A vibration testing device for aero-engine blades

Abstract

This invention belongs to the field of aero-engine testing technology, specifically relating to an aero-engine blade vibration testing device. It includes an external frame, a loading bin, a quick-change mechanism, an electric clamping mechanism, a three-axis linear module mechanism, and a unloading bin. The external frame houses a PLC controller, loading / unloading robots, a vibration table, and a testing robot. This invention automates the entire process of measuring the vibration frequency of aero-engine blades, from loading to handling, applying impact force, frequency detection, data uploading, and unloading. It automates the self-excited vibration frequency testing and automatic hammer vibration frequency testing of three types of blade parts, requiring minimal manual intervention. It can operate continuously and stably, significantly improving production efficiency and reducing labor intensity. The mechanical structure enables the orderly conveying and precise clamping of three different aero-engine blades, exhibiting high repeatability and positioning accuracy. The grippers and positioning blocks are easily replaceable, making it highly adaptable.

Description

Technical Field

[0001] This invention belongs to the field of aero-engine testing technology, specifically relating to an aero-engine blade vibration testing device. Background Technology

[0002] As the power source for aircraft flight, aero-engines are highly complex and precise thermodynamic machines. Aero-engine blades are key components of aero-engines. Vibration fatigue testing refers to the fatigue failure phenomenon caused by resonance in alloys or components when they are subjected to dynamic alternating loads such as vibration, impact, and noise, where the excitation frequency distribution is close to the natural frequency of the structure. It is an assessment of the comprehensive performance of alloys or components.

[0003] During the service life of an aero-engine, if a blade fails, it can affect the performance of the aero-engine at best, and at worst (such as blade breakage) it can fly out and hit the engine or even critical parts of the aircraft, affecting the flight safety of the aircraft. Most blade failures are fatigue failures. Therefore, an aero-engine blade vibration testing device is needed to study the fatigue characteristics of the blade and prevent blade failures. Traditional blade vibration testing devices require a lot of manual intervention in loading and unloading, tooling clamping and testing processes, resulting in poor positioning accuracy and low testing efficiency. Practical content

[0004] The purpose of this invention is to provide a vibration testing device for aero-engine blades, which solves the problem that traditional blade vibration testing devices in the prior art require a lot of manual intervention in loading and unloading, tooling clamping and testing processes, resulting in poor positioning accuracy and low testing efficiency.

[0005] The specific technical solution adopted in this utility model is as follows:

[0006] An aero-engine blade vibration testing device, comprising:

[0007] An external frame, inside which loading and unloading robots, a vibration table, and a testing robot are installed;

[0008] The feeding bin is located on the feeding side of the external frame and is used to improve the efficiency and accuracy of the loading and unloading robot.

[0009] The quick-change mechanism is located inside the external frame, which facilitates the loading and unloading robot to change the blades according to the type of aero-engine blades.

[0010] An electric clamping mechanism is installed on the top of the vibration table and is used to clamp and fix the blades.

[0011] The three-axis linear module mechanism is located inside the external frame and is used for automatic hammer vibration frequency testing.

[0012] The unloading bin is located at the discharge end of the external frame and is used to improve the efficiency and accuracy of the unloading robot.

[0013] In a preferred embodiment, the feeding hopper includes a first guide rail, a first material tray, a first gear and rack transmission mechanism, and a first fixed conformal block. Multiple first guide rails are fixedly mounted on the outer frame. A first slider adapted to the first guide rail is installed inside each first guide rail. A first material tray is fixedly mounted on the top surface of the first slider. A first gear and rack transmission mechanism is mounted on one end of the first material tray. The first gear and rack transmission mechanism includes a servo motor, a gear, and a rack. A servo motor is fixedly mounted on the top surface of the first material tray. The output end of the servo motor passes through the first material tray and is rotatably connected to it. A gear is fixedly mounted on the bottom surface of the output end of the servo motor. A rack meshes with the outer side of the gear. The rack is fixedly mounted on the inner wall of the first guide rail. Multiple first fixed conformal blocks and matching limit switches are fixedly mounted on the top surface of the first material tray. The unloading hopper includes a second guide rail, a second material tray, a second gear and rack transmission mechanism, and a second fixed conformal block.

