阅读说明：本技术 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。上六自由度平台与固定模块固定连接、中间连接板与上超声加载模块的六维力传感器固定连接,下超声加载模块的六维力传感器安装固定在固定模块上方,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的下方,下六自由度平台与旋转驱动模块固定连接,叶盘装夹模块的中间连接件与下六自由度平台的平台II的上端固定连接。优点是上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,下六自由度平台能够调整叶盘加载模块在六维自由度方向上的位姿,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 connected with the fixed module, the middle connecting plate is fixedly connected with the six-dimensional force sensor of the upper ultrasonic loading module, the six-dimensional force sensor of the lower ultrasonic loading module is fixedly arranged above the fixed module, 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, the lower six-degree-of-freedom platform is fixedly connected with the rotary driving module, and the middle connecting piece of the blade disc clamping module is fixedly connected with the upper end of the platform II of the lower six-degree-of-freedom platform. The six-degree-of-freedom platform has the advantages that the upper six-degree-of-freedom platform can adjust the pose of the ultrasonic loading module in the six-dimensional degree-of-freedom direction, the lower six-degree-of-freedom platform can adjust the pose of the blade disc loading module in the six-dimensional degree-of-freedom direction, 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: the device 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, wherein a platform I of the upper six-degree-of-freedom platform is fixedly connected with a mounting plate of the fixed module, an intermediate connecting plate is fixedly connected with a six-dimensional force sensor of the upper ultrasonic loading module, a six-dimensional force sensor of the lower ultrasonic loading module is fixedly mounted above an upper mounting platform of the fixed module, the linear driving module is mounted on the upper mounting platform of the fixed module, the rotary driving module is fixedly connected below the linear driving module, a platform I of the lower six-degree-of-freedom platform is fixedly connected with the upper end of the rotary driving module, an intermediate connecting piece of the blade disc clamping module is fixedly connected with the upper end of a platform II of the lower six-degree-of freedom platform, and the axes of the upper ultrasonic loading module and the lower ultrasonic loading module are coincident, And are symmetrically arranged on the upper side and the lower side of the blade disc clamping module.

2. The apparatus of 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, and the upper mounting platform is provided with a rectangular through groove.

3. The apparatus of claim 1, wherein: the upper six-degree-of-freedom platform and the lower six-degree-of-freedom platform are identical in structure, the lower 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. The apparatus of claim 1, wherein: the upper ultrasonic loading module and the lower ultrasonic loading module have the same structure, wherein the lower 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 upper surface passes through bolt rigid connection with the lower surface of lower mounting panel, and 3 upper and lower both ends of biography power board pass through the bolt respectively with last mounting panel, lower mounting panel rigid connection, have seted up the through-hole on going up the mounting panel, and the ultrasonic connector passes the through-hole, and the lower surface of going up the 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 probe, ultrasonic transducer threaded connection, ultrasonic probe's upper end and supersound impact head pass through screw thread rigid connection.

5. The apparatus of claim 1, wherein: the blade disc clamping module comprises a bolt, an upper clamping plate, a lower clamping plate and an intermediate connecting piece, 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, the upper end of the intermediate connecting piece is in threaded connection with the threaded through hole in the middle of the lower clamping plate, and the lower end of the intermediate connecting piece is used for being in rigid connection with the input end of the blade disc clamping module, namely the upper end of an intermediate connecting plate of the lower six-degree-of-freedom platform.

6. The apparatus of 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. The apparatus of 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. The apparatus of claim 1, 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 penetrates through a through hole in the moving platform from bottom to top to be rigidly connected with a platform I of a lower six-degree-of-freedom platform so as to drive the blisk clamping module to rotate circumferentially;

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 outer 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 outer 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, and the turbine shaft of the worm and gear transmission system penetrates through a through hole in the moving platform from bottom to top to be rigidly connected with the platform I of the lower six-degree-of-freedom platform.

