CN117416069A - Array type variable-camber engine blade laying equipment and laying process method thereof - Google Patents
Array type variable-camber engine blade laying equipment and laying process method thereof Download PDFInfo
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- CN117416069A CN117416069A CN202311447350.8A CN202311447350A CN117416069A CN 117416069 A CN117416069 A CN 117416069A CN 202311447350 A CN202311447350 A CN 202311447350A CN 117416069 A CN117416069 A CN 117416069A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008569 process Effects 0.000 title claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 169
- 230000009471 action Effects 0.000 claims abstract description 39
- 238000003892 spreading Methods 0.000 claims abstract description 28
- 230000007480 spreading Effects 0.000 claims abstract description 28
- 238000003825 pressing Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 description 8
- 230000007547 defect Effects 0.000 description 6
- 239000002648 laminated material Substances 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/08—Blades for rotors, stators, fans, turbines or the like, e.g. screw propellers
- B29L2031/082—Blades, e.g. for helicopters
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The invention relates to an array type variable-camber engine blade laying device and a laying process method thereof, wherein the device comprises a material moving robot, a workbench and a blade mould are arranged in an operation area outside the circumference of the material moving robot, the blade mould is positioned in the operation area of a material pressing robot, and a press roll assembly is arranged at the execution end of the material pressing robot; the execution end of the material moving robot is provided with a material spreading executor, the material spreading executor comprises at least two rows of suction pipes which are downwards arranged, and the single suction pipes are connected with an external air source; the suction pipes are used for sucking up the sheet bars horizontally placed on the workbench, the suction pipes are driven to move by the suction action units, the adsorbed sheet bar space is caused to deform into a curved surface, after the pre-deformation of the sheet bars is completed, the sheet bars are transferred to the upper part of the blade mould by the material moving robot, the suction pipes are turned to be blown, the sheet bars are attached to the surface of the mould and pre-pressed, and the action of the material pressing robot is combined, so that the automatic laying and the folding of the blades are realized, and the efficiency and the effect of blade forming are greatly improved and guaranteed.
Description
Technical Field
The invention relates to the technical field of engine blade forming equipment, in particular to array type variable-camber engine blade laying equipment and a laying process method thereof.
Background
The engine is used as a power source of vehicles such as airplanes, automobiles, ships and the like, is a heart of the vehicles, and determines the power performance, economy, stability and environmental protection of the vehicles. The composite material has the characteristics of excellent material performance and lighter weight than the metal material, and has better dynamic property, economy, stability and environmental protection. Turbine blades of aeroengines, turbine blades of automobile engines, and the like are increasingly being made of carbon fiber composite materials as the most important components in the engines. The carbon fiber blade is much lighter than the metal blade, the weight is only half of that of the titanium alloy, the effect is very remarkable, on the other hand, the composite material is better processed than metal, and a complex curved surface is easier to manufacture, so that the blade can be more attached to the air flow when working, and the working efficiency is improved; in contrast, it is very difficult to process the metal blade into a complex curved surface, thereby reducing the engine operating efficiency.
Existing engine blades, such as aero-engine blades, that use composite materials are manufactured in one of the following ways: and paving the laminated materials on the designed engine blade mould, wherein the engine blade is formed by multi-layer laminated materials, each layer of laminated materials is cut into different sheet material strips before being paved so as to adapt to and fit with the variable camber of the engine blade, each layer of laminated materials are paved to form a sheet material, the multi-layer laminated materials are paved to form a complete engine blade, and the working procedures of cutting, removing scraps, burrs and the like are carried out after the paving is completed, so that the engine blade product is finally formed. The existing sheet material strip is paved manually, one sheet material is paved by a worker, and another sheet material is paved until the last sheet material strip is paved.
The existing manufacturing method of manual laying has obvious defects:
1. the working efficiency is low: because the engine blade is formed by combining a plurality of sheet strips, such as an aeroengine blade is formed by more than three thousand sheet strips, the existing laying technology is manual laying, workers tear off a protective film from a first sheet strip and then lay the sheet strips according to the laser irradiation position, after finishing the laying, trowelling and compacting are performed, and then the next sheet strip is laid in sequence, so that the time for finishing the laying of the engine blade usually takes a month.
