Search

CN-121973012-A - Saw cutting and milling structure for small and medium-sized blades

CN121973012ACN 121973012 ACN121973012 ACN 121973012ACN-121973012-A

Abstract

The invention provides a small and medium blade sawing and milling structure which comprises at least one placing mechanism, at least one robot for executing feeding and discharging operations and a plurality of processing mechanisms for different processing procedures. The blade placing mechanism is characterized in that a plurality of placing cavities are arranged on the placing mechanism, and each placing cavity is internally provided with a flexible positioning mechanism for clamping and arranging the blade. The robot execution end is provided with a gripper, can grasp and place the blade in the cavity and convey the blade to a corresponding processing mechanism, and meanwhile, the processed blade is taken out and transported to a preset position. The hand grip is provided with a 3D camera for identifying the attitude information of the blade at the position of the placing cavity and the processing mechanism and judging whether the blade meets the preset grabbing or clamping requirements. The system realizes stable blade posture through the flexible positioning mechanism, is convenient for the robot to snatch fast, and processes such as cutting off, milling and the like are handled in a centralized way through a plurality of processing mechanisms, so that the processing efficiency and the automation level are improved.

Inventors

  • LI WENJUN
  • TANG RUI
  • SHI WEILONG
  • ZHAO JUNBO
  • WANG ZONGYUE

Assignees

  • 大连誉洋工业智能有限公司

Dates

Publication Date
20260505
Application Date
20260409

Claims (10)