9. The apparatus of claim 1, wherein: the support frame is connected with the upper mounting platform of the fixed module through a bolt, the support frame is of a concave structure, the middle concave part is protruded in the left side and sunken in the right side, an avoiding space is arranged below the left side protrusion and the right side protrusion and used for avoiding a cylinder II of the linear driving module, and a six-dimensional force sensor of the lower ultrasonic loading module is rigidly connected with the upper part of the middle concave part.

10. The apparatus of claim 1, wherein: the upper end and the lower end of the three supporting plates are respectively rigidly connected with the upper fixing plate and the lower fixing plate, the lower part of the lower fixing plate is in threaded connection with the upper end of the middle connecting cylinder through the stud, the upper fixing plate is rigidly connected with the lower part of the platform I below the six-degree-of-freedom platform, and the middle connecting cylinder is rigidly connected with the output end of the rotary driving 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.

Disclosure of Invention

The invention provides a device for ultrasonic strengthening of a blade profile, which overcomes the defect that the conventional strengthening device cannot ensure that the outer normal of the blade surface cannot coincide with the axis of an ultrasonic impact device.

The technical scheme adopted by the invention is as follows: the device 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, wherein a platform I of the upper six-degree-of-freedom platform is fixedly connected with a mounting plate of the fixed module, an intermediate connecting plate is fixedly connected with a six-dimensional force sensor of the upper ultrasonic loading module, a six-dimensional force sensor of the lower ultrasonic loading module is fixedly mounted above an upper mounting platform of the fixed module, the linear driving module is mounted on the upper mounting platform of the fixed module, the rotary driving module is fixedly connected below the linear driving module, a platform I of the lower six-degree-of-freedom platform is fixedly connected with the upper end of the rotary driving module, an intermediate connecting piece of the blade disc clamping module is fixedly connected with the upper end of a platform II of the lower six-degree-of freedom platform, and the axes of the upper ultrasonic loading module and the lower ultrasonic loading module are coincident, And are symmetrically arranged on the upper side and the lower side of the blade disc clamping module.

The fixing module comprises a nut I, an upright post I, a nut II, a lower mounting platform, an upright post 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 upright post I are respectively provided with a thread, the upper end and the lower end of the upright post 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 upright post I and the upright post II are in threaded connection with the threaded hole of the lower mounting platform, the middle section of the upright post I and the upper end of the upright post II are fixedly mounted through the nut I and the nut II, the upper end of the upright post 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 have the same structure, wherein the lower 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 lower 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 upper surface passes through bolt rigid connection with the lower surface of lower mounting panel, and 3 upper and lower both ends of biography power board pass through the bolt respectively with last mounting panel, lower mounting panel rigid connection, have seted up the through-hole on going up the mounting panel, and the ultrasonic connector passes the through-hole, and the lower surface of going up the 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 probe, ultrasonic transducer threaded connection, ultrasonic probe's upper end 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 and a middle connecting piece, wherein through holes are formed in the upper clamping plate and the lower clamping plate and are connected through the bolt;

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 to be rigidly connected with a platform I of a lower six-degree-of-freedom platform so as to drive a leaf disc clamping module to rotate circumferentially;

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 outer 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 outer 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, and the turbine shaft of the worm and gear transmission system penetrates through a through hole in the moving platform from bottom to top to be rigidly connected with the platform I of the lower six-degree-of-freedom platform.

The invention also comprises a support frame, the support frame is connected with the upper mounting platform of the fixed module through a bolt, the support frame is of a concave structure, the middle concave part is sunken than the left protrusion and the right protrusion, an avoiding space is arranged below the left protrusion and the right protrusion and used for avoiding the cylinder II of the linear driving module, and the six-dimensional force sensor of the lower ultrasonic loading module is rigidly connected with the upper part of the middle concave part.