[0014] In a preferred embodiment, a ground rail is fixedly installed on the bottom surface inside the outer frame, and the loading and unloading robot is installed on the conveyor track of the ground rail. The loading and unloading robot is selected as the IRB2600-20 / 1.65 model.

[0015] In a preferred embodiment, the quick-change mechanism includes a first support column, a quick-change platform, a proximity sensor, a conformal pneumatic gripper, and a tool-end quick-change device. Four first support columns are fixedly installed on the bottom surface of the inner frame. A quick-change platform is fixedly installed on the top surface of the first support columns. Three sets of tool-end quick-change devices are installed on the top surface of the quick-change platform. A proximity sensor is fixedly installed on the bottom surface of each tool-end quick-change device. The tool-end quick-change device is selected as the QC-21 robot tool quick-change device. The bottom of the tool-end quick-change device is connected to the conformal pneumatic gripper. The quick-change mechanism also includes a connecting flange installed at the end of the loading / unloading robot and a robot-end quick-change device with matching tool-end quick-change devices. The robot-end quick-change device is connected to the loading / unloading robot through the connecting flange.

[0016] In a preferred embodiment, the vibration table is selected as the Suzhou Test DC-600-6 model, and the vibration table is equipped with a cooling fan and a power amplifier.

[0017] In a preferred embodiment, the electric clamping mechanism includes a mounting platform, an electric cylinder, and a contouring clamp. Three sets of mounting platforms are fixedly installed on the top surface of the vibration table. An electric cylinder is fixedly installed on the top surface of each mounting platform. A contouring clamp is installed inside the mounting platform. The contouring clamp includes an upper contouring clamp and a lower contouring clamp. The output end of the electric cylinder passes through the mounting platform and is fixedly connected to the upper contouring clamp. The bottom surface of the inner part of the contouring clamp is fixedly connected to the lower contouring clamp.

[0018] In a preferred embodiment, the three-axis linear module mechanism includes a second support column, a first electric slide rail, a second electric slide rail, a third electric slide rail, and an automatic hammer body. Two sets of symmetrical second support columns are fixedly installed on the bottom surface of the inner frame. A first electric slide rail is fixedly installed on the top surface of each second support column. A first electric slider adapted to the first electric slide rail is installed inside the first electric slide rail. A second electric slide rail is fixedly installed on the top surface of the first electric slider. A second electric slider adapted to the second electric slide rail is installed inside the second electric slide rail. A third electric slide rail is fixedly installed on the top surface of the second electric slider. A third electric slider adapted to the third electric slide rail is installed inside the third electric slide rail. A sliding sleeve is fixedly installed on the front surface of the third electric slider. The third electric slide rail passes through the sliding sleeve and is slidably connected to the sliding sleeve. An automatic hammer body is fixedly installed on the bottom surface of the sliding sleeve.

[0019] In a preferred embodiment, the inspection robot is selected as IRB1200-7 / 0.7, the bottom surface of the inspection robot is fixedly connected to the inner bottom surface of the outer frame, and a laser vibration meter is fixedly installed at the end of the inspection robot. The laser vibration meter is selected as MiYi ILD2300-50 and is equipped with a laser displacement sensor.