  1. 1. The utility model provides a medium and small blade saw cuts and mills structure, includes at least one placing mechanism (101) that are used for placing the blade, at least one robot that is used for carrying out unloading operation and a plurality of processing mechanism that are used for different processing procedures respectively, its characterized in that: The blade placing device is characterized in that the placing mechanism (101) is provided with a plurality of placing cavities (13) for placing blades, and a positioning mechanism for flexibly clamping and positioning the blades is arranged in each placing cavity (13); The robot is provided with an execution end, and a gripper for gripping the blade is arranged on the execution end; The gripper is provided with a 3D camera, and the 3D camera is used for identifying gesture information of the blades in the placing cavity (13) and at the machining mechanism.
  2. 2. The medium and small blade sawing and milling structure according to claim 1, wherein the placing mechanism (101) comprises at least two placing shells (1), an inner container (12) is arranged in an inner cavity of each of the placing shells (1), the inner container (12) is downwards sunken to form a plurality of placing cavities (13) distributed in a rectangular array, and a positioning mechanism is arranged inside each of the placing cavities (13) on one of the placing shells (1).
  3. 3. The small and medium blade sawing and milling structure according to claim 2, wherein the positioning mechanism comprises a driving component, a correcting component (5) and a clamping component (6), wherein the driving component is arranged in an inner cavity of a containing shell (1) at the bottom of an inner container (12) and is respectively in transmission connection with the correcting component (5) and the clamping component (6); The correcting component (5) is arranged at the upper part of the placing cavity (13) and comprises two limiting belts (57) which can synchronously move in opposite directions and are flexible, and the limiting belts (57) are used for pushing two sides of the blade in the moving process so that the attitude of the blade tends to be arranged vertically; The clamping assembly (6) is arranged at the lower part of the placing cavity (13) and comprises two clamping shafts (671) capable of synchronously moving in opposite directions, the clamping shafts (671) are used for clamping and positioning the other two sides of the blade, and the clamping shafts (671) can rotate in the opposite movement process.
  4. 4. The small and medium blade sawing and milling structure according to claim 3, wherein the driving assembly comprises a driving part, a linkage part (3) and a transmission part (4), the driving part is in transmission connection with the linkage part (3), and the linkage part (3) is in transmission connection with the correcting assembly (5) and the clamping assembly (6) through the transmission part (4).
  5. 5. A medium and small blade sawing and milling structure as claimed in claim 3, wherein the correcting component (5) comprises two symmetrically arranged correcting units which can be arranged oppositely, and the two correcting units are connected on the inner wall of the placing cavity (13) in a sliding manner; The correcting unit comprises a first mounting frame, and the bottom of the first mounting frame penetrates through the side wall of the bottom of the corresponding placing cavity (13) and is in transmission connection with the driving part; The two sides of the top of the first mounting frame are respectively provided with a winding piece with a recovery function, and the two winding pieces are in transmission connection through a limiting belt (57).
  6. 6. The medium and small blade sawing and milling structure according to claim 5, wherein the winding piece comprises a connecting frame (53), the connecting frame (53) is fixed at the corresponding end part of the top of the first mounting frame, a rotatable rotating shaft (54) is arranged on the connecting frame (53), a winding drum (55) is sleeved and fixed on the surface of the rotating shaft (54), one end of a connecting belt (56) is wound on the winding drum (55), and the other end of the connecting belt (56) is fixedly connected with one end of a limiting belt (57); the surface of the rotating shaft (54) is sleeved with a coil spring.
  7. 7. A medium and small blade sawing and milling structure as claimed in claim 3, characterized in that the clamping assembly (6) comprises two clamping units which can be arranged opposite each other, and the two clamping units are connected on the inner wall of the placing cavity (13) in a sliding manner; the clamping unit comprises a second mounting frame, connecting pieces capable of rebounding along the horizontal direction are fixed at two ends of the second mounting frame, a connecting shaft (67) capable of rotating is arranged between the two connecting pieces, and a clamping shaft (671) is fixedly sleeved on the surface of the connecting shaft (67); The extending end of the connecting shaft (67) is provided with a driving piece for driving the connecting shaft (67) to rotate.
  8. 8. The small and medium blade sawing and milling structure according to claim 7, wherein the connecting piece comprises a first connecting rod (63) and a second connecting rod (66), the first connecting rod (63) is fixed at one side end part of the transverse shaft (61), a shaft sleeve is fixed at the end part of the second connecting rod (66), and the shaft sleeve is sleeved on the surface of the connecting shaft (67); the first connecting rod (63) and the second connecting rod (66) are connected with each other through a transversely arranged telescopic rod (64), and a spring (65) is sleeved on the surface of the telescopic rod (64).
  9. 9. The small and medium blade sawing and milling structure according to claim 4, wherein the transmission part (4) comprises a transmission main shaft (41) which is vertically arranged, the transmission main shaft (41) is arranged on the outer wall of the bottom of the corresponding placement cavity (13) and can rotate, a first transmission gear (42) and a second transmission gear (43) are fixedly sleeved on the surface of the transmission main shaft (41), and two sides of the first transmission gear (42) and two sides of the second transmission gear (43) are respectively connected with a first transmission rack (44) and a second transmission rack (45) which are arranged in a central symmetry manner in a meshed manner; One side end parts of the two first transmission racks (44) are fixedly connected with the bottom ends of vertical rods (52) of the two correcting units respectively, and one side end parts of the two second transmission racks (45) are fixedly connected with the bottom ends of vertical shafts (62) of the two clamping units respectively.
  10. 10. The small and medium blade sawing and milling structure according to claim 4, wherein the linkage part (3) is used for realizing synchronous driving of positioning mechanisms in a plurality of placing cavities (13) and comprises a plurality of linkage units which are consistent in number with the placing cavities (13) and are arranged in a one-to-one correspondence manner; Each linkage unit comprises a linkage main shaft (31) which is vertically arranged, wherein the linkage main shaft (31) is rotatably arranged on the side wall of the bottom end of the inner cavity of the containing shell (1), or the bottom end of the linkage main shaft is in transmission connection with the output end of the driving part, and the top of the linkage main shaft (31) is fixedly connected to the bottom end of a transmission main shaft (41) in the corresponding containing cavity (13); The outer surface of the linkage main shaft (31) is sleeved with a second linkage wheel (33), and the second linkage wheels (33) corresponding to the plurality of placing cavities (13) positioned in the same row are in transmission connection through a second linkage belt (35).