The invention also comprises a mounting frame which comprises an upper fixing plate, a lower fixing plate, supporting plates, an intermediate connecting cylinder and a stud, wherein the upper end and the lower end of each of the three supporting plates are respectively and rigidly connected with the upper fixing plate and the lower fixing plate, the lower part of the lower fixing plate is in threaded connection with the upper end of the intermediate connecting cylinder through the stud, the upper fixing plate is rigidly connected with the lower part of the platform I of the lower six-freedom-degree platform, and the intermediate connecting cylinder is rigidly connected with the output end of the rotary driving module.

The invention has the beneficial effects that: the upper six-degree-of-freedom platform can adjust the pose of the ultrasonic loading module in the six-degree-of-freedom direction, the lower six-degree-of-freedom platform can adjust the pose of the blade disc 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 fact is shown that the axis of the ultrasonic loading module coincides with the outer normal of the blade. 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 view of an assembly of the lower six-DOF platform and the mounting bracket according to the present invention;

FIG. 4 is a schematic structural view of an assembly of the lower ultrasonic loading module and the supporting frame according to the present invention;

FIG. 5 is a schematic structural diagram of an assembly of the blisk clamping module, the lower six-degree-of-freedom platform, the mounting frame, the linear driving module and the rotary driving module, wherein a servo motor of the rotary driving module is indirectly mounted;

FIG. 6 is a schematic structural diagram of an assembly of the blisk clamping module, the lower six-degree-of-freedom platform, the mounting frame, the linear driving module and the rotary driving module, wherein a servo motor of the rotary driving module is directly mounted;

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 view of the rotary drive module of the present invention;

FIG. 12 is a schematic view of the internal structure of the worm gear drive system of the rotary drive module according to the present invention, wherein the servo motor of the rotary drive module is mounted 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 9, an upper ultrasonic loading module 10, a blade disc clamping module 4, a linear driving module 5, a rotary driving module 6, a lower six-degree-of-freedom platform 2 and a lower ultrasonic loading module 3, wherein a platform I of the upper six-degree-of-freedom platform 9 is fixedly connected with a mounting plate 108 of the fixed module 1, a middle connecting plate is fixedly connected with a six-dimensional force sensor of the upper ultrasonic loading module 10, a six-dimensional force sensor 301 of the lower ultrasonic loading module 3 is fixedly mounted above an upper mounting platform 106 of the fixed module 1, the linear driving module 5 is mounted on the upper mounting platform 106 of the fixed module 1, the rotary driving module 6 is fixedly connected below the linear driving module 5, a platform I201 of the lower six-degree-of freedom platform 2 is fixedly connected with the upper end of the rotary driving module 6, a middle connecting piece 404 of the blade disc clamping module 4 is fixedly connected with the upper end of a middle connecting plate 203 of the lower six-degree-of freedom platform 2, the upper ultrasonic loading module 10 and the lower ultrasonic loading module 3 are axially overlapped and symmetrically arranged on the upper side and the lower side of the blade disc clamping module 4.

The pose of the upper six-degree-of-freedom platform 9 and the pose of the lower six-degree-of-freedom platform 2 can be adjusted in the six-dimensional degree-of-freedom direction, a six-dimensional force sensor is arranged between the upper ultrasonic loading module 10 and the upper six-degree-of-freedom platform 9, a six-dimensional force sensor 301 is also arranged between the lower end of the lower ultrasonic loading module 3 and the fixing module 1, the six-dimensional force sensor can measure three forces and three moments in a neutral coordinate system, and the upper side and the lower side of the blisk clamping module 4 are respectively subjected to impact strengthening by the lower end of the upper ultrasonic loading module 10 and the upper end of the lower ultrasonic loading module 3.

As shown in fig. 2, the fixing module 1 comprises a nut I101, a column I102, 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 upright post I102 are respectively provided with a screw thread, the upper and lower ends of the upright post 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 upright I102 and the upright II 105 are in threaded connection with the threaded hole of the lower mounting platform 104, the middle section of the upright I102 and the upper end of the upright II 105 pass through the through hole of the upper mounting platform 106, the mounting plate is fixedly mounted through a nut I101 and a nut II 103, the upper end of the upright post I102 penetrates through a through hole of the mounting plate 108, and the nut I101 and the nut II 103 are fixedly installed, and a rectangular through groove 107 is formed in the upper installation platform 106.

