CN111546233B - Aero-engine blade grinding and polishing clamp system and robot - Google Patents
Aero-engine blade grinding and polishing clamp system and robot Download PDFInfo
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- CN111546233B CN111546233B CN202010347998.8A CN202010347998A CN111546233B CN 111546233 B CN111546233 B CN 111546233B CN 202010347998 A CN202010347998 A CN 202010347998A CN 111546233 B CN111546233 B CN 111546233B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an aero-engine blade grinding and polishing clamp system and a robot, wherein the aero-engine blade grinding and polishing clamp system comprises: a first grasping assembly and a second grasping assembly; the first grabbing component comprises a male head component and a female head component which are matched, the male head component and the female head component can be switched between a connection state and a disconnection state, one of the male head component and the female head component is connected with the second grabbing component, and the other of the male head component and the female head component is provided with a first grabbing claw used for clamping an aero-engine blade and a clamping piece matched with the second grabbing component; the clamping piece is connected with the first gripper, and the first gripper is far away from the second gripper assembly. The invention effectively avoids secondary clamping errors caused by clamping of the blades through different parts, ensures the processing precision of intelligent and batch production of equipment, and simultaneously ensures the stability, consistency and high yield of the quality of finished blades.
Description
Technical Field
The invention belongs to the technical field of grinding and polishing of aero-engine blades, and particularly relates to a grinding and polishing clamp system for aero-engine blades and a 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 problems in the prior art, the applicant provides a blade processing apparatus with strong environmental adaptability, high efficiency and adaptive closed-loop processing capability of "measurement-processing", which performs measurement while processing, and realizes integration of blade measurement and processing, but since a robot needs to transfer blades between different apparatuses (an image acquisition device, a grinding device, a digital template detection machine, etc.), in order to adapt to pose adjustment of blades at different apparatuses, the robot needs to not only realize automatic taking and placing of blades, but also switch the function of grabbing the angle of the blades once, but the existing blade clamp can only realize one blade grabbing mode, if the robot needs to switch, two robots need to be configured to cooperatively cooperate, but the two robots have great difficulty in cooperation, and the interference problem is easily caused (if the previous stage of grinding is not finished, the subsequent grinding is finished, or the previous grinding is finished and the subsequent grinding is not finished, so that two robots rob only one grinding device and other adverse factors) to ensure that the blade machining process cannot be smoothly carried out and is not smooth, and the programming difficulty is extremely high and complex; meanwhile, due to the arrangement of the two robots, the occupied area of equipment is extremely large, the space utilization rate is low, the mass production is not facilitated, and the competitiveness is low; the existing blade clamp cannot clamp and change the angle of the blade at all and cannot meet the production requirements of equipment, so that the applicant develops a grinding and polishing clamp system and a robot which meet the requirements.
Disclosure of Invention
In view of the above drawbacks or needs for improvement in the prior art, the present invention provides an aero-engine blade grinding and polishing jig system, comprising:
a first grasping assembly and a second grasping assembly;
the first grabbing assembly comprises a male head assembly and a female head assembly which are matched, the male head assembly and the female head assembly can be switched between a connection state and a disconnection state, one of the male head assembly and the female head assembly is connected with the second grabbing assembly, and the other of the male head assembly and the female head assembly is provided with a first grabbing claw for grabbing an aircraft engine blade and a clamping piece matched with the second grabbing assembly; the clamping piece is connected with the first gripper, and the first gripper is far away from the second gripping assembly.
Optionally, the first gripper comprises two oppositely arranged grippers, and the two grippers can reciprocate close to or away from each other; two gripper jaw all is equipped with a anchor clamps piece near other side one side, the anchor clamps piece is equipped with the clamping part that is used for centre gripping aeroengine blade, the anchor clamps piece with gripper jaw detachable connection.
Optionally, the second grabbing assembly comprises a mounting plate, a driving mechanism and two second grabbing claws arranged oppositely; the driving mechanism is arranged on the mounting plate and drives the two second grippers to do reciprocating motion which is close to or far away from each other; the first grabbing component is arranged on the mounting plate.