Meanwhile, due to the fact that the problems and defects that the sheet material strips are wrong in laying or taking, overlapping, overlarge distance between adjacent sheet material strips and the like are prone to occurring in the process of laying by workers, the sheet material strips need to be corrected and then repeatedly laid when the problems occur, a large amount of manpower is consumed in the process, and the laying time is longer.
2. The product quality is poor: in the correction repeated laying process, the defect sheet strips are often required to be torn off, and in the tearing process, the sheet strips which are laid in the previous step are often influenced, so that new defects such as wrinkles and adhesion appear, and the defects are small and are easily ignored by staff, so that the service life of engine blades is reduced in the subsequent use process, and even the engine is in fault.
3. The material utilization rate is low: after the error occurs in the laying process, a worker takes off the sheet material strip with the error in the laying process and then uses the new sheet material strip to lay the sheet material strip again, the old sheet material strip can be discarded, and a large number of discarded sheet material strips can occur in the layer-by-layer laying process of single blades, so that economic waste and environmental pollution are caused.
Disclosure of Invention
The applicant provides the blade laying equipment of the array type variable camber engine with reasonable structure and the laying process method thereof aiming at the defects in the prior production technology, thereby realizing automatic laying of the blades, greatly improving and ensuring the efficiency and the effect of blade forming and ensuring the effective utilization rate of materials.
The technical scheme adopted by the invention is as follows:
the blade laying equipment of the array type variable-camber engine comprises a material moving robot, wherein a workbench and a blade die are arranged in an operation area outside the circumferential direction of the material moving robot, the blade die is positioned in the operation area of a material pressing robot, and a press roller assembly is arranged at the execution end of the material pressing robot; the execution end of the material moving robot is provided with a material spreading executor, the material spreading executor comprises at least two rows of suction pipes which are downwards arranged, and the single suction pipes are connected with an external air source; the suction pipes suck up the sheet strips horizontally placed on the workbench together, and each suction pipe is driven by the suction action unit to move so as to promote the space of the sucked sheet strips to deform into a curved surface.
As a further improvement of the above technical scheme:
the two rows of suction pipes are respectively adsorbed at the edges of two opposite sides of the sheet material strip; the pipe orifices at the bottom end of the single suction pipe are all horizontally arranged.
The lower parts of the two rows of suction pipes are bent inwards in opposite directions, and the two rows of suction pipes are distributed at intervals in the distribution direction.
The structure of the spreading executor is as follows: the device comprises a support seat which is arranged at the execution end of the material moving robot, one end of the support seat extends downwards at intervals to form a fixed frame, the other end of the support seat is slidably provided with a movable frame, and the movable frame is driven by a linear driving mechanism to approach or depart from the fixed frame; and a plurality of sucking action units are sequentially arranged in the movable frame and the fixed frame respectively, and are in one-to-one correspondence with the suction pipes, and the sucking action units drive the suction pipes to move transversely, longitudinally and vertically.
When the movable frame moves to the limit position towards the fixed frame, a spacing distance exists between the bottom ends of the two rows of suction pipes.
The structure of the single material sucking action unit is as follows: the device comprises a main frame, wherein a transverse moving frame is arranged in the main frame and driven by transverse driving to transversely move relative to the main frame; the transverse moving frame is internally provided with a longitudinal moving frame which is driven by longitudinal driving to longitudinally move relative to the transverse moving frame; the suction pipe penetrates through the longitudinal moving frame, the longitudinal moving frame is provided with a vertical drive, and the output end of the vertical drive is fixedly arranged with the suction pipe.
The top surface of the workbench is fully provided with contact convex parts, the contact convex parts are orderly arranged convex teeth or convex edges, and the top ends of the contact convex parts are contacted with the supporting sheet material strips.
The device also comprises a vision system, wherein the lens of the vision system faces downwards to the table top of the workbench.
