阅读说明：本技术 一种用于叶片型面超声强化的装置 (Device for ultrasonic strengthening of blade profile ) 是由 张世忠 赵蒙莉 赵久成 王可心 朱志远 李纪萱 方宇明 于 2021-08-02 设计创作，主要内容包括：本发明涉及一种用于叶片型面超声强化的装置,属于精加工领域。上六自由度平台安装固定在固定模块上,下六自由度平台安装固定在固定模块的下安装平台上,上超声加载模块上端通过螺栓固定连接在上六自由度平台的中间连接板下方,下超声加载模块下端通过螺栓固定连接在下六自由度平台的中间连接板上方,直线驱动模块安装在固定模块的上安装平台上,旋转驱动模块固定连接在直线驱动模块下方,叶盘装夹模块与旋转驱动模块的上端固定连接。优点是六自由度平台能够调整超声加载模块在六维自由度方向上的位姿,六维力传感器能够测量中性坐标系内的三个力和三个矩,可始终保持所述上、下超声加载模块的的轴线与叶片外法线重合。(The invention relates to a device for ultrasonic strengthening of a blade profile, and belongs to the field of finish machining. The upper six-degree-of-freedom platform is fixedly arranged on the fixed module, the lower six-degree-of-freedom platform is fixedly arranged on the lower mounting platform of the fixed module, the upper end of the upper ultrasonic loading module is fixedly connected below an intermediate connecting plate of the upper six-degree-of-freedom platform through a bolt, the lower end of the lower ultrasonic loading module is fixedly connected above the intermediate connecting plate of the lower six-degree-of-freedom platform through a bolt, the linear driving module is arranged on the upper mounting platform of the fixed module, the rotary driving module is fixedly connected below the linear driving module, and the leaf disc clamping module is fixedly connected with the upper end of the rotary driving module. The six-degree-of-freedom platform has the advantages that the pose of the ultrasonic loading module in the six-degree-of-freedom direction can be adjusted by the six-degree-of-freedom platform, the six-dimensional force sensor can measure three forces and three moments in a neutral coordinate system, and the axes of the upper ultrasonic loading module and the lower ultrasonic loading module can be always kept to be coincident with the outer normal of the blade.)

1. An apparatus for ultrasonic blade profile strengthening, comprising: comprises a fixed module, an upper six-degree-of-freedom platform, an upper ultrasonic loading module, a blade disc clamping module, a linear driving module, a rotary driving module, a lower six-degree-of-freedom platform and a lower ultrasonic loading module, the upper end of a platform I of an upper six-degree-of-freedom platform is fixedly installed on the lower surface of a mounting plate of a fixed module, the lower end of a platform II of a lower six-degree-of-freedom platform is fixedly installed on the upper surface of a lower mounting platform of the fixed module, the upper end of a six-dimensional force sensor of the upper ultrasonic loading module is fixedly connected below an intermediate connecting plate of the upper six-degree-of-freedom platform through a bolt, the lower end of a six-dimensional force sensor of the lower ultrasonic loading module is fixedly connected above an intermediate connecting plate of the lower six-degree-of-freedom platform through a bolt, a linear driving module is installed on the upper mounting platform of the fixed module, a rotary driving module is fixedly connected below a moving platform of the linear driving module, and an intermediate connecting piece of a leaf disc clamping module is fixedly connected with the upper end of the rotary driving module.

2. An apparatus for ultrasonic blade profile strengthening according to claim 1, wherein: the fixing module comprises a nut I, a stand I, a nut II, a lower mounting platform, a stand II, an upper mounting platform, a rectangular through groove and a mounting plate, wherein the upper end, the lower end and the middle section of the stand I are respectively provided with a thread, the upper end and the lower end of the stand II are respectively provided with a thread, the upper mounting platform and the mounting plate are respectively provided with a through hole, the lower mounting platform is provided with a threaded hole, the stand I and the stand II are connected with the lower end of the mounting platform in a threaded manner, the middle section of the stand I and the upper end of the stand II pass through the through hole of the upper mounting platform and are fixedly mounted through the nut I and the nut II, the upper end of the stand I passes through the through hole of the mounting plate and passes through the nut I and the nut II, and the rectangular through groove is formed in the upper mounting platform.