Optionally, the male head component is connected with the second grabbing component; the female head assembly further comprises a female joint, and a conical abutting surface is arranged on the inner surface of one side, close to the male head assembly, of the female joint, so that the inner diameter size of one side, close to the male head assembly, of the female joint is smaller than the inner diameter size of one side, far away from the male head assembly, of the female joint; the male head assembly comprises a male connector and a piston assembly; the male connector comprises an end cover and a sleeve, and a first end part of the sleeve, which is close to one side of the second grabbing component, is connected with the end cover; the outer diameter of the second end part of the sleeve, which is close to one side of the female joint, is smaller than that of the first end part, so that the second end part can be movably inserted into a middle channel of the female joint; the piston assembly comprises a piston rod and a ball, the piston rod is of a diameter-variable structure, the piston rod is movably inserted into the sleeve, at least one closed space is formed in the inner space of the sleeve in a separated mode, and a ventilation channel communicated with the closed space is formed in the side wall of the sleeve; the end part of the piston rod, which is close to one side of the female joint, is provided with a conical outer surface, and the second end part is provided with a conical hole for accommodating the ball; when the piston rod moves towards one side of the female joint, the ball is pushed by the conical outer surface to protrude outwards in the radial direction from the conical hole and abut against the conical abutting surface, so that the male joint and the female joint are in a connected state; when the piston rod moves towards one side of the male joint, the ball retracts into the conical hole under the action of the conical abutting surface, so that the male joint and the female joint are in a disconnected state.
Optionally, the male head component is connected with the second grabbing component; the female head assembly further comprises a female joint, and a conical abutting surface is arranged on the inner surface of one side, close to the male head assembly, of the female joint, so that the inner diameter size of one side, close to the male head assembly, of the female joint is smaller than the inner diameter size of one side, far away from the male head assembly, of the female joint; the male head assembly comprises a male connector and a piston assembly; the male connector comprises a sleeve, and the outer diameter of a second end part of the sleeve, which is close to one side of the female connector, is smaller than that of the first end part, so that the second end part can be movably inserted into a middle channel of the female connector; the piston assembly comprises a piston rod and a ball, and the piston rod is movably inserted into the sleeve; the end part of the piston rod, which is close to one side of the female joint, is provided with a conical outer surface, and the second end part is provided with a conical hole for accommodating the ball; when the piston rod moves towards one side of the female joint, the ball is pushed by the conical outer surface to protrude outwards in the radial direction from the conical hole and abut against the conical abutting surface, so that the male joint and the female joint are in a connected state; when the piston rod moves towards one side of the male joint, the ball is retracted inwards in the radial direction into the conical hole under the action of the conical abutting surface, so that the male joint and the female joint are in a disconnected state.
Optionally, the male assembly and the female assembly are screwed together.
Optionally, the male connector is provided with a travel detection switch.
The present invention also provides a robot, comprising: the aircraft engine blade grinding and polishing clamp system comprises a robot main body and any one of the robot main body and the aircraft engine blade grinding and polishing clamp system.
Optionally, the robot main body comprises a robot base, a rotating seat, a first arm section, a first rotating mechanism, a second arm section, a second rotating mechanism, a third arm section, a third rotating mechanism, a fourth arm section and an installation mechanism which are connected in sequence; the rotating seat can drive the first arm section to rotate relative to the robot base, the plane where the rotation is located is the rotation of a first plane, the first rotating mechanism can drive the second arm section to rotate relative to the first arm section, the plane where the rotation is located is the rotation of a second plane, the second rotating mechanism can drive the third arm section to rotate relative to the second arm section, the plane where the rotation is located is the rotation of a third plane, the third rotating mechanism can drive the fourth arm section to rotate relative to the third arm section, the plane where the rotation is located is the rotation of a fourth plane, and the mounting mechanism is connected with the second grabbing component; the first plane, the second plane, the third plane and the fourth plane are arranged in parallel or form an included angle.
Optionally, the mounting mechanism drives the second grasping assembly to rotate.
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 first grabbing component, the male head component and the female head component can be connected or disconnected, when the male head component and the female head component are in a connected state, the robot can control one component provided with the clamping piece to grab the blade of the aero-engine, and therefore the blade of the aero-engine can be transferred between different corresponding devices; when the grabbing pose of the blade needs to be switched, the male head assembly and the female head assembly are disconnected, the second grabbing assembly grabs the clamping piece, so that the angle switching of the robot for grabbing the aero-engine blade is successfully realized, and the robot can continue to carry the aero-engine blade to be transferred to corresponding different equipment through the second grabbing assembly; preferably, in the whole process, the aero-engine blade is clamped by one assembly, so that secondary clamping errors caused by clamping of different parts are effectively avoided, the machining precision of the aero-engine blade is influenced, and the stability, consistency and high yield of the finished blade quality are guaranteed; furthermore, because the position vector of the blade is a known quantity in the switching process through the installation positions of the first grabbing component and the second grabbing component, even if the blade is grabbed and switched once, the error is very little, and in the range of processing error, the programming of the two grinding and polishing processes of the front section and the rear section is easier to realize, the logic complexity of the running program is greatly simplified,
2. according to the invention, by replacing the clamp blocks, the intelligent processing of different types of aero-engine blades can be realized, the equipment utilization rate is improved, the practicability and the application range of the invention are improved, and the use cost of customers is reduced.