The laying process method of the array type variable-camber engine blade laying equipment comprises the following steps of:
horizontally placing a sheet strip of the torn film on a workbench;
the material moving robot drives the material spreading actuator to move to the upper part of the sheet material strip, the material spreading actuator descends to approach the sheet material strip, and the sheet material strip is adsorbed by the suction pipe in combination with an external air source;
the suction action units work to drive the corresponding suction pipes to move, and the space of the sheet material strips adsorbed below the suction pipes is deformed into a preset curved surface along with the action of each suction pipe, so that the pre-deformation is completed;
the material moving robot drives the spreading executor to move to a preset position above the blade mould, the sheet material strip is close to the surface of the blade mould, and the suction pipe is turned to blow, so that the sheet material strip is attached to the surface of the mould and forms prepressing;
the material pressing robot drives the press roller assembly to roll back and forth on the sheet material strip on the blade die.
As a further improvement of the above technical scheme:
also includes a vision system;
the vision system recognizes the shape of a sheet bar horizontally placed on the workbench, and curve data of long edges on two sides of the sheet bar are transmitted to the controller;
the suction action units work to drive the corresponding suction pipes to act, so that the configuration of the single-row suction pipes is consistent with the long-side curves of the sheet strips, and then the work of the material moving robot is combined to drive the spreading executor to move to the upper part of the workbench, and the sheet strips are adsorbed by the suction pipes from the edges of the long sides of the two sides.
The beneficial effects of the invention are as follows:
the suction device is compact and reasonable in structure and convenient to operate, the suction pipe sucks the sheet material strips horizontally placed on the workbench, the suction action unit drives the suction pipe to move, the space of the sucked sheet material strips is promoted to deform into a curved surface, after the pre-deformation of the sheet material strips is completed, the sheet material strips are transferred to the upper part of the blade mould by the material transfer robot, the suction pipe is turned to be blown, the sheet material strips are attached to the surface of the mould and pre-pressed, and the action of the material pressing robot is combined, so that the automatic laying and the folding of the blades are realized, the efficiency and the effect of blade forming are greatly improved, and the effective utilization rate of materials is ensured;
the invention also has the following advantages:
the mechanical and intelligent material sheet laying is adopted to completely replace manual laying and rolling, so that all-weather uninterrupted work can be realized, the laying operation is controllable, and errors are not easy to occur.
The suction action units are in one-to-one correspondence with the suction pipes, so that the suction pipes can be independently moved in the transverse direction, the longitudinal direction and the vertical direction, the suction of the suction pipes is matched with the suction of edge sheet strips with different shapes, the pre-deformation of different deformation surfaces is realized, and the use flexibility and the applicability are improved;
after the suction pipes adsorb the sheet strips, the pre-deformation of the sheet strips is realized through the movement of each suction pipe, and then the pre-deformed sheet strips are pre-pressed and placed on a blade die; through placing the sheet stock strip on the blade mould after predeformation, can effectively guarantee laminating between sheet stock strip and the blade mould to make the deformation of sheet stock strip controllable, helping hand is in the guarantee and is spread the shaping effect.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic view of the construction of the paving actuator of the present invention.
Fig. 3 is an exploded view of the paving actuator of the present invention.
FIG. 4 is a schematic view of the traveling carriage of the paving machine according to the present disclosure as it moves to a limit.
Fig. 5 is a schematic structural diagram of a suction motion unit according to the present invention.
Fig. 6 is an exploded view of the suction action unit of the present invention.
Fig. 7 is a schematic structural view of the workbench of the invention.
FIG. 8 is a schematic view of a paving actuator according to the present invention as it draws a strip of sheet material from a table.
Fig. 9 is a schematic view of the pre-deformation of the sucked sheet material strip by the paving machine according to the present disclosure.
Fig. 10 is a schematic view showing a state in which a pressing robot of the present invention rolls a strip of material on a blade die.
FIG. 11 is a schematic view of the laying of a strip of material on a blade mould according to the invention.