3. An apparatus for ultrasonic blade profile strengthening according to claim 1, wherein: the upper six-degree-of-freedom platform and the lower six-degree-of-freedom platform are identical in structure, the upper six-degree-of-freedom platform comprises a platform I, a platform II, a middle connecting plate and 6 cylinders I, the upper end and the lower end of each cylinder I are hinged to the platform I and the platform II respectively, and the middle connecting plate is fixedly connected with the platform II.

4. An apparatus for ultrasonic blade profile strengthening according to claim 1, wherein: the upper ultrasonic loading module and the lower ultrasonic loading module have the same structure, wherein the upper ultrasonic loading module comprises a six-dimensional force sensor, an ultrasonic transducer, an ultrasonic connector, an ultrasonic probe, an ultrasonic impact head, a lower mounting plate, three force transmission plates and an upper mounting plate; wherein six-dimensional force transducer's lower surface passes through bolt rigid connection with the upper surface of last mounting panel, and the upper and lower both ends of 3 biography power boards pass through the bolt respectively with last mounting panel, lower mounting panel rigid connection, have seted up the through-hole on the lower mounting panel, and the ultrasonic connector passes the through-hole, and the upper surface of lower mounting panel passes through the bolt and ultrasonic connector's shaft shoulder rigid connection, the upper and lower both ends of ultrasonic connector pass through stud respectively with ultrasonic transducer, ultrasonic transducer threaded connection, ultrasonic transducer's lower extreme and supersound impact head pass through screw thread rigid connection.

5. An apparatus for ultrasonic blade profile strengthening according to claim 1, wherein: the leaf disc clamping module comprises a bolt, an upper clamping plate, a lower clamping plate, an intermediate connecting piece and a connecting column, wherein through holes are formed in the upper clamping plate and the lower clamping plate and connected through the bolt, a threaded through hole is formed in the middle of the lower clamping plate, threaded blind holes are formed in the upper end and the lower end of the intermediate connecting piece respectively, the upper end and the lower end of the connecting column are connected with the middle through hole of the lower clamping plate and the upper end threaded blind hole of the intermediate connecting piece respectively through threads, and the lower end threaded blind hole of the intermediate connecting piece is used for being connected with the rotary driving module.

6. An apparatus for ultrasonic blade profile strengthening according to claim 5, wherein: the blade disc clamping module further comprises a fixed disc, a circular through hole is formed in the middle of the fixed disc, the fixed disc penetrates through the through hole through a bolt to be clamped and installed between the upper clamping plate and the lower clamping plate, blade inserting grooves are formed in the circumferential side face of the fixed disc, and blades to be strengthened are inserted and fixed in the blade inserting grooves.

7. An apparatus for ultrasonic blade profile strengthening according to claim 1, wherein: the linear driving module comprises a moving platform, a mounting seat, a fixing seat, a cylinder II, a sliding block seat and a guide rail, wherein the fixing seat and the guide rail are respectively installed and fixed on the upper mounting platform, the sliding block seat is connected with the guide rail in a sliding mode, two ends of the cylinder II are respectively fixedly connected with the fixing seat, the mounting seat is respectively fixedly connected with two sides of the moving platform, the bottom of the moving platform is fixedly connected with the upper portion of the sliding block seat, a cylinder rod of the cylinder II penetrates through a through hole in the front fixing seat and is fixedly connected with the mounting seat, a through hole and a U-shaped through groove are formed in the moving platform, and an opening of the U-shaped through groove faces forward.

8. An apparatus for ultrasonic blade profile strengthening according to claim 7, wherein: the structure of the rotary driving module is that a servo motor is directly or indirectly arranged below a moving platform of the linear driving module, wherein when the servo motor is directly arranged below the moving platform, a motor output shaft of the servo motor is rigidly connected with a middle connecting piece of the blisk clamping module;

when the servo motor is indirectly arranged below the moving platform of the linear driving module, the upper part of the connecting cylinder is fixedly connected with the lower part of the moving platform, the shell of the worm and gear transmission system is fixedly connected with the lower part of the connecting cylinder, the worm and gear transmission system is arranged in the shell of the worm and gear transmission system, the output shaft of the servo motor is rigidly connected with the worm of the worm and gear transmission system, the end cover is fixedly connected with the lower part of the shell of the worm and gear transmission system, and the turbine shaft of the worm and gear transmission system is used for being rigidly connected with the middle connecting piece of the leaf disc clamping module.