3. The grabbing components (the first grabbing component and the second grabbing component) have various implementation modes, so that the product diversification is improved, and different customer requirements are met.
Drawings
FIG. 1 is a schematic structural view of an embodiment of an aero-engine blade grinding and polishing fixture system of the present invention;
FIG. 2 is a schematic diagram of the exploded view of FIG. 1;
FIG. 3 is a schematic structural diagram illustrating an embodiment of a first grasping element according to the present invention;
FIG. 4 is a schematic structural view of another embodiment of the first gripper assembly of the present invention;
FIG. 5 is a schematic structural view of an embodiment of an aircraft engine blade;
FIG. 6 is a schematic structural view of one embodiment of a fixture block of the aircraft engine blade of FIG. 5 according to the present invention;
FIG. 7 is a schematic structural view of another embodiment of an aircraft engine blade;
FIG. 8 is a schematic structural view of one embodiment of a clamp block of the aircraft engine blade of FIG. 7 according to the present invention;
FIG. 9 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 10 is a partially enlarged view of fig. 9 at a.
In all the figures, the same reference numerals denote the same features, in particular: 11-first gripper assembly, 111-female assembly, 1111-female connector, 11111-tapered abutment surface, 1112-gripper, 11121-mating surface, 1113-first gripper, 1114-gripper, 1115-gripper block, 1116A-gripper, 1116B-counterbore, 1117-first pneumatic component, 1118-first air inlet, 1119-first air outlet, 121-male connector, 1211-end cap, 1212-sleeve, 1213-piston rod, 12131-tapered outer surface, 12132-conical bore, 1214-ball, 1215-support ring holder, 1216-enclosed space, 1217-vent channel, 1218-seal, 1219-connector, 122-electrical signal box, 12-second gripper assembly, 122-second pneumatic component, 1221-second air inlet, 1222-second air outlet, 123-second gripper, 1231-clamping groove, 20-robot base, 21-rotary base, 22-first arm segment, 23-first rotary mechanism, 24-second arm segment, 25-second rotary mechanism, 26-third arm segment, 27-third rotary mechanism, 28-fourth arm segment, 29-installation mechanism, 3-aircraft engine blade, 31-blade handle and 32-blade 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. For convenience of description, the male head assembly is connected with the second grabbing assembly, and the female head assembly is provided with the clamping piece and the first grabbing claw. The upper, lower, left and right in this specification refer to the left, right and left of the drawings described, and do not necessarily represent actual conditions.
In one embodiment of the present invention, as shown in fig. 1-3 and 5-8, an aircraft engine blade burnishing fixture system comprises: a first gripper assembly 11 and a second gripper assembly 12; the first grabbing component 11 comprises a male head component and a female head component 111 which are matched, the male head component and the female head component 111 can be switched between a connection state and a disconnection state, the male head component is connected with the second grabbing component 12, and the female head component 111 is provided with a first grabbing claw 1113 for grabbing the aircraft engine blade 3 and a clamping piece 1112 matched with the second grabbing component 12; the clamp 1112 is connected to a first gripper 1113, the first gripper 1113 being disposed remotely from the second gripper assembly 12.