Description

Saw cutting and milling structure for small and medium-sized blades Technical Field The invention relates to the field of blade processing, in particular to a small and medium blade sawing and milling structure. Background In the existing turbine blade processing, the blade usually needs to be subjected to multiple procedures such as cutting, milling, polishing and the like to meet the design requirements. The turbine blade is used as a key power component, the structure of the turbine blade is usually small and medium, the thickness and the width of the turbine blade are greatly different, the geometric shape of the turbine blade is complex, certain curvature exists, and the surface and end accuracy of the turbine blade have important influences on the efficiency and the safety of the turbine unit. In traditional production, the blades are placed and positioned in a manual stacking or rigid limiting mode, and the problems that the grabbing postures are not uniform, the inclined or swinging easily occurs, the surfaces are easily damaged by pressure, the manual adjustment is frequent and the like exist. Meanwhile, the multi-station processing is often dispersed at different stations, the blades are easy to bruise or have a disturbed posture in the transferring process, the operation difficulty is increased, and the processing beat and the overall production efficiency are affected. Thus, in the prior art, the following problems are common in blade processing: the positioning is unstable, and the traditional rigid positioning or random placement mode is difficult to ensure uniform grabbing gesture due to the difference of the size and the shape of the blade, so that the failure rate of robot grabbing or manual carrying is high. The machining efficiency is low, the working procedures of cutting, milling, polishing and the like are dispersed in different equipment or stations, the transferring distance of workpieces among the equipment is long, the waiting time is long, and the beat of the production line is influenced. The quality risk is high, and the blade is easy to produce bruise or attitude deviation in the process of carrying, positioning or transferring, thereby influencing the processing consistency and the surface quality. The manual dependence is large, and in order to ensure the precision of grabbing and processing, the traditional process still needs a large amount of manual intervention or repeated adjustment, so that the production automation level is limited. The problems indicate that an automatic processing scheme capable of flexibly positioning the blade and simultaneously carrying out centralized multi-process processing is needed to meet the requirements of high-precision and high-automation processing of the turbine blade so as to improve the grabbing precision, ensure the quality of the blade and improve the production efficiency. Disclosure of Invention The invention provides a sawing and milling structure for small and medium blades, which aims to solve the problems of unstable positioning, high grabbing difficulty, easy transportation and damage and low multi-procedure processing efficiency of turbine blades in the traditional processing. The invention solves the technical problems by the following technical proposal: The invention provides a small and medium blade sawing and milling structure, which comprises at least one placing mechanism for placing blades, at least one robot for executing feeding and discharging operations and a plurality of processing mechanisms respectively used for different processing procedures; the placing mechanism is provided with a plurality of placing cavities for placing the blades, and the inside of each placing cavity is provided with a positioning mechanism for flexibly clamping and positioning the blades; the robot is provided with an execution end, a gripper for gripping the blade is arranged on the execution end, the gripper is used for gripping and conveying the blade positioned in the placement cavity to a corresponding processing mechanism, and meanwhile, the gripper is used for taking out and transferring the processed blade in the processing mechanism to a preset position; Be provided with the 3D camera on the tongs, the gesture information of 3D camera is used for discernment blade in placing intracavity and processing agency department to judge whether the placing gesture or the clamping gesture of blade satisfy the processing requirement of predetermineeing. According to the invention, the positioning mechanism capable of flexibly positioning the blade is convenient for mechanically grabbing the blade by the robot. Integrating a plurality of processing mechanisms can enable blade cutting and milling processing procedures to be more concentrated. In this technical scheme, placing the mechanism and including two at least holding the shell, be provided with the inner bag in holding the inner chamber of shell, the inner bag undercut forms a plu