Technical Field

The invention relates to the field of finish machining, in particular to a device for ultrasonically strengthening a blade profile.

Background

The aircraft engine relies on a large number of blades to perform compression and expansion of the gas and to generate powerful power to propel the aircraft at maximum efficiency. As a key part for the thermal conversion of an aircraft engine, the blade is surrounded by high-temperature, high-pressure and high-speed airflow for a long time and bears high-frequency and even ultrahigh-frequency mechanical vibration and cyclic heat load. In addition, under the influence of the service environment, the blade may be subjected to a series of external actions such as atmospheric corrosion, foreign body impact, centrifugal force and the like. The failure accidents caused by the failure accidents are not ignored, and particularly, the rotor blades rotating at high speed are one of the parts with the highest failure rate in the use and experiment of the engine due to the large number, the thin shape, the severe loading condition and the complex working environment. Statistically, in an aircraft engine, blade failures can account for over 40% of the total failures. It can be seen that the performance of the blade directly affects the performance, reliability and economy of the aircraft.

Fatigue damage, corrosion and wear are common in the mechanisms that cause the above structural failures, especially fatigue failure, has become the main form of engine blade failure, accounting for 80% to 90% of all failure incidents. In most cases, failure of the structure is initiated from the surface. The surface is an important part for fatigue crack initiation, and corrosion and wear also start from the surface. Obviously, the surface quality of the blade is one of the key indexes for guaranteeing the long-time safe service. In consideration of reducing the occurrence probability of failure accidents, the service life is prolonged to the utmost extent, the maintenance cost is saved, and the surface of the blade needs to be strengthened.

The ultrasonic surface finishing strengthening technology has extremely fine finishing capability on a fine finishing surface and extremely high strengthening capability on an anti-fatigue surface, the surface quality of a part obviously affects the performances of wear resistance, corrosion resistance, matching property, sealing property and the like of the part, and after the surface of a workpiece is subjected to mechanical cold work hardening, the hardness and wear resistance of a processed surface are improved, the surface roughness is reduced, the processing cost is low, and the production benefit is greatly improved.

The invention patent with publication number CN 108330264A discloses a surface strengthening device with controllable track, which comprises a machine tool base, a main shaft feeding module, a blade clamping rotating module, an upright post feeding module, a processing head feeding module and an ultrasonic rolling processing module, wherein the main shaft feeding module is a blade length direction feeding control shaft, the blade clamping rotating module is a blade center rotating control shaft, the upright post feeding module is a track cutting plane height direction feeding control shaft, and the processing head feeding module is a track cutting plane horizontal direction feeding control shaft. The ultrasonic rolling processing modules are symmetrically arranged on two sides of the blade clamping rotating module, the two ultrasonic rolling processing modules simultaneously carry out surface reinforcement on the front surface and the back surface of one blade, and the device always keeps the track outer normal horizontal line by controlling the blade clamping rotating module when in use, so that the middle surface of the track of a processing layer is perpendicular to the rolling head.

However, in practice, it is difficult to ensure that the two front and back surfaces of each blade are completely parallel to the middle surface all the time during blade machining, so that the middle surface of the machining layer track is perpendicular to the rolling head, and the ultrasonic rolling machining module cannot be ensured to be perpendicular to the blade surface all the time, which finally results in insufficient blade surface strengthening effect. In addition, because the surface of the blade is irregular, for some blades with slightly larger twist angles, the rotation of the blade clamping rotating module is only controlled, and the middle plane of the track of the machining layer cannot be completely perpendicular to the rolling head.

Disclosure of Invention

The invention provides a device for ultrasonic strengthening of a blade profile, which aims to solve the problem that the conventional strengthening device cannot ensure that the outer normal of the blade profile cannot coincide with the axis of an ultrasonic impact device.