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, the lower six-degree-of-freedom platform 7, the lower ultrasonic loading module 8 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 rotary driving module 6, and the rectangular through groove 107 is used for allowing 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 9 and the lower six-degree-of-freedom platform 2, the upper six-degree-of-freedom platform 9 and the lower six-degree-of-freedom platform 2 have the same structure, wherein the lower six-degree-of-freedom platform 2 comprises a platform I201, a platform II202, a middle connecting plate 203 and 6 cylinders I204, the upper end and the lower end of each cylinder I204 are respectively hinged on the platform I201 and the platform II202, and the middle connecting plate 203 is fixedly connected with the platform II 202;

the upper 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 intermediate connecting plate 203 is arranged, so that when the size of the intermediate connecting piece 404 of the lower six-degree-of-freedom platform 2 or the blisk clamping module 4 is changed, only the intermediate connecting plate 203 can be replaced, and the six-degree-of-freedom platform 2 or the intermediate connecting piece 404 is not replaced, so that the universality of the device of the embodiment can be improved, and the excessive use cost cannot be increased.

As shown in fig. 4, the upper ultrasonic loading module 10 and the lower ultrasonic loading module 3 have the same structure, wherein the lower 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, an upper mounting plate 306, three force transmission plates 307 and a lower mounting plate 308; the lower surface of the six-dimensional force sensor 301 is rigidly connected with the upper surface of the lower mounting plate 308 through bolts, the upper and lower ends of the 3 force transmission plates 307 are rigidly connected with the upper mounting plate 306 and the lower mounting plate 308 through bolts, the upper mounting plate 306 is provided with through holes, the ultrasonic connector 303 passes through the through holes, the lower surface of the upper 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 the ultrasonic probe 304 and the ultrasonic transducer 302 through studs, and the upper end of the ultrasonic probe 304 is rigidly connected with the ultrasonic impact head 305 through threads;

as shown in fig. 7, the blisk clamping module 4 includes a bolt 401, an upper clamp plate 402, a lower clamp plate 403, and an intermediate connecting member 404, 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 part of the lower clamp plate 403 is provided with a threaded through hole, the upper end of the intermediate connecting member 404 is in threaded connection with the threaded through hole in the middle part of the lower clamp plate 403, and the lower end of the intermediate connecting member 404 is used for rigidly connecting the input end of the blisk clamping module 4, i.e., the upper end of the intermediate connecting plate 203 of the lower six-degree-of-freedom platform 2;

the blade disc clamping module 4 further comprises a fixed disc 405, a circular through hole is formed in the middle of the fixed disc, the fixed disc 405 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 11 and the fixed disc 405 can be integrally connected or detachably connected, as shown in fig. 7, the blade 11 and the fixed disc 405 are integrally connected, and the blade 1 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 diagram of a detachably connected fixed disk 405, in which blade slots are distributed on a circumferential side surface of the detachable fixed disk, blades to be strengthened are inserted and fixed in the blade slots, and the device can be applied to blades to be strengthened with different sizes by replacing the fixed disk 405.

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 10;

the moving platform 501 is fixedly connected to the slider seat 505, so that when the air cylinder II 504 extends and contracts, the moving platform 501 can move along the Y direction to drive the blade disc clamping module to move along the front-back direction;