Wherein: 1. a blade mold; 2. a material pressing robot; 3. a work table; 4. a paving actuator; 5. a vision system; 6. a material transferring robot; 7. a press roll assembly; 8. a strip of sheet stock;
30. a contact protrusion;
40. a suction pipe; 41. a support; 42. a linear driving mechanism; 43. a fixing frame; 44. a material sucking action unit; 45. a moving rack; 46. a guide assembly; 401. a support plate;
441. a main frame; 442. a transverse moving frame; 443. a longitudinally moving frame; 444. driving vertically; 445. driving transversely; 446. longitudinally driving; 4411. a riser; 4431. an extension plate.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
As shown in fig. 1 and 2, the arrayed variable-camber engine blade laying equipment of the embodiment comprises a material moving robot 6, wherein a workbench 3 and a blade mould 1 are arranged in a working area outside the circumference of the material moving robot 6, the blade mould 1 is positioned in a working area of a material pressing robot 2, and a press roller assembly 7 is arranged at the execution end of the material pressing robot 2; the execution end of the material moving robot 6 is provided with a material spreading executor 4, the material spreading executor 4 comprises at least two rows of suction pipes 40 which are downwards arranged, and the single suction pipes 40 are connected with an external air source; the suction pipes 40 suck up the sheet strips 8 horizontally placed on the workbench 3 together, and each suction pipe 40 is driven by the suction action unit 44 to move so as to promote the space of the sucked sheet strips 8 to deform into a curved surface.
In this embodiment, the suction pipe 40 sucks the sheet material strip 8 horizontally placed on the workbench 3, the suction action unit 44 drives the suction pipe 40 to move, the space of the sucked sheet material strip 8 is promoted to deform into a curved surface, after the pre-deformation of the sheet material strip 8 is completed, the sheet material strip 8 is transferred to the upper part of the blade die 1 by the material transfer robot 6, the suction pipe 40 is turned to blow, the sheet material strip 8 is attached to the surface of the die and pre-pressed, and the action of the material pressing robot 2 is combined, so that the automatic laying and stacking of the blade are realized.
In this embodiment, after the suction pipes 40 adsorb the sheet material strips 8, the pre-deformation of the sheet material strips 8 is achieved by the movement of each suction pipe 40, and then the pre-deformed sheet material strips 8 are pre-pressed and placed on the blade mold 1; through placing the sheet stock strip 8 on the blade mould 1 after predeformation, can effectively guarantee the laminating between sheet stock strip 8 and the blade mould 1 to make the deformation of sheet stock strip 8 controllable, helping hand is in the guarantee and is spread the shaping effect.
The suction pipes 40 are distributed with two rows, and the two rows of suction pipes 40 are respectively adsorbed at the edges of two opposite sides of the sheet material strip 8, so that stable and reliable adsorption of the sheet material strip 8 is realized, and the pre-deformation after adsorption can be effectively ensured; the pipe orifices at the bottom end of the single suction pipe 40 are all horizontally arranged, so that the contact and the lamination of the pipe orifices of the suction pipe 40 and the sheet material strips 8 are effectively ensured.
In actual production and use, the suction pipes 40 can be arranged into three rows, four rows and the like as required, the suction pipes 40 are adsorbed on the edges of the sheet strips 8 based on two rows of edges, the rest suction pipes 40 are adsorbed on the middle parts of the sheet strips 8, and the sheet strips 8 can be flexibly formed into preset and relatively complex space curved surfaces by driving the suction pipe 40 by the suction action units 44, so that the follow-up laying and stacking are facilitated.
In this embodiment, the suction pipes 40 are simply arranged in two rows, corresponding to the suction of the edges of the two sides of the sheet 8, by comprehensively considering the size and deformation requirements of the single sheet 8 and the structure and volume of the paving actuator 4.
The lower parts of the two rows of suction pipes 40 are oppositely and inwards bent, so that the narrow-size sheet strips 8 can be used conveniently; the two rows of suction pipes 40 are distributed at intervals in the arrangement direction, assist in realizing the space curved surface in the pre-deformation, and ensure reliable and stable adsorption to the sheet strips 8.