[0020] The technical effects achieved by this utility model are as follows:

[0021] This invention automates the entire process of measuring the vibration frequency of aero-engine blades, from loading, handling, applying impact force, frequency detection, data uploading, to unloading. It automates the self-excited vibration frequency testing and automatic hammer vibration frequency testing of three types of blade parts, requiring minimal manual intervention. It can operate continuously and stably, significantly improving production efficiency and reducing labor intensity. The mechanical structure enables the orderly conveying and precise clamping of three different types of aero-engine blades, with high repeatability and positioning accuracy. The grippers and positioning blocks are easy to replace, making it highly adaptable. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0023] Figure 2 This is a utility model Figure 1 A magnified view of the structure at point A in the middle;

[0024] Figure 3 This is a cross-sectional structural diagram of the quick-change mechanism of this utility model;

[0025] Figure 4 This is a schematic diagram of the structure of the vibration table and electric clamping mechanism of this utility model;

[0026] Figure 5 This is a schematic diagram of the three-axis linear module mechanism of this utility model.

[0027] The attached diagram lists the components represented by each number as follows:

[0028] 100. External framework;

[0029] 200. Feeding bin; 201. First guide rail; 202. First material tray; 203. First gear and rack transmission mechanism; 204. First fixed conformal block;

[0030] 300. Loading and unloading robots;

[0031] 400. Quick-change mechanism; 401. First support column; 402. Quick-change platform; 403. Proximity sensor; 404. Conformal pneumatic gripper; 405. Tool end quick-change device;

[0032] 500. Vibration table;

[0033] 600. Electric clamping mechanism; 601. Mounting platform; 602. Electric cylinder; 603. Contouring clamp;

[0034] 700. Three-axis linear module mechanism; 701. Second support column; 702. First electric slide rail; 703. Second electric slide rail; 704. Third electric slide rail; 705. Automatic hammer body;

[0035] 800. Inspection robot;

[0036] 900. Feeding bin. Detailed Implementation

[0037] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of this utility model. However, this utility model may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this utility model. The phrase "in a preferred embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments.

[0040] Secondly, this utility model is described in detail with reference to the schematic diagrams. When detailing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0041] Please see the appendix Figure 1 As shown, this utility model provides a vibration testing device for aero-engine blades, including: an outer frame 100, a loading bin 200, a quick-change mechanism 400, an electric clamping mechanism 600, a three-axis linear module mechanism 700, and a unloading bin 900. The outer frame 100 houses a PLC controller, a loading / unloading robot 300, a vibration table 500, and a testing robot 800. The PLC is electrically connected to the electronic components of the device. A ground rail is fixedly installed on the bottom surface inside the outer frame 100. The loading / unloading robot 300 is mounted on the conveyor track of the ground rail, which drives the loading / unloading robot 300 along... The horizontal movement is achieved by using an IRB2600-20 / 1.65 loading / unloading robot 300 and a SuShi DC-600-6 vibration table 500, both equipped with a cooling fan and power amplifier. The inspection robot 800 is an IRB1200-7 / 0.7. The bottom surfaces of both the vibration table 500 and the inspection robot 800 are fixedly connected to the inner bottom surface of the outer frame 100. A laser vibration meter, model MiYi ILD2300-50, is fixedly installed at the end of the inspection robot 800 and is equipped with a laser displacement sensor.

[0042] It should be noted that the PLC controller, ground rail, loading and unloading robot 300, vibration table 500, inspection robot 800, cooling fan, power amplifier, laser vibration meter and laser displacement sensor are all existing technologies and will not be described in detail here.