The technical scheme adopted by the invention is as follows: comprises a fixed module, an upper six-degree-of-freedom platform, an upper ultrasonic loading module, a blade disc clamping module, a linear driving module, a rotary driving module, a lower six-degree-of-freedom platform and a lower ultrasonic loading module, the upper end of a platform I of an upper six-degree-of-freedom platform is fixedly installed on the lower surface of a mounting plate of a fixed module, the lower end of a platform II of a lower six-degree-of-freedom platform is fixedly installed on the upper surface of a lower mounting platform of the fixed module, the upper end of a six-dimensional force sensor of the upper ultrasonic loading module is fixedly connected below an intermediate connecting plate of the upper six-degree-of-freedom platform through a bolt, the lower end of a six-dimensional force sensor of the lower ultrasonic loading module is fixedly connected above an intermediate connecting plate of the lower six-degree-of-freedom platform through a bolt, a linear driving module is installed on the upper mounting platform of the fixed module, a rotary driving module is fixedly connected below a moving platform of the linear driving module, and an intermediate connecting piece of a leaf disc clamping module is fixedly connected with the upper end of the rotary driving module.

The fixing module comprises a nut I, a stand column I, a nut II, a lower mounting platform, a stand column II, an upper mounting platform, a rectangular through groove and a mounting plate, wherein the upper end, the lower end and the middle section of the stand column I are respectively provided with a thread, the upper end and the lower end of the stand column II are respectively provided with a thread, the upper mounting platform and the mounting plate are respectively provided with a through hole, the lower mounting platform is respectively provided with a threaded hole, the lower ends of the stand column I and the stand column II are in threaded connection with the threaded hole of the lower mounting platform, the middle section of the stand column I and the upper end of the stand column II are fixedly mounted through the nut I and the nut II, the upper end of the stand column I penetrates through the through hole of the mounting plate and is fixedly mounted through the nut I and the nut II, and the upper mounting platform is provided with the rectangular through groove.

The upper six-degree-of-freedom platform and the lower six-degree-of-freedom platform are identical in structure, the upper six-degree-of-freedom platform comprises a platform I, a platform II, a middle connecting plate and 6 cylinders I, the upper end and the lower end of each cylinder I are respectively hinged to the platform I and the platform II, and the middle connecting plate is fixedly connected with the platform II.

The upper ultrasonic loading module and the lower ultrasonic loading module have the same structure, wherein the upper ultrasonic loading module comprises a six-dimensional force sensor, an ultrasonic transducer, an ultrasonic connector, an ultrasonic probe, an ultrasonic impact head, a lower mounting plate, three force transmission plates and an upper mounting plate; wherein six-dimensional force transducer's lower surface passes through bolt rigid connection with the upper surface of last mounting panel, and the upper and lower both ends of 3 biography power boards pass through the bolt respectively with last mounting panel, lower mounting panel rigid connection, have seted up the through-hole on the lower mounting panel, and the ultrasonic connector passes the through-hole, and the upper surface of lower mounting panel passes through the bolt and ultrasonic connector's shaft shoulder rigid connection, the upper and lower both ends of ultrasonic connector pass through stud respectively with ultrasonic transducer, ultrasonic transducer threaded connection, ultrasonic transducer's lower extreme and supersound impact head pass through screw thread rigid connection.

The blade disc clamping module comprises a bolt, an upper clamping plate, a lower clamping plate, a middle connecting piece and a connecting column, wherein through holes are formed in the upper clamping plate and the lower clamping plate and are connected through the bolt, a threaded through hole is formed in the middle of the lower clamping plate, threaded blind holes are formed in the upper end and the lower end of the middle connecting piece respectively, the upper end and the lower end of the connecting column are in threaded connection with the middle through hole of the upper clamping plate and the upper threaded blind hole of the middle connecting piece respectively, and the lower threaded blind hole of the middle connecting piece is used for being connected with a rotary driving module.

The blade disc clamping module further comprises a fixed disc, a circular through hole is formed in the middle of the fixed disc, the fixed disc penetrates through the through hole through a bolt to be clamped and installed between the upper clamping plate and the lower clamping plate, blade inserting grooves are formed in the circumferential side face of the fixed disc, and blades to be strengthened are inserted and fixed in the blade inserting grooves.