As shown in fig. 3, the paving material actuator 4 has the following structure: the device comprises a support 41 arranged at the execution end of a material moving robot 6, wherein one end of the support 41 extends downwards at intervals to form a fixed frame 43, the other end of the support 41 is slidably provided with a movable frame 45, and the movable frame 45 is driven by a linear driving mechanism 42 to approach or separate from the fixed frame 43; a plurality of sucking action units 44 are sequentially arranged in the moving frame 45 and the fixed frame 43 respectively, the sucking action units 44 are in one-to-one correspondence with the suction pipes 40, and the sucking action units 44 drive the suction pipes 40 to move transversely, longitudinally and vertically.
In this embodiment, the suction action units 44 are in one-to-one correspondence with the suction pipes 40, so that the suction pipes 40 can be independently moved in the transverse direction, the longitudinal direction and the vertical direction, and the suction pipes are matched with the suction of the edge sheet strips 8 with different shapes and the pre-deformation of different deformation surfaces, thereby improving the flexibility and the applicability of use.
In this embodiment, the top of the moving frame 45 is embedded and matched with the bottom of the support 41 through a concave-convex structure to form a guiding component 46, for example, a dovetail-shaped concave-convex fitting structure, a T-shaped concave-convex fitting structure, etc., so that on one hand, the moving frame 45 is mounted on the support 41, and on the other hand, smooth and reliable movement of the moving frame 45 relative to the support 41 is assisted.
In this embodiment, the linear driving mechanism 42 is horizontally mounted on the side of the support 41, and the end portion of the moving frame 45 extends toward the output end of the linear driving mechanism 42, and the linear driving mechanism 42 acts to drive the moving frame 45 to move horizontally toward or away from the fixing frame 43, so as to be suitable for adsorbing the sheet strips 8 with different widths.
As shown in fig. 4, when the moving frame 45 moves toward the fixed frame 43 to the limit position, a space distance exists between the bottom ends of the two rows of suction pipes 40, so as to realize the suction of the sheet material strips 8 with small size and width.
As shown in fig. 5 and 6, the structure of the single suction action unit 44 is: comprises a main frame 441, wherein a transverse moving frame 442 is arranged in the main frame 441, and the transverse moving frame 442 is driven by a transverse drive 445 to transversely move relative to the main frame 441; a longitudinal moving frame 443 is arranged in the transverse moving frame 442, and the longitudinal moving frame 443 is driven by a longitudinal drive 446 to longitudinally move relative to the transverse moving frame 442; the vertical moving frame 443 is internally penetrated and assembled with the suction pipe 40, the vertical driving 444 is arranged on the vertical moving frame 443, and the output end of the vertical driving 444 is fixedly arranged with the suction pipe 40, so that the suction pipe 40 is respectively driven to move transversely, longitudinally and vertically through the respective actions of the transverse driving 445, the longitudinal driving 446 and the vertical driving 444.
In this embodiment, a riser 4411 extends upward from the top surface of the main frame 441, a transverse drive 445 is rotatably mounted on the riser 4411, and an output end of the transverse drive 445 is rotatably mounted on the transverse moving frame 442, so that the transverse moving frame 442 is driven to move transversely relative to the main frame 441 by the action of the transverse drive 445.
In this embodiment, a longitudinal driving 446 is mounted on a side surface of the lateral moving frame 442, and an output end of the longitudinal driving 446 horizontally penetrates into the lateral moving frame 442 and is assembled with the longitudinal moving frame 443, so that the longitudinal moving frame 443 is driven to move longitudinally relative to the lateral moving frame 442 by action of the longitudinal driving 446.
In this embodiment, an extension plate 4431 extends laterally from the top surface of the longitudinal moving frame 443, a vertical driving unit 444 is mounted on the extension plate 4431, a support plate 401 extends laterally from the outer wall surface of the suction pipe 40 in the longitudinal moving frame 443, a long slot for relatively moving the support plate 401 up and down is formed on the side surface of the longitudinal moving frame 443, and the output end of the vertical driving unit 444 is mounted on the support plate 401 downward; the suction pipe 40 is driven to move vertically with respect to the vertical moving frame 443 by the action of the vertical drive 444.