[0043] In a preferred embodiment, please refer to Figures 1 to 2The outer frame 100 has a feeding bin 200 on its feeding side. The feeding bin 200 consists of a first guide rail 201, a first material tray 202, a first gear and rack transmission mechanism 203, and a first fixed conformal block 204. Multiple first guide rails 201 are fixedly installed on the outer frame 100. A first slider adapted to the first guide rail 201 is installed inside each first guide rail 201. A first material tray 202 is fixedly installed on the top surface of the first slider. A first gear and rack transmission mechanism 203 is installed at one end of the first material tray 202. The first gear and rack transmission mechanism 203 includes a servo motor, gears, and a rack. The first material tray 201... A servo motor is fixedly installed on the top surface of the first material tray 202. The output end of the servo motor passes through the first material tray 202 and is rotatably connected to the first material tray 202. A gear is fixedly installed on the bottom surface of the output end of the servo motor. A rack meshes with the outside of the gear. The rack is fixedly installed on the inner wall of the first guide rail 201. Multiple first fixed conformal blocks 204 and matching limit switches are fixedly installed on the top surface of the first material tray 202. A discharge bin 900 is provided on the discharge side of the outer frame 100. The discharge bin 900 has a similar structure to the upper bin 200. The discharge bin 900 includes a second guide rail, a second material tray, a second gear and rack transmission mechanism, and a second fixed conformal block.

[0044] In this embodiment, the first fixed conformal block 204 on each first material tray 202 is adapted to the corresponding shape of the aero-engine blade. The operator places the blade on the first fixed conformal block 204 in sequence. The first fixed conformal block 204 clamps and limits the blade. Each first fixed conformal block 204 is equipped with an in-situ sensor. The in-situ sensor is used to locate the position of the blade, improve the accuracy of the loading and unloading robot 300 in picking up the blade, and avoid collisions.

[0045] In this embodiment, the operation of the servo motor drives the gear to rotate, which in turn moves the gear relative to the rack. The movement of the gear moves the servo motor and the first material tray 202 fixedly connected to it, thereby moving the first fixed conformal block 204 into and out of the outer frame 100, which facilitates the loading and unloading robot 300 to grip it. Similarly, the operation of the second gear and rack transmission mechanism can move the second material tray into and out of the outer frame 100, which facilitates the loading and unloading robot 300 to grip the tested blade onto the second fixed conformal block.

[0046] In a preferred embodiment, please refer to Figures 1 to 3The outer frame 100 is internally equipped with a quick-change mechanism 400, which consists of a first support column 401, a quick-change platform 402, a proximity sensor 403, a conformal pneumatic gripper 404, and a tool end quick-change device 405. Four first support columns 401 are fixedly installed on the bottom surface of the outer frame 100. A quick-change platform 402 is fixedly installed on the top surface of each first support column 401. Three sets of tool end quick-change devices 405 are installed on the top surface of the quick-change platform 402. A proximity sensor 403 is fixedly installed on the bottom surface of each tool end quick-change device 405. The tool end quick change device 405 is model QC-21 robot tool quick change device. The bottom of the tool end quick change device 405 is connected to a conformal pneumatic gripper 404. A quick change fixture is set below the quick change platform 402. The side of the quick change fixture is fixedly connected to the first support column 401. The quick change mechanism 400 also includes a connecting flange installed at the end of the loading and unloading robot 300 and a robot end quick change device matching the tool end quick change device 405. The robot end quick change device is connected to the loading and unloading robot 300 through the connecting flange.

[0047] In this embodiment, the conformal pneumatic gripper 404 is pneumatically driven to grip the blade. When the conformal pneumatic gripper 404 needs to be replaced, the loading / unloading robot 300 is controlled to move the robot end quick-change device close to the corresponding shape of the conformal pneumatic gripper 404 and engage with the tool end quick-change device 405. When the proximity sensor 403 detects that the robot end quick-change device is close, the PLC controller controls the robot end quick-change device to lock with the tool end quick-change device 405 to achieve fixation, thereby controlling the loading / unloading robot 300 to move the tool end quick-change device 405 and the conformal pneumatic gripper 404.