The linear driving module comprises a movable platform, a mounting seat, a fixed seat, a cylinder II, a sliding block seat and a guide rail, wherein the fixed seat and the guide rail are respectively and fixedly arranged on the upper mounting platform, the sliding block seat is in sliding connection with the guide rail, two ends of the cylinder II are respectively and fixedly connected with the fixed seat, the mounting seat is respectively and fixedly connected with two sides of the movable platform, the bottom of the movable platform is fixedly connected with the upper part of the sliding block seat, a cylinder rod of the cylinder II penetrates through a through hole in the front fixed seat and is fixedly connected with the mounting seat, a through hole and a U-shaped through groove are formed in the movable platform, and an opening of the U-shaped through groove faces forwards.

The structure of the rotary driving module is that a servo motor is directly or indirectly arranged below a moving platform of a linear driving module, wherein when the servo motor is directly arranged below the moving platform, a motor output shaft of the servo motor penetrates through a through hole on the moving platform from bottom to top and is rigidly connected with a middle connecting piece of a blade disc clamping module;

when the servo motor is indirectly arranged below the moving platform of the linear driving module, the upper part of the connecting cylinder is fixedly connected with the lower part of the moving platform, the shell of the worm and gear transmission system is fixedly connected with the lower part of the connecting cylinder, the worm and gear transmission system is arranged in the shell of the worm and gear transmission system, the output shaft of the servo motor is rigidly connected with the worm of the worm and gear transmission system, the end cover is fixedly connected with the lower part of the shell of the worm and gear transmission system, and the turbine shaft of the worm and gear transmission system is used for being rigidly connected with the middle connecting piece of the leaf disc clamping module.

The invention has the beneficial effects that: the six-degree-of-freedom platform can adjust the pose of the ultrasonic loading module in the six-degree-of-freedom direction, the six-dimensional force sensor can measure three forces and three moments in a neutral coordinate system, and when the force perpendicular to the surface direction of the blade is not zero, and the forces in the other two directions and the other three moments are zero, the situation that the axis of the ultrasonic loading module is coincident with the outer normal of the blade is shown. And when the forces in the other two directions and other three moments are not completely zero, continuously controlling the six-degree-of-freedom platforms on the upper side and the lower side to adjust the spatial position until the measured values of the six-dimensional force sensors on the upper side and the lower side only have the force in the direction vertical to the surface of the blade, which is not zero, so that the axes of the upper ultrasonic loading module and the lower ultrasonic loading module can be always kept to be coincident with the outer normal of the blade.

Drawings

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

FIG. 2 is a schematic structural view of a fixing module according to the present invention;

FIG. 3 is a schematic structural diagram of an upper six-DOF platform according to the present invention;

FIG. 4 is a schematic structural diagram of an ultrasonic loading module according to the present invention;

FIG. 5 is a schematic structural diagram of an assembly of the blisk clamping module, the linear driving module and the rotary driving module, in which a servo motor is directly connected with the linear driving module;

FIG. 6 is a schematic structural diagram of an assembly of the blisk clamping module, the linear driving module and the rotary driving module, in which a servo motor is indirectly connected with the linear driving module;

FIG. 7 is a schematic structural diagram of a blisk clamping module according to the present invention;

FIG. 8 is a front view of the linear drive module of the present invention;

FIG. 9 is a left side view of the linear drive module of the present invention;

FIG. 10 is a top view of the linear drive module of the present invention;

FIG. 11 is a schematic structural diagram of a rotary driving module according to the present invention, in which a servo motor is connected indirectly;

FIG. 12 is a schematic structural diagram of the interior of the rotary driving module according to the present invention, in which the servo motor is connected indirectly;

fig. 13 is a schematic structural view of the fixing disk of the present invention.

Detailed Description

As shown in fig. 1, the device comprises a fixed module 1, an upper six-degree-of-freedom platform 2, an upper ultrasonic loading module 3, a blade disc clamping module 4, a linear driving module 5, a rotary driving module 6, a lower six-degree-of-freedom platform 7 and a lower ultrasonic loading module 8, wherein the upper end of a platform I201 of the upper six-degree-of-freedom platform 2 is fixedly installed on the lower surface of a mounting plate 108 of the fixed module 1, the lower end of a platform I of the lower six-degree-of-freedom platform 7 is fixedly installed on the upper surface of a lower mounting platform 104 of the fixed module 1, the upper end of a six-dimensional force sensor 301 of the upper ultrasonic loading module 3 is fixedly connected below a middle connecting plate 203 of the upper six-degree-of-freedom platform 2 through a bolt, the lower end of a six-dimensional force sensor of the lower ultrasonic loading module 8 is fixedly connected above a middle connecting plate of the lower six-degree-of-freedom platform 7 through a bolt, the linear driving module 5 is installed on an upper mounting platform 106 of the fixed module 1, the rotary driving module 6 is fixedly connected below the moving platform 501 of the linear driving module 5, and the middle connecting piece 404 of the blisk clamping module 4 is fixedly connected with the upper end of the rotary driving module 6.

