model, clamping the wax model in the axial direction. The circumferential clamping cylinder 252 and the axial clamping cylinder 262 can accurately provide a preset clamping force to press the blade wax model 17 onto the wax model positioning fixture 24, ensuring sufficient clamping force without damaging the blade structure, and ensuring that the tenon part of the wax model is accurately fixed in the fixture.

[0056] Furthermore, such as Figure 3As shown, the tenon clamping mechanism 27 includes: a clamping cylinder mounting plate 271, a clamping cylinder 272, and a clamping swing arm 273. The clamping cylinder 272 drives the clamping swing arm 273 to rotate, and when the clamping swing arm 273 rotates, it can clamp the tenon position of the blade wax model 17. Specifically, the clamping cylinder mounting plate 271, the clamping cylinder 272, and the clamping swing arm 273 together constitute the test tenon clamping mechanism 27. The clamping cylinder mounting plate 271 is fixedly mounted on the testing platform 4 by bolts, the clamping cylinder 272 is fixedly mounted on the clamping cylinder 272 by bolts, and the rotation shaft of the clamping cylinder 272 is fixedly connected to the clamping swing arm 273 to drive the swing of the clamping swing arm 273, thereby clamping the tenon part of the blade wax model 17 through the rotation and swing of the clamping swing arm 273.

[0057] like Figure 4 As shown, the wax model deformation detection system 3 includes: a detection device support 31, a sensor bracket 32, and a multi-point laser sensor 33. The detection device support 31 is fixed to the detection platform 4 with bolts, and the sensor bracket 32 ​​is connected to the detection device support 31 with bolts. The multi-point laser sensor 33 is fixed to the sensor bracket 32 ​​with bolts. The key detection element of the wax model deformation detection system 3 is the multi-point laser sensor 33. The multi-point laser sensor 33 uses a laser displacement sensor to simultaneously detect the height difference at multiple points on the blade wax model 17, unaffected by product misalignment. Because the blade wax model 17 is relatively long, when deformation occurs, the wax model fixed by the tenon will have a significant positional shift at the blade crown. If the difference between the sensor-tested point position data and the theoretical value exceeds the set allowable value, the product is determined to be defective as it does not meet production requirements.

[0058] Before testing, the robotic arm 11 grasps the blade wax model 17 and places it into the positioning support fixture 24. Then, the axial clamping mechanism 26 is activated first, followed by the circumferential clamping mechanism 25, to achieve axial and circumferential positioning of the blade wax model 17. After positioning, the tenon clamping mechanism 27 is activated to clamp the tenon part of the blade wax model 17. Finally, the circumferential clamping mechanism 25 and the axial clamping mechanism 26 are reset, allowing the blade crown part of the blade wax model 17 to be in a free state. During testing, the multi-point laser sensor 33 tests the plane of the blade crown part of the blade wax model 17, which can test up to 16 points, but usually tests 3-4 points. If the value of the point tested by the multi-point laser sensor 33 deviates from the theoretical value and the error is greater than the set value, the wax model is judged to have deformation and is considered a defective product.

[0059] The detection process of the blade wax pattern deformation detection device of this utility model is as follows:

[0060] After the pneumatic gripper of the wax model grasping system 1 grasps the blade wax model 17, it is placed on a set of wax model positioning mechanisms on a multi-station turntable. The circumferential clamping cylinder 252 drives the circumferential positioning clamping block 253 to adjust the circumferential orientation of the blade wax model 17 on the wax model positioning fixture 242. The axial clamping cylinder 262 drives the axial positioning clamping block 263 to adjust the axial orientation of the blade wax model 17 on the wax model positioning fixture 242. After adjustment, the clamping cylinder 272 of the tenon clamping mechanism 27 drives the clamping swing arm 273 to rotate, thereby clamping the tenon of the blade wax model 17. The wax model positioning system 2 is configured with a corresponding fixture for the wax model to ensure that the blade wax model 17 will not undergo new deformation during the inspection process. At the same time, the multi-station turntable rotates to transport the loaded blade to the inspection position. The deformation amount is detected by the multi-point laser sensor 33 of the wax model deformation detection system 3 to check whether the shape of the blade wax model 17 is qualified. After the inspection is completed, the inspected blade wax model 17 is moved to the robot loading position by rotating the multi-station turntable to unload the blade wax model 17 and load the new blade, realizing rapid and continuous detection of the deformation amount of the blade wax model 17.

[0061] The blade wax pattern deformation detection device described in this utility model can be used as a standalone device or integrated into a combined system of a wax pattern casting production line as part of the combined system.