[0048] In a preferred embodiment, please refer to Figures 1 to 4 The vibration table 500 is equipped with an electric clamping mechanism 600 on its top. The electric clamping mechanism 600 consists of an installation platform 601, an electric cylinder 602, and a contouring clamp 603. Three sets of installation platforms 601 are fixedly installed on the top surface of the vibration table 500. An electric cylinder 602 is fixedly installed on the top surface of the installation platform 601. A contouring clamp 603 is installed inside the installation platform 601. The contouring clamp 603 includes an upper contouring clamp and a lower contouring clamp. The upper contouring clamp and the lower contouring clamp are respectively adapted to the blade. The output end of the electric cylinder 602 passes through the installation platform 601 and is fixedly connected to the upper contouring clamp. The bottom surface of the contouring clamp 603 is fixedly connected to the lower contouring clamp.

[0049] In this embodiment, the loading and unloading robot 300 can automatically pick up the parts to be inspected that have been pre-placed by the operator in the order of their positions and automatically place them into the contour jig 603. The control cylinder 602 drives the upper contour jig to move downward and approach the lower contour jig to clamp and fix the blade. After fixing, the vibration table 500 applies self-excited vibration force for testing. When the measurement is completed, the loading and unloading robot 300 can automatically release the blade and put it back for storage. The loading and unloading robot 300 can simultaneously handle the loading and unloading of two vibration tables 500.

[0050] In a preferred embodiment, please refer to Figures 1 to 5 The outer frame 100 contains a three-axis linear module mechanism 700, which consists of a second support column 701, a first electric slide rail 702, a second electric slide rail 703, a third electric slide rail 704, and an automatic hammer body 705. Two sets of symmetrical second support columns 701 are fixedly installed on the bottom surface of the outer frame 100. The top surface of each second support column 701 is fixedly mounted with a first electric slide rail 702. The first electric slide rail 702 contains a first electric slide rail adapted to the first electric slide rail 702. The block has a first electric slider with a second electric slide rail 703 fixedly mounted on its top surface. The second electric slide rail 703 has a second electric slider adapted to it inside. The second electric slider has a third electric slide rail 704 fixedly mounted on its top surface. The third electric slide rail 704 has a third electric slider adapted to it inside. The third electric slider has a sliding sleeve fixedly mounted on its front surface. The third electric slide rail 704 passes through the sliding sleeve and is slidably connected to it. The automatic hammer body 705 is fixedly mounted on the bottom surface of the sliding sleeve.

[0051] In this embodiment, the first electric slide rail 702, in conjunction with the first electric slider, the second electric slide rail 703, in conjunction with the second electric slider, and the third electric slide rail 704, in conjunction with the third electric slider, can drive the automatic hammer body 705 to perform three-way linear motion, facilitating automatic hammering of the blade. After the blade is installed on the electric clamping mechanism 600 of a vibration table 500, the automatic hammer body 705 is driven to move to the hammering preparation position. At the same time, the detection robot 800 grabs the laser displacement sensor to the detection position. The automatic hammer body 705 strikes the blade to generate vibration, and the vibration table 500 applies self-excited vibration force for testing. The laser displacement sensor collects the blade vibration frequency signal and uploads it. The detection robot 800 is equipped with a laser displacement sensor to detect the vibration frequency of the part. It can simultaneously handle two vibration tables 500. While loading and unloading on one vibration table 500, frequency testing on the other vibration table 500 is performed, forming a rotation mode of loading and unloading and testing.

[0052] The working principle of this utility is as follows:

[0053] When using this device, check if the conformal pneumatic gripper 404 needs to be replaced. Control the loading / unloading robot 300 to move the robot-end quick-change device close to the corresponding shape of the conformal pneumatic gripper 404 and engage with the tool-end quick-change device 405. When the proximity sensor 403 detects that the robot-end quick-change device is close, the PLC controller controls the robot-end quick-change device to lock with the tool-end quick-change device 405 to achieve fixation. This controls the loading / unloading robot 300 to move the tool-end quick-change device 405 and the conformal pneumatic gripper 404. The operator places the blades sequentially on the first fixed conformal block 204. The first fixed conformal block 204 clamps and limits the blades. Each of the first fixed conformal blocks 204 is equipped with a position sensor. The in-situ sensor is used to locate the position of the blade, improving the accuracy of the loading and unloading robot 300 in gripping the blade and avoiding collisions. The servo motor drives the gear to rotate, which can move the gear relative to the rack. The movement of the gear drives the servo motor and the first material tray 202 fixedly connected to it to move, thereby driving the first fixed conforming block 204 into the outer frame 100. The loading and unloading robot 300 automatically grips the parts to be inspected that have been pre-placed by the operator in the order of their positions and automatically places them into the contouring fixture 603. When the blade moves between the corresponding upper contouring fixture and lower contouring fixture, the control cylinder 602 drives the upper contouring fixture to move downward and approach the lower contouring fixture to grip and fix the blade.

