CN213889482U

CN213889482U - A manipulator for aeroengine blade normal position is polished

Info

Publication number: CN213889482U
Application number: CN202022632462.9U
Authority: CN
Inventors: 曾祥瑞; 李玉帅
Original assignee: Civil Aviation University of China
Current assignee: Civil Aviation University of China
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2021-08-06
Anticipated expiration: 2030-11-13

Abstract

The utility model discloses a manipulator for aircraft engine blade normal position is polished relates to mechanical equipment technical field, including the sill table, the top fixed mounting of sill table has the foundation, the top fixed mounting of foundation has robotic arm, robotic arm's top fixed mounting has the sander. The utility model discloses an installation robotic arm, an arm, the transmission piece, No. two arms, the rotation bolt, No. three arms, No. two hydraulic stem and sander mutually support, when starting machinery and polishing, at first the hydraulic stem drives an arm function, then No. two arm functions are driven to an arm, then No. three arm functions are driven by the rotation bolt again, make the sander on No. three arms can be accurate fall on the place that will polish, make and possess the function that machinery was polished, when solving polishing at engine blade, the manual work very slow and difficult of polishing, lead to artifical inefficiency, and polish very roughly, influence engine blade's normal use problem.

Description

A manipulator for aeroengine blade normal position is polished

Technical Field

The utility model relates to a manipulator relates to mechanical equipment technical field, concretely relates to manipulator that is used for aircraft engine blade normal position to polish.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, has been widely applied to the fields of industrial assembly, safety explosion prevention and the like due to the unique operation flexibility, and has uncertainty such as parameter perturbation, external interference, unmodeled dynamics and the like. The following problems exist in the prior art:

1. among the prior art, when engine blade's the polishing, generally adopt artifical polishing, the manual work very slow and difficult of polishing leads to artifical inefficiency, and polishes very roughly, influences engine blade's normal use problem.

2. Among the prior art, at the in-process of polishing, can produce a large amount of waste materials, long-term piling up can make the waste material get into inside the engine, lead to the engine abnormal operation, cause the damage of engine, influence the normal operating of equipment.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the utility model is to provide a manipulator for in-situ grinding of aero-engine blades, one of which aims to have the function of mechanical grinding, and the problems that manual grinding is generally adopted when the aero-engine blades are ground, the manual grinding is very slow and difficult, the manual efficiency is low, the grinding is very rough, and the normal use of the aero-engine blades is influenced are solved; wherein another purpose is in order to possess the function of the waste material of automatic clearance polishing, and the convenience is favorable to the normal operating of engine to the processing of waste material, has solved at the in-process of polishing, can produce a large amount of waste materials, and long-term piling up can make the waste material get into the engine inside, leads to the engine abnormal operation, causes the damage of engine, influences the normal operating problem of equipment.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:

the utility model provides a manipulator for aeroengine blade normal position is polished, includes the sill, the top fixed mounting of sill has the foundation, the top fixed mounting of foundation has robotic arm, robotic arm's top fixed mounting has the sander.

The utility model discloses technical scheme's further improvement lies in: the bottom of robotic arm is provided with the arm No. one, the transmission piece has been cup jointed in the top activity of arm No. one, the top swing joint of transmission piece has the arm No. two, the top movable mounting of arm No. two has rotatory bolt, the top swing joint of rotatory bolt has the arm No. three, the top fixed connection of arm No. three is in the bottom of sander.

The utility model discloses technical scheme's further improvement lies in: the cleaning device is fixedly arranged inside the base table, an inlet is formed in one side of the base table, the wind power motor is fixedly arranged at the top of the inside of the base table, and the filter bag is fixedly arranged at the bottom of the base table.

The utility model discloses technical scheme's further improvement lies in: the inner top of the bottom column is fixedly provided with a disc, the bottom fixing device of the disc is provided with a cylinder, the bottom of the cylinder is fixedly provided with a fixing block, and the bottom of the fixing block is fixedly provided with a chassis.

The utility model discloses technical scheme's further improvement lies in: the top fixed mounting of foundation has the dog, one side of dog is provided with hydraulic stem No. one.

The utility model discloses technical scheme's further improvement lies in: one side of the first arm is provided with a second hydraulic rod, and the other end of the second hydraulic rod is arranged on one side of the second arm.