In this embodiment, the main frames 441 of the respective suction units 44 are sequentially and orderly arranged in the fixing frame 43 and the moving frame 45, so as to form the layout of the double rows of suction pipes 40 in the paving machine 4.
As shown in fig. 7, the top surface of the workbench 3 is fully covered with contact convex parts 30, the contact convex parts 30 are orderly arranged convex teeth or convex edges, and the top ends of the contact convex parts 30 contact with the supporting sheet material strips 8.
In this embodiment, the contact convex portion 30 is disposed on the top surface of the workbench 3, so that the contact area is minimized while the top surface of the workbench 3 supports the sheet material strip 8, so as to prevent the bottom surface of the sheet material strip 8 from adhering to the workbench 3, and ensure smooth and stable adsorption of the sheet material strip 8 by the spreading actuator 4.
Also included is a vision system 5, the vision system 5 facing downward against the top of the table 3.
In this embodiment, the vision system 5 is used to grasp the shape and size of the sheet material strip 8 placed on the workbench 3, and feed the shape and size back to the control system in time, so that the overall control of the laying work by the control system is facilitated, and the sheet material strip can be matched and checked with the blade mould 1 and the blade design mould in time.
In this embodiment, the suction pipe 40 is connected to an external air pump, and the suction and blowing operation of the suction pipe 40 is realized by the operation of the air pump.
In the embodiment, the material pressing robot 2, the material moving robot 6 and the vision system 5 can be all commercial standard products, and can realize the degree of freedom, stroke use and working precision in the material spreading process; for example, the material moving robot 6 may be a six-degree-of-freedom robot, and has three translational motions up and down, left and right, front and back, three rotational degrees of pitching, rolling and yawing relative to the base, and the material pressing robot 2 may be a similar six-axis robot.
The press roller assembly 7 fitted to the end of the press robot 2 is composed of a flexible roller and a roller frame, the flexible roller being rotatable axially about itself.
The paving equipment in the embodiment adopts mechanization and intellectualization to carry out paving of the material sheets, completely replaces manual paving and rolling, not only can realize all-weather uninterrupted work, but also has controllable paving operation and is not easy to make mistakes.
The paving process method of the array type variable-camber engine blade paving equipment comprises the following steps of:
placing the strip of film-torn material 8 horizontally on the table 3;
the material moving robot 6 drives the material spreading actuator 4 to move above the sheet material strip 8, the material spreading actuator 4 descends to approach the sheet material strip 8, and the sheet material strip 8 is adsorbed by the suction pipe 40 in combination with an external air source, as shown in fig. 8;
the suction action unit 44 works to drive the corresponding suction pipe 40 to move, and the space of the sheet material strip 8 adsorbed below the suction pipe 40 deforms to a preset curved surface along with the action of each suction pipe 40, so as to complete the pre-deformation, as shown in fig. 9;
the material moving robot 6 drives the spreading executor 4 to move to a preset position above the blade mould 1, the sheet material strip 8 is close to the surface of the blade mould 1, and the suction pipe 40 rotates to blow, so that the sheet material strip 8 is attached to the surface of the mould and forms prepressing;
the pressing robot 2 drives the pressing roller assembly 7 to roll back and forth on the sheet strip 8 on the blade die 1 as shown in fig. 10.
Also comprises a vision system 5;
the vision system 5 recognizes the shape of the sheet material strip 8 horizontally placed on the workbench 3, and curve data of the long sides of the two sides of the sheet material strip 8 are transmitted to the controller;
the suction action unit 44 works to drive the corresponding suction pipe 40 to act, so that the configuration of the single-row suction pipe 40 is consistent with the long-side curve of the sheet material strip 8, and then the work of the material moving robot 6 is combined to drive the spreading executor 4 to move to the upper part of the workbench 3, and the suction pipe 40 adsorbs the sheet material strip 8 from the edges of the long sides to realize curve fitting suction.
According to the molding requirements of the blade, the sheet material strip 8 is usually cut into a strip-shaped structure with irregular edges, and the two sides of the sheet material strip 8 are provided with protective films.
