CN111360678A - Aero-engine blade robot grinding and polishing feeding system and jig - Google Patents

Aero-engine blade robot grinding and polishing feeding system and jig Download PDF

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Publication number
CN111360678A
CN111360678A CN202010347999.2A CN202010347999A CN111360678A CN 111360678 A CN111360678 A CN 111360678A CN 202010347999 A CN202010347999 A CN 202010347999A CN 111360678 A CN111360678 A CN 111360678A
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CN
China
Prior art keywords
blade
aero
jig
grinding
polishing
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Granted
Application number
CN202010347999.2A
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Chinese (zh)
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CN111360678B (en
Inventor
赵欢
姜宗民
丁汉
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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Priority to CN202010347999.2A priority Critical patent/CN111360678B/en
Publication of CN111360678A publication Critical patent/CN111360678A/en
Application granted granted Critical
Publication of CN111360678B publication Critical patent/CN111360678B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B29/00Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/02Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/007Weight compensation; Temperature compensation; Vibration damping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/06Work supports, e.g. adjustable steadies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/10Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/16Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces performing a reciprocating movement, e.g. during which the sense of rotation of the working-spindle is reversed

Abstract

The invention discloses a grinding and polishing feeding system and a tool of an aero-engine blade robot, wherein the grinding and polishing feeding tool of the aero-engine blade robot comprises: the plastic jig comprises a plastic jig body, wherein the plastic jig body is provided with a plurality of counter bore structures which are arranged at intervals; the counter bore structure includes the storing tank in proper order along its hole depth direction and holds and establish the chamber, and the inside wall of storing tank and the lateral wall laminating of handle body hold and establish chamber and blade body clearance fit, and the crown of a shank is outstanding in the counter bore structure for each counter bore structure forms a deposit station that is used for depositing the aeroengine blade. The aero-engine blade grinding and polishing feeding jig has high coordination with a robot, the aero-engine blade is effectively prevented from shaking in the automatic feeding and discharging process, the precision of grabbing a crown by the robot is guaranteed, the follow-up grinding and polishing precision is guaranteed, the machining precision of equipment is improved, and the aero-engine blade grinding and polishing feeding jig has the excellent characteristics of high protection on a blade main body, light weight, convenience in carrying and the like.

Description

Aero-engine blade robot grinding and polishing feeding system and jig
Technical Field
The invention belongs to the technical field of aero-engine grinding and polishing, and particularly relates to a grinding and polishing feeding system and a jig for an aero-engine blade robot.
Background
The aero-engine blade is a core component of an aircraft power system, the aero-engine generates thrust by means of gas flow, the gas flow enters from an air inlet, is compressed by a gas compressor, is combusted in a combustion chamber, is expanded by a turbine to do work and is discharged from an air outlet, and the gas compressor and the multistage blades in the turbine provide main power output for the engine in the process of doing work by the gas flow. The blades in the aircraft engine are various in types, large in quantity and complex in shape, so that the blades are very difficult to machine and measure.
Therefore, in order to solve the above-mentioned prior art problems, the applicant provides a blade processing device with strong environmental adaptability, high efficiency and a measurement-processing self-adaptive closed-loop processing capability, which realizes the integration of blade measurement and processing while processing and measurement, has high processing efficiency, and greatly reduces the production efficiency if the blade processing device is manually fed, so that the applicant develops an automatic feeding and discharging system and a jig, which provide guarantee for the intelligent processing of the device and ensure the production efficiency and unmanned production of the device.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a grinding, polishing and feeding jig for an aircraft engine blade robot. Wherein, aeroengine blade includes petiole and blade main part, the petiole includes the crown and the handle body of getting with robot cooperation clamp, the handle body is located the crown with between the blade main part, aeroengine blade robot grinds throws the pay-off tool and includes:
the plastic jig comprises a plastic jig body, wherein the plastic jig body is provided with a plurality of counter bore structures which are arranged at intervals; the counter bore structure includes the storing tank in proper order along its hole depth direction and holds and establish the chamber, the inside wall of storing tank with the lateral wall laminating of handle body, hold establish the chamber with blade main part clearance fit, the crown of a rod in the counter bore structure makes each the counter bore structure forms one and is used for depositing aeroengine blade's station of depositing.
Optionally, the plastic jig body is further provided with a matching part, so that the plurality of plastic jig bodies can be replaced with one another; the matching part is formed by protruding towards one side, deviating from the storage station, of the plastic jig body.