In practical application, when the robot needs to take the aero-engine blade 3 to be processed, the male head assembly and the female head assembly 111 are in a connected state, the robot carries the grinding and polishing fixture system (i.e. the aero-engine blade grinding and polishing fixture system) to move to a position where the aero-engine blade 3 to be processed is placed, the first gripper 1113 grips the aero-engine blade 3 to be processed, then the robot drives the aeroengine blade 3 to be processed to an image acquisition device for shooting, after shooting, the robot drives the aero-engine blade 3 to be processed to move to the grinding device for grinding and polishing according to the photographed result, after the aero-engine blade 3 to be processed is ground and polished for the first time, the robot moves the aero-engine blade 3 to be processed after the first grinding and polishing to the image acquisition device for photographing, the above steps are circulated until the aero-engine blade 3 to be machined meets the preset surface image parameters; then, the robot moves to a temporary storage rack for placing the female head assembly 111, the male head assembly is separated from the female head assembly 111, the robot drives the second grabbing assembly 12, so that the second grabbing assembly 12 clamps the clamping piece 1112 in the female head assembly 111 (at this time, the aero-engine blade 3 to be processed is still clamped by the first gripper 1113 of the female head assembly 111), then the robot moves the aero-engine blade 3 to be processed meeting the preset surface image parameters to a digital sample plate detector to obtain first blade processing data, and when the first blade processing data meets the preset blade processing parameters, the surface processing is successful and becomes a finished blade; when the first blade processing data meet the preset blade processing parameters, the robot moves the aero-engine blade 3 to be processed to the grinding device for grinding and polishing, the robot moves the aero-engine blade 3 to be processed after the first grinding and polishing to the digital sample plate detection machine for obtaining the second blade processing data, and the steps are repeated until the aero-engine blade 3 to be processed meets the preset blade processing parameters and becomes a finished blade. When the next aero-engine blade 3 needs to be processed after the current aero-engine blade 3 to be processed becomes the finished blade, the robot can move to the temporary storage frame first, place the female head assembly 111 in the temporary storage frame, the second snatchs the subassembly 12 and loosens the holder 1112, then the male head assembly is connected with the female head assembly 111, then the robot carries first snatchs the subassembly 11 to the position of depositing the finished blade, then carries out the processing of next aero-engine blade 3.
Alternatively, the first gripper 1113 includes two grippers 1114 arranged oppositely, and the two grippers 1114 can reciprocate toward or away from each other; two clamping claw 1114 are all equipped with a anchor clamps piece 1115 near each other one side, and anchor clamps piece 1115 is equipped with the clamping part 1116A that is used for centre gripping aeroengine blade 3, and anchor clamps piece 1115 and clamping claw 1114 are detachable to be connected. In practical application, different shapes or types of aero-engine blades 3 can be machined by replacing the clamp block 1115, so that the application range and the practicability of the equipment are improved. Specifically, the clamp block 1115 is provided with a counter bore 1116B penetrating through the clamp block 1115 far away from the clamping portion 1116A, wherein a large-diameter end of the counter bore 1116B is close to the side provided with the clamping portion 1116A, and a small-diameter end of the counter bore 1116B is close to the side of the clamping claw 1114, so that when a connecting piece such as a screw or a bolt is connected with the clamping claw 1114, a screw head or a bolt head of the connecting piece is accommodated in the large-diameter end of the counter bore 1116B and does not protrude from the surface close to the side of the clamping portion 1116A, and the interference problem that the clamp block 1115 clamps the aero-engine blade 3 is effectively avoided.
An exemplary one, as shown in fig. 5 and 6, is a set of adaptive aero-engine blade 3 and clamp block 1115, the aero-engine blade 3 in this example includes a blade body 32 and a blade shank 31, wherein the clamp block 1115 clamps the blade shank 31, as shown in fig. 5, the cross-sectional shape of the blade shank 31 in this example is a trapezoid-like structure, and the outer contour of the trapezoid-like structure is a smooth curve, and correspondingly, as shown in fig. 6, the clamping portion 1116A of the clamp block 1115 in this example is a groove structure similar to the outer contour of the blade shank 31, by clamping the two clamping portions 1116A, the blade can be just clamped from left to right, and by concave-convex matching of the blade shank 31 and the groove structure, three-dimensional fixation of the blade shank 31 by the groove structure is achieved, and stability and firmness of the clamping claw 1114 for clamping the blade shank 31 are improved.
In the second exemplary embodiment, as shown in fig. 7 and 8, the aero-engine blade 3 and the clamp block 1115 are adapted to each other, in this example, the aero-engine blade 3 includes a blade main body 32 and a blade shank 31, wherein the blade shank 31 is clamped by the clamp block 1115, as shown in fig. 7, the cross-sectional shape of the blade shank 31 in this example is a right-left symmetrical hexagon, and the right and left sides and two adjacent sides arranged in the up-down direction are provided with chamfers, correspondingly, as shown in fig. 8, the clamping portion 1116A of the clamp block 1115 in this example is a groove structure having an outer profile similar to that of the blade shank 31, and by combining the two clamping portions 1116A, the blade can be exactly clamped right and left, and by concave-convex matching of the blade shank 31 with the groove structure, three-dimensional fixation of the groove structure to the blade shank 31 is achieved, and stability and firmness of the clamping claw 1114 for clamping the blade shank 31 are improved.