In actual lay-up, the process of laying up the engine blades is:
a. the staff tears off the films on the two sides of the sheet material strip 8 and places the sheet material strip on the workbench 3;
b. the vision system 5 recognizes the shape of the sheet material strip 8 and transmits two long-side curve data of the sheet material strip 8 to the material moving robot 6 and the control system;
c. because the data model of the engine mould is known, the laying position of each sheet material strip 8 is known, the curve of the mould position where the edges of the two sides of each sheet material strip 8 are positioned is known, and the control system collects and processes the sheet material strips;
d. the control system plans the action of the linear driving mechanism 42 by comprehensively processing the curve of the sheet bar 8 and the curve of the mould, and the positions of the suction pipe 40 in the front-back up-down, left-right and front-back directions are adsorbed, so that motion data are transmitted to the motion unit of the paving material executor 4;
e. the control system controls a moving unit in the spreading executor 4 to fit the shapes of the edges of the two sides of the sheet material strip 8, and the material moving robot 6 drives the spreading executor 4 to reach the place where the sheet material strip 8 above the workbench 3 is placed, and absorbs the sheet material strip 8;
f. the spreading executor 4 sucks the sheet material strip 8 along the edge shape, moves to the upper space of the blade mould 1, starts secondary variable-surface movement and fits the corresponding curved surface of the mould position where the spread sheet material strip 8 is positioned;
g. the material moving robot 6 drives the spreading executor 4 and the sheet material strip 8 to move downwards to the position of the sheet material strip 8 on the blade mould 1, so that after the sheet material strip 8 is attached to the surface of the blade mould 1, the suction pipe 40 is turned to blow, and the sheet material strip 8 and the mould surface have certain pre-pressing;
h. the material pressing robot 2 drives the flexible roller on the press roller assembly 7 to start to roll the sheet material strip 8 which is already put in place, and the flexible roller presses back and forth for many times.
As shown in fig. 11, the effect of the plurality of sheet bars 8 being stacked on the blade mold 1 is shown.
The invention realizes automatic laying of the blades, greatly improves and ensures the efficiency and effect of blade forming, and ensures the effective utilization rate of materials.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (10)
1. The utility model provides an array type variable camber engine blade shop equipment, includes and moves material robot (6), its characterized in that: a workbench (3) and a blade die (1) are arranged in an operation area outside the circumference of the material moving robot (6), the blade die (1) is positioned in an operation area of the material pressing robot (2), and a press roll assembly (7) is arranged at the execution end of the material pressing robot (2); the execution end of the material moving robot (6) is provided with a material spreading executor (4), the material spreading executor (4) comprises at least two rows of downward-arranged suction pipes (40), and the single suction pipes (40) are connected with an external air source; the suction pipes (40) suck up the sheet strips (8) horizontally placed on the workbench (3), and each suction pipe (40) is driven by the suction action unit (44) to move so as to promote the space deformation of the sucked sheet strips (8) into a curved surface.
2. The arrayed variable camber engine blade lay-up device of claim 1, wherein: two rows of suction pipes (40) are arranged, and the two rows of suction pipes (40) are respectively adsorbed at the edges of two opposite sides of the sheet material strip (8); the pipe orifices at the bottom ends of the single suction pipes (40) are all horizontally arranged.
3. The arrayed variable camber engine blade lay-up device of claim 2, wherein: the lower parts of the two rows of suction pipes (40) are bent inwards in opposite directions, and the two rows of suction pipes (40) are distributed at intervals in the distribution direction.
4. The arrayed variable camber engine blade lay-up device of claim 1, wherein: the structure of the spreading executor (4) is as follows: the device comprises a support (41) arranged at the execution end of a material moving robot (6), wherein one end of the support (41) extends downwards at intervals to form a fixed frame (43), the other end of the support (41) is slidably provided with a movable frame (45), and the movable frame (45) is driven by a linear driving mechanism (42) to approach or separate from the fixed frame (43); a plurality of sucking action units (44) are sequentially arranged in the moving frame (45) and the fixed frame (43) respectively, the sucking action units (44) are in one-to-one correspondence with the suction pipes (40), and the sucking action units (44) drive the suction pipes (40) to move transversely, longitudinally and vertically.