As shown in fig. 2, the fixing module 1 includes a nut i 101, a column i 102, a nut ii 103, a lower mounting platform 104, a column ii 105, an upper mounting platform 106, a rectangular through groove 107 and a mounting plate 108, wherein the upper and lower ends and the middle section of the column i 102 are respectively provided with a screw thread, the upper and lower ends of the column ii 105 are respectively provided with a screw thread, the upper mounting platform 106 and the mounting plate 108 are respectively provided with a through hole, the lower mounting platform 104 is provided with a screw hole, the lower ends of the column i 102 and the column ii 105 are in threaded connection with the screw hole of the lower mounting platform 104, the middle section of the column i 102 and the upper end of the column ii 105 are respectively in threaded connection with the through hole penetrating through the upper mounting platform 106 and are fixedly mounted through the nut i 101 and the nut ii 103, the upper end of the column i 102 penetrates through the through hole of the mounting plate 108 and is fixedly mounted through the nut i 101 and the nut ii 103, the upper mounting platform 106 is provided with a rectangular through groove 107.

A step surface is arranged in the circumferential direction of the upper end of the upright I102, the step surface of the step surface is in stop contact with the lower surface of the mounting plate 108, a step surface is arranged in the circumferential direction of the upper end of the upright II 105, and the step surface of the step surface is in stop contact with the lower surface of the upper mounting platform 106;

the upper mounting platform 106 is mounted between the lower mounting platform 104 and the mounting plate 108, certain spaces are reserved between the mounting plate 108 and the lower mounting platform 104 and between the upper mounting platform 106 and the lower mounting platform 104 in the up-down direction, the spaces between the mounting plate 108 and the upper mounting platform 106 are used for accommodating the upper six-degree-of-freedom platform 2, the upper ultrasonic loading module 3 and the blisk clamping module 4, the spaces between the upper mounting platform 106 and the lower mounting platform 104 are used for accommodating the lower six-degree-of-freedom platform 7 and the lower ultrasonic loading module 8, and the upper mounting platform 106 is provided with a rectangular through groove 107 for the lower ultrasonic loading module 8 to pass through from bottom to top; the rectangular through groove 107 extends in the front-rear direction;

during installation, the levelness of the upper installation platform 106 can be adjusted by adjusting the installation height of each nut I101 and each nut II 103; the two upright posts I102 and the two upright posts II 105 are support structures, and the support structures can also be support plates and the like.

As shown in fig. 3, a step platform is used for the upper six-degree-of-freedom platform 2 and the lower six-degree-of-freedom platform 7, the upper six-degree-of-freedom platform 2 and the lower six-degree-of-freedom platform 7 have the same structure, wherein the upper six-degree-of-freedom platform 2 comprises a platform i 201, a platform ii 202, a middle connecting plate 203 and 6 cylinders i 204, the upper end and the lower end of each cylinder i 204 are respectively hinged on the platform i 201 and the platform ii 202, and the middle connecting plate 203 is fixedly connected with the platform ii 202;

the lower surface of the intermediate connecting plate 203 can be controlled to realize six-degree-of-freedom movement and rotation in space by controlling the elongation of the cylinder rods of the 6 cylinders I204,

the advantage of providing the intermediate connection plate 203 is that, when the size of the upper six-degree-of-freedom platform 2 or the six-dimensional force sensor 301 changes, only the intermediate connection plate 203 may be replaced, and the six-degree-of-freedom platform 2 or the six-dimensional force sensor 301 is not replaced, which not only improves the versatility of the device of the present embodiment, but also does not increase the excessive use cost.