Optionally, the second gripper assembly 12 comprises a mounting plate, a driving mechanism and two second grippers 123 arranged oppositely; the driving mechanism is arranged on the mounting plate and drives the two second grippers 123 to do reciprocating motion close to or far away from each other; the first gripper assembly 11 is mounted to the mounting plate. It will be appreciated that in practical applications the drive mechanism may be a drive motor or a pneumatic component. Illustratively, as shown in fig. 1 and 2, the second gripper 123 is driven by the second pneumatic component 122, the second pneumatic component 122 is provided with a second air inlet 1221 and a second air outlet 1222, and the air inlet and outlet through the second air inlet 1221 and the second air outlet 1222 realize the mutual approaching or departing of the two second grippers 123, in practical applications, the two second grippers 123 may move simultaneously or only one of them may move.
In practical applications, the approaching or separating of the two first grippers 1113 may also be realized by a driving motor or a pneumatic component. Illustratively, as shown in fig. 1 and 2, the first gripper 1113 is driven by a first pneumatic component 1117, the first pneumatic component 1117 is provided with a first air inlet 1118 and a first air outlet 1119, and the two first grippers 1113 can move close to or away from each other through the air inlet and outlet of the first air inlet 1118 and the first air outlet 1119, and in practical applications, the two first grippers 1113 can move simultaneously or only one of the two first grippers 1113 can move simultaneously. Optionally, a first pneumatic component 1117 is disposed between the clamp 1112 and the first gripper 1113, and the female assembly 111 is coupled to an end of the clamp 1112 distal from the first pneumatic component 1117. Alternatively, clamping member 1112 is an i-shaped member, female head assembly 111 is mounted to an upper end of clamping member 1112, first pneumatic member 1117 is mounted to a lower end of clamping member 1112, and an intermediate section of clamping member 1112 is engaged with second gripper assembly 12. Optionally, the middle section of the clamping member 1112 is provided with a fitting surface 11121 fitted with the second gripper 123, the two fitting surfaces 11121 are arranged opposite to each other, correspondingly, each second gripper 123 is provided with a clamping groove 1231, and the middle section of the clamping member 1112 is clamped by the two clamping grooves 1231, and meanwhile, the fitting surfaces 11121 and the clamping grooves 1231 are fitted to position and limit the second gripper 123 on the clamping member 1112, so that the firmness and stability of the second gripper 123 gripping the clamping member 1112 are improved.
Optionally, the female component 111 further comprises a female joint 1111, and the inner surface of the female joint 1111 near the male component is provided with a tapered abutment surface 11111, so that the inner diameter of the female joint 1111 near the male component is smaller than the inner diameter of the female joint 1111 far from the male component; the male assembly comprises a male connector 121 and a piston assembly; the male connector 121 comprises an end cap 1211 and a sleeve 1212, wherein a first end of the sleeve 1212 near one side of the second grasping assembly 12 is connected with the end cap 1211; the outer diameter of the second end of the sleeve 1212 on the side close to the female connector 1111 is smaller than that of the first end, so that the second end can be movably inserted into the middle channel of the female connector 1111; the piston assembly comprises a piston rod 1213 and a ball 1214, the piston rod 1213 is of a reducing structure, the piston rod 1213 is movably inserted into the sleeve 1212, the inner space of the sleeve 1212 is partitioned into at least one closed space 1216, and the side wall of the sleeve 1212 is provided with a vent passage 1217 communicated with the closed space 1216; the end of the piston rod 1213 near the female joint 1111 is provided with a conical outer surface 12131, and the second end is provided with a conical hole 12132 for accommodating the ball 1214; when the piston rod 1213 moves toward the female connector 1111 side, the ball 1214 protrudes radially outward from the conical hole 12132 pushed by the tapered outer surface 12131 and abuts against the tapered abutment surface 11111, so that the male connector 121 and the female connector 1111 are connected; when the piston rod 1213 moves toward the male connector 121 side, the ball 1214 retracts into the conical hole 12132 by the tapered abutment surface 11111, so that the male connector 121 is disconnected from the female connector 1111.