5. The arrayed variable camber engine blade lay-up device of claim 4, wherein: when the movable frame (45) moves to the limit position towards the fixed frame (43), a spacing distance exists between the bottom ends of the two rows of suction pipes (40).
6. The arrayed variable camber engine blade lay-up device of claim 1 or 4, wherein: the structure of the single material sucking action unit (44) is as follows: comprises a main frame (441), wherein a transverse moving frame (442) is arranged in the main frame (441), and the transverse moving frame (442) is driven by a transverse drive (445) to transversely move relative to the main frame (441); a longitudinal moving frame (443) is arranged in the transverse moving frame (442), and the longitudinal moving frame (443) is driven by a longitudinal drive (446) to longitudinally move relative to the transverse moving frame (442); the suction pipe (40) is arranged in the longitudinal moving frame (443) in a penetrating mode, a vertical driving device (444) is arranged on the longitudinal moving frame (443), and the output end of the vertical driving device (444) is fixedly arranged with the suction pipe (40).
7. The arrayed variable camber engine blade lay-up device of claim 1, wherein: the top surface of the workbench (3) is fully provided with contact convex parts (30), the contact convex parts (30) are orderly arranged convex teeth or convex edges, and the top ends of the contact convex parts (30) are contacted with the supporting sheet strips (8).
8. The arrayed variable camber engine blade lay-up device of claim 1, wherein: the device also comprises a vision system (5), and the lens of the vision system (5) faces downwards to the table top of the workbench (3).
9. A method of lay-up process for an arrayed variable camber engine blade lay-up device according to claim 1, wherein: the method comprises the following steps:
horizontally placing a sheet strip (8) for tearing off the film on a workbench (3);
the material moving robot (6) drives the material spreading actuator (4) to move to the position above the sheet material strip (8), the material spreading actuator (4) descends to approach the sheet material strip (8), and the sheet material strip (8) is adsorbed by the suction pipe (40) in combination with an external air source;
the suction action unit (44) works to drive the corresponding suction pipes (40) to move, and the space of the sheet material strips (8) adsorbed below the suction pipes (40) is deformed into a preset curved surface along with the action of each suction pipe (40), so that the pre-deformation is completed;
the material moving robot (6) drives the spreading executor (4) to move to a preset position above the blade mould (1), the sheet material strip (8) is close to the surface of the blade mould (1), and the suction pipe (40) rotates to blow, so that the sheet material strip (8) is attached to the surface of the mould and forms prepressing;
the material pressing robot (2) drives the press roller assembly (7) to roll back and forth on the sheet material strip (8) on the blade die (1).
10. The method of lay-up process for an arrayed variable camber engine blade lay-up device according to claim 9, wherein: also comprises a vision system (5);
the vision system (5) recognizes the shape of the sheet material strip (8) horizontally placed on the workbench (3), and curve data of the long sides of the sheet material strip (8) are transmitted to the controller;
the suction action unit (44) works to drive the corresponding suction pipe (40) to act, so that the configuration of the single-row suction pipe (40) is consistent with the long-side curve of the sheet material strip (8), and then the work of the material moving robot (6) is combined to drive the spreading executor (4) to move to the upper part of the workbench (3), and the sheet material strip (8) is adsorbed by the suction pipe (40) from the edges of the long sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311447350.8A CN117416069A (en) | 2023-11-02 | 2023-11-02 | Array type variable-camber engine blade laying equipment and laying process method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311447350.8A CN117416069A (en) | 2023-11-02 | 2023-11-02 | Array type variable-camber engine blade laying equipment and laying process method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117416069A true CN117416069A (en) | 2024-01-19 |
Family
ID=89532372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311447350.8A Pending CN117416069A (en) | 2023-11-02 | 2023-11-02 | Array type variable-camber engine blade laying equipment and laying process method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117416069A (en) |
-
2023
- 2023-11-02 CN CN202311447350.8A patent/CN117416069A/en active Pending
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