[0062] It is worth noting that the electrical components involved in this utility model, such as the robotic arm, cylinder, motor, and sensor, can all be existing mature products. The realization of their functions and related control methods are within the scope of what those skilled in the art can achieve, and do not affect the implementation of this utility model. Therefore, they will not be described in detail in this embodiment.

[0063] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A device for detecting deformation of blade wax patterns, characterized in that, include: Wax model grasping system (1), wax model positioning system (2) and wax model deformation detection system (3); The wax model gripping system (1) is used to realize the automatic loading and unloading of the blade wax model (17) on the wax model positioning system (2); The wax model positioning system (2) includes: a multi-station turntable and multiple sets of wax model positioning mechanisms set on the multi-station turntable; The wax model positioning mechanism includes: a positioning support fixture (24), a circumferential clamping mechanism (25), an axial clamping mechanism (26), and a tenon clamping mechanism (27); the positioning support fixture (24) can support the blade wax model (17); the circumferential clamping mechanism (25) and the axial clamping mechanism (26) can clamp the blade wax model (17) in the circumferential and axial directions; the tenon clamping mechanism (27) can clamp the tenon part of the blade wax model (17) onto the positioning support fixture (24), and when the tenon clamping mechanism (27) clamps the blade wax model (17), the circumferential clamping mechanism (25) and the axial clamping mechanism (26) are in a reset state; The wax pattern deformation detection system (3) is used to detect the deformation of the blade wax pattern (17).

2. The blade wax model deformation detection device according to claim 1, characterized in that, The wax model deformation detection system (3) uses a multi-point laser sensor (33) to detect the deformation of multiple preset points of the blade wax model (17); multiple sets of wax model positioning mechanisms are symmetrical about the rotation axis of the multi-station turntable.

3. The blade wax model deformation detection device according to claim 2, characterized in that, Two sets of wax model positioning mechanisms are provided on the multi-station turntable, and the two sets of wax model positioning mechanisms are symmetrical about the rotation axis of the multi-station turntable.

4. The blade wax model deformation detection device according to any one of claims 1-3, characterized in that, The wax model grasping system includes a robotic arm (11) and a robotic hand. The robotic hand is located at the end of the robotic arm (11). The robotic arm (11) is used to drive the robotic hand to perform position transfer. The robotic hand is used to hold the blade wax model (17) to be inspected.

5. The blade wax model deformation detection device according to claim 4, characterized in that, The robotic arm is a pneumatic gripper; the pneumatic gripper includes: a clamping cylinder fixing plate (14), a clamping cylinder (15) and a clamping gripper (16); the clamping cylinder fixing plate (14) is fixedly installed at the end of the robotic arm (11); the clamping cylinder (15) is fixedly installed on the clamping cylinder fixing plate (14) by bolts, and the clamping cylinder (15) is used to drive the clamping gripper (16) to move, thereby realizing the clamping or releasing of the blade wax model (17).

6. The blade wax pattern deformation detection device according to any one of claims 1-3, characterized in that, It also includes a detection platform (4); the detection platform (4) is used to provide a support structure for the installation and positioning of the wax model grasping system (1), the wax model positioning system (2), the wax model deformation detection system (3) and the control system.

7. The blade wax pattern deformation detection device according to any one of claims 1-3, characterized in that, It also includes a control system; the control system is used to control the wax model grasping system (1) and the wax model positioning system (2) and to record and analyze the data measured by the wax model deformation detection system (3).

8. The blade wax pattern deformation detection device according to claim 4, characterized in that, The end of the robotic arm (11) is also equipped with a vision camera (13); the vision camera (13) is used to take pictures to detect whether there is a blade wax model (17) in the blade wax model material frame (5), and to locate the position of the blade wax model (17).

9. The blade wax pattern deformation detection device according to claim 1, characterized in that, The circumferential clamping mechanism (25) includes a circumferential clamping cylinder (252) and a circumferential positioning clamping block (253); the circumferential clamping cylinder (252) is used to drive the circumferential positioning clamping block (253) to move; the axial clamping mechanism (26) includes an axial clamping cylinder (262) and an axial positioning clamping block (263); the axial clamping cylinder (262) is used to drive the axial positioning clamping block (263) to move.

10. The blade wax pattern deformation detection device according to claim 1, characterized in that, The tenon clamping mechanism (27) includes a clamping cylinder (272) and a clamping swing arm (273); the clamping cylinder (272) is used to drive the clamping swing arm (273) to rotate, and the clamping swing arm (273) can clamp the tenon position of the blade wax mold (17) when rotating.

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