It should be understood that the male connector 121 and the female connector 1111 require the piston rod 1213 to reciprocate when disconnection is performed, so that more than two closed spaces 1216 should be formed, the closed spaces 1216 can be formed by the male connector 121, or the male connector 121 and the female connector 1111 can be formed together, for example, as shown in fig. 3, two closed spaces 1216 are formed by the male connector 121, the end cap 1211 is U-shaped, the sealing cap is disposed at the end of the sleeve 1212 away from the female connector 1111, and a support ring 1215 for supporting the piston rod 1213 not to fall is disposed between the end cap 1211 and the sleeve 1212, the piston rod 1213 is divided into two detachably connected sections, i.e. an upper section piston and a lower section piston which are spirally connected, the upper end of the upper section piston protrudes from the support ring 1215, and the outer diameter of the upper section piston is greater than the inner diameter of the support ring 1215, so that the upper section piston hangs on the support ring 1215, the lower end of the upper piston is screwed with the upper end of the lower piston, the middle section of the lower piston located in the sleeve 1212 is in sealing fit with the inner wall of the sleeve 1212, so that the sleeve 1212 is divided into two spaces in the vertical direction, when the end cap 1211 (or the support ring rack 1215) is in sealing fit with the upper piston, the upper space of the middle section of the lower piston forms a sealed space 1216, the lower end of the lower piston is in sealing fit with the sleeve 1212, the lower space of the middle section of the lower piston can form a sealed space 1216, the sleeve 1212 is provided with a vent channel 1217 corresponding to each sealed space 1216, in practical application, the upper and lower reciprocating movement of the piston can be realized by respectively venting each sealed space 1216, and then the disconnection and the connection of the male joint 121 and the female joint 1111 are realized. Preferably, as long as the female connector 1111 and the male connector 121 are connected, even if the ventilation state of the male connector 121 is cut off, the male connector 121 and the female connector 1111 can be connected without being disconnected due to the contact of the conical contact surface 11111 of the ball 1214, thereby greatly improving the safety of the use of the device. Optionally, a seal 1218 is disposed between each of the two contacting components forming the enclosed space 1216 to ensure that the enclosed space 1216 is airtight. Preferably, in order to reduce the weight of the component parts, the piston and the sleeve 1212 may be designed to be lightweight, such as grooved or hollowed out, while ensuring sufficient load-bearing performance. The upper end of the end cap 1211 is connected to the mounting plate, and specifically, the end cap 1211 may be connected to the mounting plate by a detachable member such as a bolt or a screw. Alternatively, the two second grippers 123 may reciprocate parallel to the plate surface of the mounting plate, and the two first grippers 1113 may reciprocate perpendicular to the plate surface of the mounting plate. Of course, in practical applications, the reciprocating direction of the two second grippers 123 and the reciprocating direction of the two first grippers 1113 may be set at an acute angle. Optionally, the male connector 121 is provided with a stroke detection switch for monitoring the displacement of the piston rod 1213, when the piston rod 1213 moves to the upper limit, it indicates that the male connector 121 and the female connector 1111 are in a disconnected state, the stroke detection switch can give an electric signal, when the piston rod 1213 moves to the lower limit, it indicates that the male connector 121 and the female connector 1111 are in a connected state, and the stroke detection switch can give an electric signal, so that the system can monitor the motion of the present invention and perform the next step in time. Specifically, the electrical signals may be transmitted through the electrical signal box 122 provided on the male connector 121 and the female connector 1111.
In another embodiment of the present invention, as shown in fig. 4, unlike the above-described embodiment, the male connector 121 of the present embodiment has a different structure from the male connector 121 of the previous embodiment, and the reciprocating motion of the piston rod 1213 of the present embodiment is not directly driven by gas, but is realized by a driving structure, which may be a cylinder or a motor. Specifically, the male connector 121 of the present embodiment includes a sleeve 1212, and an outer diameter of a second end of the sleeve 1212 on a side close to the female connector 1111 is smaller than an outer diameter of the first end, so that the second end is movably inserted into the middle channel of the female connector 1111; the piston assembly comprises a piston rod 1213 and a ball 1214, wherein the piston rod 1213 is movably inserted in the sleeve 1212; the end of the piston rod 1213 near the female joint 1111 is provided with a conical outer surface 12131, and the second end is provided with a conical hole 12132 for accommodating the ball 1214; when the drive structure drives the piston rod 1213 to move towards the female connector 1111 side, the ball 1214 protrudes radially outward from the conical hole 12132 pushed by the conical outer surface 12131 and abuts against the conical abutment surface 11111, so that the male connector 121 and the female connector 1111 are in a connected state; when the drive arrangement drives the piston rod 1213 towards the side of the male connector 121, the balls 1214 retract radially inwards into the conical bore 12132 by the conical abutment surface 11111, so that the male connector 121 is disconnected from the female connector 1111. It can be understood that, unlike the above embodiments, the piston rod 1213 of the present embodiment is directly implemented by the driving structure, and thus the piston rod 1213 of the present embodiment may be of a variable diameter structure or a non-variable diameter structure; end cap 1211 may or may not be present (and end cap 1211 is now provided with a channel corresponding to piston rod 1213); the support ring 1215 may or may not be provided; the enclosed space 1216 and the vent passage 1217 need not be formed. In practice, the upper end of the piston rod 1213 is preferably connected to the drive structure via a connection 1219.