As shown in fig. 4, the upper ultrasonic loading module 3 and the lower ultrasonic loading module 8 have the same structure, wherein the upper ultrasonic loading module 3 includes a six-dimensional force sensor 301, an ultrasonic transducer 302, an ultrasonic connector 303, an ultrasonic probe 304, an ultrasonic impact head 305, a lower mounting plate 306, three force transmission plates 307 and an upper mounting plate 308; the lower surface of the six-dimensional force sensor 301 is rigidly connected with the upper surface of an upper mounting plate 308 through bolts, the upper and lower ends of 3 force transmission plates 307 are rigidly connected with the upper mounting plate 308 and a lower mounting plate 306 through bolts, the lower mounting plate 306 is provided with through holes, an ultrasonic connector 303 passes through the through holes, the upper surface of the lower mounting plate 306 is rigidly connected with a shaft shoulder of the ultrasonic connector 303 through bolts, the upper and lower ends of the ultrasonic connector 303 are respectively in threaded connection with an ultrasonic transducer 302 and an ultrasonic probe 304 through studs, and the lower end of the ultrasonic probe 304 is rigidly connected with an ultrasonic impact head 305 through threads;

as shown in fig. 5, 6, 7, and 13, the blisk clamping module 4 includes a bolt 401, an upper clamp plate 402, a lower clamp plate 403, an intermediate connector 404, and a connecting post 405, wherein the upper clamp plate 402 and the lower clamp plate 403 are both provided with through holes and connected by the bolt 401, the middle of the lower clamp plate 403 is provided with a threaded through hole, the upper and lower ends of the intermediate connector 404 are respectively provided with a threaded blind hole, the upper and lower ends of the connecting post 405 are respectively in threaded connection with the middle through hole of the lower clamp plate 403 and the upper threaded blind hole of the intermediate connector 404, and the lower threaded blind hole of the intermediate connector 404 is used for being connected with the rotation driving module 6.

The blade disc clamping module 4 further comprises a fixed disc 406, a circular through hole is formed in the middle of the fixed disc 406, the fixed disc 406 penetrates through the through hole through a bolt 401 to be clamped and installed between the upper clamping plate 402 and the lower clamping plate 403, the blade 9 and the fixed disc 406 can be integrally connected or detachably connected, as shown in fig. 7, the blade 9 and the fixed disc 406 are integrally connected, and the blade 9 and the fixed disc 406 are integrally clamped and fixed on the upper clamping plate 402 and the lower clamping plate 403 during machining; fig. 13 is a schematic structural view of a detachably connected fixed disk 406, in which blade slots are distributed on a circumferential side surface of the detachable fixed disk, and blades to be strengthened are inserted and fixed in the blade slots.

As shown in fig. 8, 9, and 10, the linear driving module 5 includes a movable platform 501, a mounting seat 502, a fixed seat 503, an air cylinder ii 504, a slider seat 505, and a guide rail 506, wherein the fixed seat 503 and the guide rail 506 are respectively mounted and fixed on the upper mounting platform 106, the slider seat 505 is slidably connected with the guide rail 506, two ends of the air cylinder ii 504 are respectively fixedly connected with the fixed seat 503, the mounting seat 502 is respectively fixedly connected with two sides of the movable platform 501, the bottom of the movable platform 501 is fixedly connected with the upper side of the slider seat 505, an air cylinder rod of the air cylinder ii 504 passes through a through hole on the fixed seat 503 in front and is fixedly connected with the mounting seat 502, the movable platform 501 is provided with a through hole and a U-shaped through groove, and an opening of the U-shaped through groove faces forward, i.e., faces one side of the upper ultrasonic loading module 3;

the moving platform 501 is fixedly connected to the slider seat 505 through a bolt, so that when the air cylinder 504 ii extends and contracts, the moving platform 501 can move along the Y direction to drive the blisk clamping module to move along the front and back direction.

When the moving platform 501 moves in the front-back direction, the U-shaped through groove can avoid the ultrasonic loading module 3, and the linear driving module 5 can move forward by a certain distance by forming the U-shaped through groove, so that the strengthening area of the ultrasonic loading module 3 to the blade can be increased on the basis of not changing the overall size of the linear driving module 5.

In other embodiments, the U-shaped through slot may not be formed, and the guiding distance of the linear driving module 5 may be shorter than that of the U-shaped through slot.