[0054] After the blade is installed on the electric clamping mechanism 600 of one vibration table 500, the automatic hammer body 705 is driven to move to the striking preparation position. The detection robot 800 is controlled to grab the laser displacement sensor to the detection position. At the same time, the loading and unloading robot 300 picks up the blade from the loading bin 200 and sends it to the electric clamping mechanism 600 on another vibration table 500 for clamping. The automatic hammer body 705 strikes the blade to generate vibration, and the automatic hammer force frequency test is performed. The vibration table 500 applies self-excited vibration force for testing. The laser displacement sensor collects the vibration frequency signal of the blade and uploads it. After the vibration test is completed, the electric clamping mechanism 600 releases the limit on the blade. The loading / unloading robot 300 clamps the tested blade onto the second fixed conformal block of the unloading bin 900. The PLC controller checks whether it has received a clamping completion signal from the electric clamping mechanism 600 on the next vibration table 500. If it has received this signal, the PLC controller sends an instruction to the vibration detection position of the vibration table 500 to the detection robot 800. When the vibration table 500 is idle, it will respond to this command and send the laser displacement sensor to the corresponding vibration test position to perform the next test. If it has not received a clamping completion signal, the PLC controller sends a waiting signal to the detection robot 800. The detection robot 800 will return to the initial waiting position with the laser displacement sensor and wait for the PLC's instruction.

[0055] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the art.

Claims

1. A vibration testing device for aero-engine blades, characterized in that: include: An external frame (100) is provided, inside which a loading and unloading robot (300), a vibration table (500), and a testing robot (800) are installed. The loading bin (200) is located on the feeding side of the outer frame (100) and is used to improve the loading efficiency and accuracy of the loading robot (300). Quick-change mechanism (400), which is located inside the outer frame (100), facilitates the loading and unloading robot (300) to change the blades according to the type of aero-engine blades; An electric clamping mechanism (600) is provided on the top of the vibration table (500) and is used to clamp and fix the blade. A three-axis linear module (700) is disposed inside the outer frame (100) and is used for automatic hammer vibration frequency testing. The unloading bin (900) is located at the discharge end of the outer frame (100) and is used to improve the efficiency and accuracy of unloading by the loading and unloading robot (300).

2. The aero-engine blade vibration testing device according to claim 1, characterized in that: The feeding hopper (200) includes a first guide rail (201), a first material tray (202), a first gear and rack transmission mechanism (203), and a first fixed conformal block (204). Multiple first guide rails (201) are fixedly installed on the outer frame (100). A first slider adapted to the first guide rail (201) is installed inside the first guide rail (201). A first material tray (202) is fixedly disposed on the top surface of the first slider. A first gear and rack transmission mechanism (203) is installed at one end of the first material tray (202). The first gear and rack transmission mechanism (203) includes... The first material tray (202) includes a servo motor, gears and racks. The servo motor is fixedly installed on the top surface of the first material tray (202). The output end of the servo motor passes through the first material tray (202) and is rotatably connected to the first material tray (202). The bottom surface of the output end of the servo motor is fixedly provided with a gear. A rack meshes with the outside of the gear. The rack is fixedly provided on the inner wall of the first guide rail (201). The top surface of the first material tray (202) is fixedly provided with multiple first fixed conformal blocks (204) and matching limit switches. The unloading bin (900) includes a second guide rail, a second material tray, a second gear and rack transmission mechanism and a second fixed conformal block.