when the moving platform 501 moves in the front-rear direction, the U-shaped through groove can avoid the upper and lower ultrasonic loading modules, and the linear driving module 5 can move forward by a certain distance by forming the U-shaped through groove, so that the strengthening region of the upper and lower ultrasonic loading modules to the blades 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. 5, 6, 11, and 12, the structure of the rotation driving module 6 is that a servo motor 601 is directly or indirectly installed below a moving platform 501 of the linear driving module 5, wherein when the servo motor 601 is directly installed below the moving platform 501, a motor output shaft thereof passes through a through hole on the moving platform 501 from bottom to top and is rigidly connected with a platform I201 of the lower six-degree-of-freedom platform 2, 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 part of the connecting cylinder 602 is fixedly connected with the lower part of the moving platform 501, the worm gear and worm transmission system shell 603 is fixedly connected with the lower part of the connecting cylinder 602, the worm gear and worm transmission system 605 is installed in the worm gear and worm transmission system shell 603, the output shaft of the servo motor 601 is rigidly connected with the worm 60501 of the worm gear and worm transmission system 1, and the turbine shaft 60502 of the worm gear 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 platform I201 of the lower six-degree-of-freedom platform 2;

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.

As shown in fig. 4, the ultrasonic vibration.

Other rigid connections such as snap-fit, adhesive or indirect connections may be used for the support frame 7 and the upper mounting platform 106.

As shown in fig. 3, the mounting rack 8 further includes an upper fixing plate 801, a lower fixing plate 802, supporting plates 805, an intermediate connecting cylinder 803, and studs 804, wherein the upper and lower ends of the three supporting plates 805 are rigidly connected to the upper fixing plate 801 and the lower fixing plate 802, respectively, the lower portion of the lower fixing plate 802 is in threaded connection with the upper end of the intermediate connecting cylinder 803 through the studs 804, the upper fixing plate 801 is rigidly connected to the lower portion of the platform I201 of the lower six-degree-of-freedom platform 2, and the intermediate connecting cylinder 803 is rigidly connected to the output end of the rotation driving module 6.

The lower end of the intermediate connecting cylinder 803 is in threaded connection with a motor shaft or turbine shaft 60502 of the servo motor 601. In other embodiments, the lower end of the lower mounting plate 802 may also be directly coupled to the motor or turbine shaft 60502 of the servo motor 601.

The working principle is as follows:

when the blade ultrasonic impact strengthening device is used, a blade 11 to be strengthened is clamped and fixed between an upper clamping plate 402 and a lower clamping plate 403, an upper six-degree-of-freedom platform 9 and a lower six-degree-of-freedom platform 2 are controlled by an upper computer, so that the ultrasonic impact head of an upper ultrasonic loading module 10 and the ultrasonic impact head 305 of a lower ultrasonic loading module 3 are respectively pressed on the upper surface and the lower surface of the same blade, all six-dimensional force sensors can synchronously detect pressure changes, and when the pressure reaches a preset value, the blade can be subjected to ultrasonic impact strengthening; two groups of ultrasonic loading modules which are symmetrically arranged up and down are used, and when the blade is processed, the top 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 opposite to each other and can be counteracted with each other, so that the impact strengthening effect can be ensured, and the stress of the blade can be avoided, thereby avoiding the blade from being broken and damaged;

meanwhile, the six-dimensional force sensors in the upper ultrasonic loading module 10 and the lower ultrasonic loading module 3 can simultaneously measure three forces and three moments in a neutral coordinate system, 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 all zero, the fact that the axes of the two ultrasonic loading modules are coincident with the outer normal of the blade at the moment is shown, and when the forces in the other two directions and the other three moments are not all zero, the upper computer can continuously control the upper six-degree-of-freedom platform 9 and the lower six-degree-of-freedom platform 2 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 perpendicular to the surface direction of the blade which is not zero, so that the axes of the upper ultrasonic loading module 10 and the lower ultrasonic loading module 3 can be always coincident with the outer normal of the blade;

after the strengthening of part of the surface area of the blade is finished, the cylinder II 504 of the linear driving module 5 is controlled to stretch, so that the moving platform 501 drives the blade 11 to move along the front-back direction, namely the Y direction, thereby realizing the strengthening of the surface of different areas in the length direction of the same blade; by controlling the rotation of the servo motor 601 of the rotation driving module 6, the motor shaft or the turbine shaft 60502 can drive the blades 11 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. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.