Optionally, the sizes of the counter bore configurations of at least two of the plurality of plastic jig bodies that can be replaced with each other are different.
Optionally, the plastic jig body is further provided with two U-shaped holding portions arranged oppositely, and the open ends of the U-shaped holding portions are connected with the plastic jig body.
The invention also provides a grinding and polishing feeding system of the aircraft engine blade robot, which comprises: the robot grinding, polishing and feeding jig comprises a conveying structure and any one of the above-mentioned aeroengine blade robots; the conveying structure comprises a linear driving mechanism and a mounting substrate, the linear driving mechanism drives the mounting substrate to do reciprocating motion, and the mounting substrate is connected with the aero-engine blade robot grinding and polishing feeding jig.
Optionally, the mounting substrate is detachably connected with the aero-engine blade robot grinding and polishing feeding jig.
Optionally, a plurality of the aero-engine blade robot polishing and feeding jigs may be replaceably mounted to the mounting substrate.
Optionally, conveying structure still includes conveying platform, conveying platform includes supporting platform and baffle, supporting platform's upper surface interval arranges a plurality ofly the baffle is in order to form two kinds and hold and establish the passageway, each hold and establish the passageway installation one linear drive mechanism and one mounting substrate, in order to realize aeroengine blade's material loading and unloading.
Optionally, the linear drive mechanism is a pneumatic cylinder.
Optionally, the linear driving mechanism includes a linear driving assembly and travel switches, the travel switches are sequentially arranged along the reciprocating direction of the mounting substrate, and the travel switches are connected to the linear driving assembly.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. according to the automatic feeding and discharging device, automatic feeding and discharging of the aero-engine blade are achieved, the aero-engine blade is conveyed through the plastic jig with the hardness lower than that of the aero-engine blade, the handle body of the aero-engine blade is attached to the storage groove, the aero-engine blade is fixed, shaking of the aero-engine blade in the automatic feeding and discharging process is effectively avoided, the accuracy of a robot for grabbing a handle head is guaranteed, the accuracy of subsequent grinding and polishing is guaranteed, the machining accuracy of equipment is improved, the blade main body (the part needing to be ground) is in clearance fit with the accommodating cavity, friction between the jig and the blade main body is avoided, friction marks of the blade main body are avoided, grinding and polishing quality of the blade main body after grinding and polishing is guaranteed, and meanwhile the poor phenomenon that the aero-engine operation efficiency is low due to friction of the blade. More excellent, the cavity clearance fit is established with holding to the blade main part, has improved the robot and has got the error tolerance of getting the aeroengine blade for the automatic aeroengine blade of getting of robot is got and is put and is changeed in the realization, and the robot is when putting the aeroengine blade, and the blade main part is changeed in inserting the counter bore structure, has improved the stability of equipment operation.
2. The aero-engine blade robot grinding, polishing and feeding jig provided by the invention can be freely replaced and installed in the installation substrate regardless of the same structure or different structures, so that the automatic processing of various aero-engine blades can be realized by equipment, meanwhile, when the same batch of aero-engine blades are produced, the aero-engine blades can be processed without gaps by the aero-engine blade robot grinding, polishing and feeding jig with the same structure continuously, the idle rate of a machine table is greatly reduced, the starting and stopping times of the equipment are reduced, and the operation efficiency and the production efficiency of the equipment are improved.
3. The blade grinding, polishing and feeding jig can only realize the feeding and the blanking of the blades of the aero-engine or has the feeding and the blanking functions, and can be set according to the requirements of equipment.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a grinding, polishing and feeding jig of an aero-engine blade robot according to the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
FIG. 3 is a schematic structural view of an embodiment of an aircraft engine blade;
FIG. 4 is a schematic structural view of another embodiment of an aircraft engine blade;
FIG. 5 is a schematic structural diagram of an embodiment of a grinding, polishing and feeding system of an aircraft engine blade robot according to the invention;
fig. 6 is a schematic structural view of the aero-engine blade robot grinding and polishing feeding jig shown in fig. 5 when the grinding and polishing feeding jig is moved away.