3. The aero-engine blade vibration testing device according to claim 1, characterized in that: The bottom surface of the outer frame (100) is fixedly installed with a ground rail, and the loading and unloading robot (300) is installed on the conveyor track of the ground rail. The loading and unloading robot (300) is model IRB2600-20 / 1.

65.

4. The aero-engine blade vibration testing device according to claim 1, characterized in that: The quick-change mechanism (400) includes a first support column (401), a quick-change platform (402), a proximity sensor (403), a conformal pneumatic gripper (404), and a tool end quick-change device (405). Four first support columns (401) are fixedly installed on the bottom surface inside the outer frame (100). A quick-change platform (402) is fixedly installed on the top surface of each first support column (401). Three sets of tool end quick-change devices (405) are installed on the top surface of the quick-change platform (402). 05) A proximity sensor (403) is fixedly installed on the bottom surface. The tool end quick change device (405) is a QC-21 robot tool quick change device. The bottom of the tool end quick change device (405) is connected to a conformal pneumatic gripper (404). The quick change mechanism (400) also includes a connecting flange installed at the end of the loading and unloading robot (300) and a robot end quick change device for the matching tool end quick change device (405). The robot end quick change device is connected to the loading and unloading robot (300) through the connecting flange.

5. The aero-engine blade vibration testing device according to claim 1, characterized in that: The vibration table (500) is model Sushi DC-600-6, and the vibration table (500) is equipped with a cooling fan and a power amplifier.

6. The aero-engine blade vibration testing device according to claim 1, characterized in that: The electric clamping mechanism (600) includes an installation platform (601), an electric cylinder (602), and a contour clamp (603). Three sets of installation platforms (601) are fixedly installed on the top surface of the vibration table (500). An electric cylinder (602) is fixedly installed on the top surface of the installation platform (601). A contour clamp (603) is provided inside the installation platform (601). The contour clamp (603) includes an upper contour clamp and a lower contour clamp. The output end of the electric cylinder (602) passes through the installation platform (601) and is fixedly connected to the upper contour clamp. The bottom surface inside the contour clamp (603) is fixedly connected to the lower contour clamp.

7. The aero-engine blade vibration testing device according to claim 1, characterized in that: The three-axis linear module mechanism (700) includes a second support column (701), a first electric slide rail (702), a second electric slide rail (703), a third electric slide rail (704), and an automatic hammer body (705). Two sets of symmetrical second support columns (701) are fixedly installed on the bottom surface inside the outer frame (100). A first electric slide rail (702) is fixedly installed on the top surface of each second support column (701). A first electric slider adapted to the first electric slide rail (702) is provided inside the first electric slide rail (702). A second electric slide rail (703) is fixedly installed on the top surface of the block. A second electric slider adapted to the second electric slide rail (703) is installed inside the second electric slide rail (703). A third electric slide rail (704) is fixedly installed on the top surface of the second electric slider. A third electric slider adapted to the third electric slide rail (704) is installed inside the third electric slide rail (704). A sliding sleeve is fixedly installed on the front side of the third electric slider. The third electric slide rail (704) passes through the sliding sleeve and is slidably connected to the sliding sleeve. An automatic hammer body (705) is fixedly installed on the bottom surface of the sliding sleeve.

8. The aero-engine blade vibration testing device according to claim 1, characterized in that: The detection robot (800) is model IRB1200-7 / 0.

7. The bottom surface of the detection robot (800) is fixedly connected to the bottom surface of the inner side of the outer frame (100). A laser vibration meter is fixedly installed at the end of the detection robot (800). The laser vibration meter is model ILD2300-50 and is equipped with a laser displacement sensor.

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