As shown in fig. 11 and 12, the structure of the rotation driving module 6 is that the servo motor 601 is directly or indirectly installed below the moving platform 501 of the linear driving module 5, wherein when the servo motor 601 is directly installed below the moving platform 501, its motor output shaft passes through a through hole on the moving platform 501 from bottom to top and is rigidly connected with the middle connecting piece 404 of the blisk clamping module 4, so as to drive the blisk clamping module 4 to rotate circumferentially;

when the servo motor 601 is indirectly installed below the moving platform 501 of the linear driving module 5, the upper side of the connecting cylinder 602 is fixedly connected with the lower side of the moving platform 501, the turbine and worm transmission system shell 603 is fixedly connected with the lower side of the connecting cylinder 602, the turbine and worm transmission system 605 is installed in the turbine and worm transmission system shell 603, the output shaft of the servo motor 601 is rigidly connected with the worm 60501 of the turbine and worm transmission system 1, the turbine shaft 60502 of the turbine and worm transmission system 1 penetrates through a through hole in the moving platform 501 from bottom to top to be rigidly connected with the middle connecting piece 404 of the blisk clamping module 4, and the end cover 604 is fixedly connected with the lower side of the turbine and worm transmission system shell 603.

The rotation of the motor shaft of the servo motor 601 is converted into the rotation of the turbine shaft 60502 in the vertical direction through the worm and gear transmission connection, so that the servo motor 601 extends in the horizontal direction, and the space in the vertical direction can be saved; when the turbine shaft 60502 rotates around the Z direction, the blade disc clamping module 4 can be driven to rotate circumferentially along the Z direction.

The working principle is as follows:

when the blade disc clamping device is used, a blade 9 to be strengthened is clamped and fixed between an upper clamping plate 402 and a lower clamping plate 403 of a blade disc clamping module 4, an upper six-degree-of-freedom platform 2 and a lower six-degree-of-freedom platform 7 on the upper side and the lower side are controlled by an upper computer, the ultrasonic impact heads of an upper ultrasonic loading module 3 and a lower ultrasonic loading module 8 on the upper side and the lower side respectively prop against the upper surface and the lower surface of the same blade, a six-dimensional force sensor can synchronously detect pressure changes, when the pressure reaches a preset value, the blade can be subjected to ultrasonic impact strengthening, and by using the ultrasonic loading modules 3 and the lower ultrasonic loading modules 8 which are symmetrically arranged up and down, when the blade is machined, the propping pressures of the ultrasonic loading modules on the upper side and the lower side in the direction of the outer normal line of the surface of the blade are just opposite, the propping forces can be mutually counteracted, so that the impact strengthening effect can be ensured, and the stress of the blade can be avoided, so that the blade is prevented from being broken and damaged.

Meanwhile, the six-dimensional force sensor can simultaneously measure three forces and three moments in a neutral coordinate system, and when the force perpendicular to the surface direction of the blade is not zero, and the forces in the other two directions and the other three moments are zero, the fact that the axes of the ultrasonic loading module 3 and the lower ultrasonic loading module 8 are coincident with the outer normal of the blade is shown. And when the forces in the other two directions and other three moments are not all zero, the upper computer can continuously control the upper six-degree-of-freedom platform 2 and the lower six-degree-of-freedom platform 7 on the upper side and the lower side to adjust the spatial positions until the measured values of the six-dimensional force sensors on the upper side and the lower side only have the force vertical to the surface direction of the blade and not be zero, so that the axes of the upper ultrasonic loading module 3 and the lower ultrasonic loading module 8 can be always kept to be coincident with the outer normal of the blade.

After the strengthening of part of the surface area of the blade is completed, the cylinder 504 II is controlled to stretch, so that the moving platform 501 drives the blade 9 to move along the Y-direction, and the surface strengthening of different areas in the same blade length direction is realized; by controlling the motor shaft of the servo motor 601 to rotate, the turbine worm transmission system 605 can drive the blades 9 to rotate circumferentially around the Z axis, so that the surface strengthening of different regions and different blades in the same blade width direction is realized, and the surface strengthening of all the blades is finally realized.

The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. For example, the linear driving module is only provided with a group of guide rails and a slider seat, the leaf disc clamping module is directly fixed on the slider seat at the moment, the guiding power mechanism can be an independent hydraulic cylinder or an air cylinder or a lead screw nut, and the output end of the guiding power mechanism is directly fixed with the slider seat. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.