In another embodiment of the present invention, different from the above embodiments, the male component and the female component 111 of this embodiment are different from the male component and the female component 111 of any of the above embodiments, the male component and the female component 111 of this embodiment are screwed and connected, that is, the male component and the female component 111 are respectively provided with a matching threaded mating surface, the robot can realize the screwed connection of the male component and the female component 111 by rotating the male component, and the male component and the female component 111 are in a connected state; when the male head assembly is rotated reversely, the male head assembly and the female head assembly 111 can be screwed and separated, and the male head assembly and the female head assembly 111 are in a disconnected state. Specifically, male head subassembly and female head subassembly 111 are sleeve structure, and the inner wall of male head subassembly is equipped with the internal thread face, and the outer wall of female head subassembly 111 is equipped with the external thread face, internal thread face and external thread face spiro union. And vice versa. It can be understood that the screwing angle range of the male component and the female component 111 is more than 0 °, preferably more than 15 °, so as to increase the contact area of the male component and the female component 111, increase the bearing capacity and the connection firmness.
In another embodiment of the present invention, different from the above embodiments, the clamp block 1115 and the clamp claws 1114 of the present embodiment may also be integrally formed (in this case, there is no need to provide the counter bore 1116B or fix the connection, and in this case, the present invention is suitable for machining a fixed type aero-engine blade 3.
In another embodiment of the invention, as shown in fig. 1-10, a robot comprises a robot body and an aircraft engine blade grinding and polishing clamp system as described in any one of the above. Alternatively, as shown in fig. 9, the robot main body includes a robot base 20, a rotary base 21, a first arm segment 22, a first rotating mechanism 23, a second arm segment 24, a second rotating mechanism 25, a third arm segment 26, a third rotating mechanism 27, a fourth arm segment 28, and a mounting mechanism 29, which are connected in sequence; the rotary base 21 can drive the first arm section 22 to rotate relative to the robot base 20, the plane of the rotation is the rotation of the first plane, the first rotary mechanism 23 can drive the second arm section 24 to rotate relative to the first arm section 22, the plane of the rotation is the rotation of the second plane, the second rotary mechanism 25 can drive the third arm section 26 to rotate relative to the second arm section 24, the plane of the rotation is the rotation of the third plane, the third rotary mechanism 27 can drive the fourth arm section 28 to rotate relative to the third arm section 26, the plane of the rotation is the rotation of the fourth plane, and the mounting mechanism 29 is connected with the second grabbing component 12; two of the first plane, the second plane, the third plane and the fourth plane are parallel or form an included angle, and at least one pair of planes are arranged to form an included angle. Specifically, as shown in fig. 9 and 10, the first plane is a horizontal plane, the second plane is a vertical plane, the third plane is disposed at an angle to the second plane, the fourth plane is a vertical plane, and the fourth plane is disposed perpendicular to the second plane. Of course, the first plane, the second plane, the third plane, and the fourth plane may also be arranged in other manners, specifically, it may be enough to enable the aero-engine blade 3 to be transferred between different devices, and details are not described here. Alternatively, the mounting mechanism 29 drives the second grasping element 12 to rotate, and specifically, the mounting mechanism 29 can drive the mounting plate to move in two dimensions or three dimensions, for example, the mounting mechanism 29 can drive the mounting plate to rotate up and down (implemented by a motor), or the mounting mechanism 29 can drive the mounting plate to move up and down or swing horizontally left and right (implemented by a ball joint or two driving elements), rotate, and the like. Alternatively, the mounting plate is removably coupled to mounting mechanism 29.