In all the figures, the same reference numerals denote the same features, in particular: 1-a plastic jig body, 11-a storage groove, 12-a containing cavity, 13-a matching part, 14-a holding part, 211-a cylinder, 212-a mounting substrate, 213-a matching part, 22-a conveying platform, 221-a supporting platform, 222-a partition plate, 223-a feeding containing channel, 224-a discharging containing channel, 311-a crown, 312-a shank and 32-a blade main body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In an embodiment of the present invention, as shown in fig. 1 and 2, an aero-engine blade robot grinding and polishing feeding jig includes: the plastic jig comprises a plastic jig body 1, wherein the plastic jig body 1 is provided with a plurality of counter bore structures which are arranged at intervals; the counter bore structure includes in proper order along its hole depth direction that depositing groove 11 establishes chamber 12 with holding, and the inside wall of depositing groove 11 and the lateral wall laminating of handle body 312 hold and establish chamber 12 and blade main part 32 clearance fit, and crown 311 stands up in the counter bore structure for each counter bore structure forms a depositing station that is used for depositing aeroengine blade.
It can be understood that the aircraft engine blade comprises a blade handle and a blade main body 32, wherein the blade handle comprises a handle head 311 and a handle body 312 which are clamped together by a robot, and the handle body 312 is arranged between the handle head 311 and the blade main body 32. As shown in fig. 3 and 4, the blade structure of the aircraft engine is more diversified, but the blade structure includes a blade handle (without a grinding and polishing area) and a blade main body 32 (with a grinding and polishing area), so that the blade handle is clamped by a robot to transfer the blade of the aircraft engine so as to realize the adaptive closed-loop processing of measurement-processing. Since the blade stem is further divided into a crown 311 for cooperating with the robot and a stem 312 for connecting the blade body 32 and the crown 311, the stem 312 is characterized in that the stem 312 is actually a cylindrical structure (as shown in fig. 3 and 4, the stem 312 is a rectangular parallelepiped), the sectional area of the stem is far larger than that of the crown 311 and the blade body 32, and the sectional area of the blade body 32 is added with that of a part which is ground or milled to form the blade body 32. In practical application, a step (i.e. the bottom surface of the storage slot 11) capable of supporting the bottom surface of the handle body 312 close to one side of the blade main body 32 is formed between the accommodating cavity 12 and the storage slot 11, so that the aero-engine blade is suspended and erected at the storage station; when the outer side wall of the handle body 312 is attached to the inner side wall of the storage groove 11, the front and back, left and right directions of the handle body 312 can be limited and positioned (namely, the four sides of the cross section), so that the aero-engine blade cannot shake front and back and left and right, and the contact between the blade main body 32 and the accommodating cavity 12 in the process of storing the aero-engine blade in the plastic jig body 1 is effectively avoided, and therefore the blade main body 32 before grinding and polishing cannot be newly scratched, the blade main body 32 after grinding and polishing cannot be scratched, the smooth surface of the blade main body is ensured, and the good running performance of the aero-engine is ensured; preferably, the pre-load force of the handle 312 and the storage tank 11 is in the range of 1-5N (Newton). Preferably, the accommodating cavity 12 is in clearance fit with the blade main body 32, so that the tolerance of the robot for errors when the robot clamps the aero-engine blade (a certain deviation error is allowed to occur in the process that the robot clamps or puts down the aero-engine blade), and the smoothness of the robot operation is ensured; preferably, the hardness of the plastic jig body 1 is far less than that of the aero-engine blade, so that even if the aero-engine blade collides with the plastic jig body 1 to a certain extent, scratches generated on the aero-engine blade are within an allowable range; more preferably, the crown 311 matched with the robot protrudes from the storage groove 11, so that the robot can conveniently position and accurately grab the blade, and the coordination among all parts of the equipment is improved.
In practical applications, the sectional shape of the storage slot 11 is matched with the sectional shape of the handle 312, the shape of the accommodating cavity 12 is preferably similar to the shape of the blade body 32, or the shape of the accommodating cavity 12 may be a cylindrical cavity with the largest sectional dimension of the blade body 32 as the inner diameter dimension. The plastic jig body 1 may be made of nylon or polyester.
Optionally, the plastic jig body 1 is further provided with a matching portion 13, so that the plurality of plastic jig bodies 1 can be replaced with each other. When the device is used for producing the blades of the aero-engine in batches, in order to realize non-stop processing of the same type of blades, the blades of the aero-engine need to be continuously fed and/or discharged, and a plurality of plastic jig bodies 1 are needed to be replaced; or in order to realize the processing of different types of aero-engine blades, the plastic jig body 1 corresponding to the corresponding aero-engine blade structure needs to be replaced to perform the feeding and/or the blanking of the aero-engine blades, so that the plastic jig body 1 with the same or different counter bore structures can be replaceably mounted on the conveying structure by arranging the same matching part 13 to realize the feeding and/or the blanking of the same or different aero-engine blades. Illustratively, as shown in fig. 2, the fitting portion 13 is a boss provided on the bottom surface of the plastic jig body 1 (opposite to the surface provided with the counter bore structure). Of course, the fitting portion 13 may be a groove structure or the like for facilitating mounting and removal.