The utility model discloses technical scheme's further improvement lies in: and the bottom of the mechanical arm is fixedly provided with a pressing block, and the bottom of the pressing block is fixedly arranged at the top of the bottom column.

Owing to adopted above-mentioned technical scheme, the utility model discloses relative prior art, the technological progress who gains is:

1. the utility model provides a manipulator for aircraft engine blade normal position is polished, through installing robotic arm, an arm, the transmission piece, No. two arms, the rotating bolt, No. three arms, No. two hydraulic stem and sander mutually support, when starting machinery and polishing, at first No. one the hydraulic stem drives an arm function, then No. two arm functions are driven to an arm, then drive No. three arm functions by the rotating bolt again, make the sander on No. three arms can be accurate fall in the place that will polish, make and possess the function that machinery was polished, when solving polishing at engine blade, generally adopt the manual work to polish, the manual work is polished very slowly and difficultly, lead to the manual efficiency low, and polish very coarse, influence engine blade's normal use problem.

2. The utility model provides a manipulator for aircraft engine blade normal position is polished, through installing cleaning device, the inlet port, wind motor and filter bag are mutually supported, start cleaning device when polishing and producing certain waste material, at first start wind motor and produce a suction, make the waste material that polishes and drop store in advancing the filter bag from the inlet port, make equipment possess the function of the waste material of automatic clearance polishing, the convenience is to the processing of waste material, be favorable to the normal operating of engine, the in-process of polishing has been solved, can produce a large amount of waste materials, long-term piling up, can make the waste material get into inside the engine, lead to the engine abnormal operation, cause the damage of engine, influence the normal operating problem of equipment.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic side view of the present invention;

fig. 3 is a schematic structural view of a second hydraulic rod of the present invention;

fig. 4 is a schematic view of the internal structure of the bottom pillar of the present invention.

In the figure: 1. a base table; 11. a disc; 12. a cylinder; 13. a fixed block; 14. a chassis; 2. a bottom pillar; 21. a stopper; 22. a first hydraulic rod; 3. a robot arm; 31. an arm I; 32. a transmission block; 33. arm II; 34. rotating the bolt; 35. arm III; 36. a second hydraulic rod; 4. a sander; 5. a cleaning device; 51. an inlet port; 52. a wind motor; 53. a filter bag; 6. and (7) briquetting.

Detailed Description

The present invention will be described in further detail with reference to the following examples:

example 1

As shown in fig. 1-4, the utility model provides a manipulator for aeroengine blade normal position is polished, including base frame 1, the top fixed mounting of base frame 1 has foundation 2, the top fixed mounting of foundation 2 has robotic arm 3, robotic arm 3's top fixed mounting has sander 4, robotic arm 3's bottom is provided with an arm 31, driving block 32 has been cup jointed in the top activity of an arm 31, the top swing joint of driving block 32 has No. two arms 33, the top movable mounting of No. two arms 33 has swivel bolt 34, swivel bolt 34's top swing joint has No. three arms 35, the top fixed connection of No. three arms 35 is in sander 4's bottom.

In this embodiment, first hydraulic stem 22 drives an arm 31 and operates, then an arm 31 drives an arm 33 and operates, then an arm 35 is driven by a rotating bolt 34 to operate, so that sander 4 on the arm 35 can accurately land on the place where the engine blade is to be sanded, and the mechanical sanding function is achieved.

As shown in fig. 1-4, in the present embodiment, preferably, a cleaning device 5 is fixedly installed inside the base platform 1, an inlet 51 is opened on one side of the base platform 1, an air motor 52 is fixedly installed on the top inside the base platform 1, a filter bag 53 is fixedly installed on the bottom of the base platform 1, by installing the cleaning device 5, the air motor 52 is firstly started to generate a suction force, so that the waste materials falling after being polished enter the filter bag 53 from the inlet 51 for storage, and the apparatus has a function of automatically cleaning the polished waste materials

As shown in fig. 1 to 4, preferably, a disc 11 is fixedly mounted at the top inside the bottom pillar 2, a cylinder 12 is fixedly mounted at the bottom of the disc 11, a fixing block 13 is fixedly mounted at the bottom of the cylinder 12, and a chassis 14 is fixedly mounted at the bottom of the fixing block 13.