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 (8)
1. The utility model provides an aeroengine blade grinds anchor clamps system of throwing which characterized in that includes:
a first grasping assembly and a second grasping assembly;
the first grabbing assembly comprises a male head assembly and a female head assembly which are matched, the male head assembly and the female head assembly can be switched between a connection state and a disconnection state, one of the male head assembly and the female head assembly is connected with the second grabbing assembly, and the other of the male head assembly and the female head assembly is provided with a first grabbing claw for grabbing an aircraft engine blade and a clamping piece matched with the second grabbing assembly; the clamping piece is connected with the first gripper, and the first gripper is arranged far away from the second gripping assembly;
the male head component is connected with the second grabbing component;
the female head assembly further comprises a female joint, and a conical abutting surface is arranged on the inner surface of one side, close to the male head assembly, of the female joint, so that the inner diameter size of one side, close to the male head assembly, of the female joint is smaller than the inner diameter size of one side, far away from the male head assembly, of the female joint;
the male head assembly comprises a male connector and a piston assembly; the male connector comprises an end cover and a sleeve, and a first end part of the sleeve, which is close to one side of the second grabbing component, is connected with the end cover; the outer diameter of the second end part of the sleeve, which is close to one side of the female joint, is smaller than that of the first end part, so that the second end part can be movably inserted into a middle channel of the female joint;
the piston assembly comprises a piston rod and a ball, the piston rod is of a diameter-variable structure, the piston rod is movably inserted into the sleeve, at least one closed space is formed in the inner space of the sleeve in a separated mode, and a ventilation channel communicated with the closed space is formed in the side wall of the sleeve; the end part of the piston rod, which is close to one side of the female joint, is provided with a conical outer surface, and the second end part is provided with a conical hole for accommodating the ball;
when the piston rod moves towards one side of the female joint, the ball is pushed by the conical outer surface to protrude outwards in the radial direction from the conical hole and abut against the conical abutting surface, so that the male joint and the female joint are in a connected state;
when the piston rod moves towards one side of the male joint, the ball retracts into the conical hole under the action of the conical abutting surface, so that the male joint and the female joint are in a disconnected state.
2. An aircraft engine blade grinding and polishing jig system as defined in claim 1, wherein:
the first gripper comprises two opposite grippers, and the two grippers can reciprocate close to or away from each other; two gripper jaw all is equipped with a anchor clamps piece near other side one side, the anchor clamps piece is equipped with the clamping part that is used for centre gripping aeroengine blade, the anchor clamps piece with gripper jaw detachable connection.
3. An aircraft engine blade grinding and polishing jig system as defined in claim 1, wherein:
the second grabbing component comprises a mounting plate, a driving mechanism and two second grabs which are oppositely arranged;
the driving mechanism is arranged on the mounting plate and drives the two second grippers to do reciprocating motion which is close to or far away from each other;
the first grabbing component is arranged on the mounting plate.
4. An aircraft engine blade grinding and polishing jig system as defined in claim 1, wherein:
the male head assembly and the female head assembly are connected in a screwing mode.
5. An aircraft engine blade grinding and polishing jig system as claimed in any one of claims 1 to 4, wherein:
the male connector is provided with a travel detection switch.
6. A robot, comprising:
a robot body and an aircraft engine blade grinding and polishing jig system as claimed in any one of claims 1 to 5.
7. The robot of claim 6, wherein:
the robot main body comprises a robot base, a rotating seat, a first arm section, a first rotating mechanism, a second arm section, a second rotating mechanism, a third arm section, a third rotating mechanism, a fourth arm section and an installation mechanism which are connected in sequence; the rotating seat can drive the first arm section to rotate relative to the robot base, the plane where the rotation is located is the rotation of a first plane, the first rotating mechanism can drive the second arm section to rotate relative to the first arm section, the plane where the rotation is located is the rotation of a second plane, the second rotating mechanism can drive the third arm section to rotate relative to the second arm section, the plane where the rotation is located is the rotation of a third plane, the third rotating mechanism can drive the fourth arm section to rotate relative to the third arm section, the plane where the rotation is located is the rotation of a fourth plane, and the mounting mechanism is connected with the second grabbing component; the first plane, the second plane, the third plane and the fourth plane are arranged in parallel or form an included angle.
8. The robot of claim 7, wherein:
the mounting mechanism drives the second grabbing component to rotate.
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| CN202010347998.8A CN111546233B (en) | 2020-04-28 | 2020-04-28 | Aero-engine blade grinding and polishing clamp system and robot |
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| CN202010347998.8A CN111546233B (en) | 2020-04-28 | 2020-04-28 | Aero-engine blade grinding and polishing clamp system and robot |
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| CN111546233B true CN111546233B (en) | 2021-10-22 |
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| CN113074658B (en) * | 2021-03-19 | 2022-05-03 | 中国科学院自动化研究所 | Intelligent detection workstation for repairing blade of aero-engine |
| CN116114723A (en) * | 2023-03-14 | 2023-05-16 | 北京途灵微电子科技有限公司 | Pancake machine tool driving system |
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| JP2015120218A (en) * | 2013-12-24 | 2015-07-02 | ダイハツ工業株式会社 | Teaching device |
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