Optionally, the plastic jig body 1 is further provided with two opposite holding parts 14. In practical application, manual or intelligent equipment (such as a robot) realizes the transportation of the plastic jig body 1 by grabbing the holding part 14, and realizes the manual transportation or the automatic transportation of the plastic jig body 1 by installing and matching the matching part 13 and the conveying structure. In practical applications, when the plastic jig body 1 is handled manually, the holding portion 14 is preferably of a U-shaped structure, as shown in fig. 1 and 2, and when the plastic jig body 1 is handled as a smart device, the holding portion 14 is preferably of a plate-shaped structure or a structure with hook grooves and the like for facilitating the smart device to grasp.
In another embodiment of the present invention, as shown in fig. 1-6, an aircraft engine blade robot grinding and polishing feeding system comprises: the robot grinding, polishing and feeding jig comprises a conveying structure and any one of the above-mentioned aeroengine blade robots; the conveying structure comprises a linear driving mechanism and a mounting substrate 212, the linear driving mechanism drives the mounting substrate 212 to reciprocate, and the mounting substrate 212 is connected with the aero-engine blade robot grinding and polishing feeding jig.
It can be understood that when only one conveying structure is arranged, the grinding, polishing and feeding system of the aircraft engine blade robot at the moment can be only used as a feeding system or a discharging system of the aircraft engine blade; when the conveying structures are more than two, the grinding and polishing feeding system of the aircraft engine blade robot at the moment can be only used as a loading and unloading system of the aircraft engine blade.
Optionally, the mounting substrate 212 is detachably connected to the aero-engine blade robot polishing and feeding jig. Illustratively, the mounting substrate 212 is provided with a fitting member 213 matching with the fitting portion 13, and when the fitting portion 13 is a matching boss, the fitting member 213 is a groove for accommodating the boss, and when the fitting portion 13 is a groove, the fitting member 213 is a matching boss. Of course, the mounting substrate 212 and the plastic jig body 1 can be detachably connected by bolts, and at this time, the matching portion 13 is a threaded hole, and the bolts can be screwed into the threaded holes of the mounting substrate 212 and the plastic jig body 1 in sequence to connect the two by providing the threaded holes on the mounting substrate 212. The mounting substrate 212 and the plastic jig body 1 can also be detachably connected through the positioning pins and the positioning holes, that is, the positioning holes are arranged in the mounting substrate 212 and the plastic jig body 1 along the depth direction of the counter bore structure, and the positioning pins sequentially penetrate through the plastic jig body 1 and the mounting substrate 212 to realize the connection of the mounting substrate 212 and the plastic jig body.
Optionally, the conveying structure further comprises a conveying platform 22, the conveying platform 22 comprises a supporting platform 221 and partition plates 222, a plurality of partition plates 222 are arranged on the upper surface of the supporting platform 221 at intervals to form two accommodating channels (namely a feeding accommodating channel 223 and a discharging accommodating channel 224), and each accommodating channel is provided with a linear driving mechanism and a mounting base plate 212 to realize feeding and discharging of the aero-engine blade. Alternatively, the linear driving mechanism is a cylinder 211, and the cylinder 211 drives the mounting substrate 212 to reciprocate.
In another embodiment of the present invention, unlike the above-described embodiments, the linear driving mechanism of the present embodiment is a linear driving assembly and travel switches, which are sequentially arranged along the reciprocating direction of the mounting substrate 212, and are all connected to the linear driving assembly. The linear driving assembly is a linear motor, the linear motor drives the mounting substrate 212 to reciprocate, and the in-place movement detection of the mounting substrate 212 is realized through a travel switch, so that the linear motor is controlled to be started and stopped.
In another embodiment of the present invention, unlike the above-described embodiments, the linear driving mechanism of the present embodiment is a linear driving assembly and travel switches, which are sequentially arranged along the reciprocating direction of the mounting substrate 212, and are all connected to the linear driving assembly. The linear driving assembly is a screw pair, the mounting substrate 212 is connected with a nut of the screw pair, a screw of the screw pair is fixed to realize the reciprocating motion of the mounting substrate 212, and the detection of the in-place motion of the mounting substrate 212 is realized through a travel switch, so that the start and the stop of the screw pair are controlled.