Example 2

As shown in fig. 1-4, on the basis of embodiment 1, the utility model provides a technical solution: the top fixed mounting of sill post 2 has dog 21, and one side of dog 21 is provided with hydraulic stem 22 No. one, through hydraulic stem 22 of installation, provides the power condition for the arm.

Example 3

As shown in fig. 1-4, on the basis of embodiment 1, the utility model provides a technical solution: preferably, one side of the first arm 31 is provided with a second hydraulic rod 36, the other end of the second hydraulic rod 36 is arranged on one side of the second arm 33, and the second arm 33 is made to have a power condition by installing the second hydraulic rod 36, so that the mechanical arm can accurately polish the engine blade.

Example 4

As shown in fig. 1-4, on the basis of embodiment 1, the utility model provides a technical solution: mechanical arm 3's bottom fixed mounting has briquetting 6, and briquetting 6's bottom fixed mounting is at the top of foundation 2, through installation briquetting 6, avoids the bearing of arm to hang down excessively, the problem that collapses when polishing.

The working principle of the manipulator for in-situ grinding of the blade of the aircraft engine is described in detail below.

As shown in fig. 1-4, when the mechanical grinding is started, the first hydraulic rod 22 drives the first arm 31 to operate, then the first arm 31 drives the second arm 33 to operate, and then the rotary bolt 34 drives the third arm 35 to operate, so that the grinder 4 on the third arm 35 can accurately land on a place where the engine blade is to be ground, and the grinding treatment is performed on the engine blade;

as shown in fig. 1-4, when a certain amount of waste material is generated during grinding, the cleaning device 5 is started, and the air motor 52 is started to generate a suction force, so that the waste material falling during grinding enters the filter bag 53 from the inlet 51 for storage, and the device has a function of automatically cleaning the ground waste material.

The present invention has been described in detail with reference to the above general description, but it will be apparent to one of ordinary skill in the art that modifications and improvements can be made to the invention. Therefore, modifications or improvements without departing from the spirit of the invention are within the scope of the invention.

Claims

1. The utility model provides a manipulator for aeroengine blade normal position is polished, includes base frame (1), its characterized in that: the top fixed mounting of sill (1) has foundation (2), the top fixed mounting of foundation (2) has robotic arm (3), the top fixed mounting of robotic arm (3) has sander (4).

2. The manipulator for in-situ grinding of the aircraft engine blade according to claim 1, wherein: the bottom of robotic arm (3) is provided with arm (31) No. one, transmission piece (32) have been cup jointed in the top activity of arm (31), the top swing joint of transmission piece (32) has arm (33) No. two, the top movable mounting of arm (33) No. two has rotatory bolt (34), the top swing joint of rotatory bolt (34) has arm (35) No. three, the top fixed connection of arm (35) No. three is in the bottom of sander (4).

3. The manipulator for in-situ grinding of the aircraft engine blade according to claim 1, wherein: the cleaning device is characterized in that a cleaning device (5) is fixedly mounted inside the base table (1), an inlet (51) is formed in one side of the base table (1), a wind motor (52) is fixedly mounted at the top of the inside of the base table (1), and a filter bag (53) is fixedly mounted at the bottom of the base table (1).

4. The manipulator for in-situ grinding of the aircraft engine blade according to claim 1, wherein: the top fixed mounting of sill pillar (2) inside has disc (11), the bottom fixing device of disc (11) has cylinder (12), the bottom fixed mounting of cylinder (12) has fixed block (13), the bottom fixed mounting of fixed block (13) has chassis (14).

5. The manipulator for in-situ grinding of the aircraft engine blade according to claim 1, wherein: a stop block (21) is fixedly mounted at the top of the bottom column (2), and a first hydraulic rod (22) is arranged on one side of the stop block (21).

6. The manipulator for in-situ grinding of the aircraft engine blade according to claim 2, wherein: one side of the first arm (31) is provided with a second hydraulic rod (36), and the other end of the second hydraulic rod (36) is arranged on one side of the second arm (33).

7. The manipulator for in-situ grinding of the aircraft engine blade according to claim 1, wherein: the bottom of robotic arm (3) fixed mounting has briquetting (6), the bottom fixed mounting of briquetting (6) is at the top of sill pillar (2).