In another embodiment of the present invention, unlike the above-described embodiments, the linear driving mechanism of the present embodiment is a linear driving assembly and travel switches, which are sequentially arranged along the reciprocating direction of the mounting substrate 212, and are all connected to the linear driving assembly. The linear driving assembly comprises a motor, a conveying belt, a supporting plate, a driving wheel and a driven wheel, the driving wheel and the driven wheel are sequentially arranged along the reciprocating motion direction of the mounting substrate 212, the conveying belt is respectively connected with the driving wheel and the driven wheel in a tensioning mode, the supporting plate is arranged below the conveying belt to support the mounting substrate 212, the mounting substrate 212 is connected with the conveying belt, and the motor is connected with the driving wheel; the reciprocating motion of the mounting base plate 212 is realized through the forward and reverse rotation of the motor, the bearing performance of the conveying belt is ensured through the support of the bearing plate on the mounting base plate 212, and meanwhile, the detection of the in-place motion of the mounting base plate 212 is realized through the travel switch, so that the starting and the closing of the motor are controlled.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The utility model provides an aeroengine blade robot grinds and throws pay-off tool, wherein, aeroengine blade includes petiole and blade main part, the petiole includes the crown and the shank body of getting with robot cooperation clamp, the shank body is located the crown with between the blade main part, its characterized in that includes:
the plastic jig comprises a plastic jig body, wherein the plastic jig body is provided with a plurality of counter bore structures which are arranged at intervals; the counter bore structure includes the storing tank in proper order along its hole depth direction and holds and establish the chamber, the inside wall of storing tank with the lateral wall laminating of handle body, hold establish the chamber with blade main part clearance fit, the crown of a rod in the counter bore structure makes each the counter bore structure forms one and is used for depositing aeroengine blade's station of depositing.
2. The aircraft engine blade robot grinding and polishing feeding jig of claim 1, characterized in that:
the plastic jig body is also provided with a matching part, so that the plurality of plastic jig bodies can be replaced with one another; the matching part is formed by protruding towards one side, deviating from the storage station, of the plastic jig body.
3. The aircraft engine blade robot grinding and polishing feeding jig of claim 1, characterized in that:
the sizes of the counter bores of at least two of the plastic jig bodies which can be replaced mutually are different.
4. The aircraft engine blade robot grinding and polishing feeding jig according to any one of claims 1 to 3, characterized in that:
the plastic jig body is also provided with two U-shaped holding parts which are oppositely arranged, and the open ends of the U-shaped holding parts are connected with the plastic jig body.
5. The utility model provides an aeroengine blade robot grinds material feeding system of throwing which characterized in that includes:
a conveying structure and the aero-engine blade robot grinding, polishing and feeding jig of any one of claims 1 to 4;
the conveying structure comprises a linear driving mechanism and a mounting substrate, the linear driving mechanism drives the mounting substrate to do reciprocating motion, and the mounting substrate is connected with the aero-engine blade robot grinding and polishing feeding jig.
6. An aircraft engine blade robot grinding and polishing feeding system as claimed in claim 5, wherein:
the mounting substrate is detachably connected with the aero-engine blade robot grinding and polishing feeding jig.
7. An aircraft engine blade robot grinding and polishing feeding system as claimed in claim 6, wherein:
and the grinding, polishing and feeding jig of the aero-engine blade robot is replaceably arranged on the mounting base plate.
8. An aircraft engine blade robot grinding and polishing feeding system as claimed in claim 5, wherein:
conveying structure still includes conveying platform, conveying platform includes supporting platform and baffle, supporting platform's upper surface interval arranges a plurality ofly the baffle is in order to form two kinds and hold and establish the passageway, each hold and establish the passageway installation one sharp actuating mechanism and one mounting substrate, in order to realize aeroengine blade's material loading and unloading.
9. An aircraft engine blade robot grinding and polishing feeding system as claimed in any one of claims 5 to 8, wherein:
the linear driving mechanism is a cylinder.
10. An aircraft engine blade robot grinding and polishing feeding system as claimed in any one of claims 5 to 8, wherein:
the linear driving mechanism comprises a linear driving assembly and travel switches, the travel switches are sequentially arranged along the reciprocating motion direction of the mounting substrate, and the travel switches are connected with the linear driving assembly.
CN202010347999.2A 2020-04-28 2020-04-28 Aero-engine blade robot grinding and polishing feeding system and jig Active CN111360678B (en)

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