Double-sided ultrasonic rolling cooperative strengthening system and control method thereof

A double-sided ultrasonic rolling cooperative strengthening system, wherein the system comprises a first mechanical arm subsystem, a second mechanical arm subsystem, a first ultrasonic rolling strengthening subsystem, a second ultrasonic rolling strengthening subsystem and a servo turntable;

• the servo turntable is configured to fix a blade to be processed;
• the first ultrasonic rolling strengthening subsystem is provided at an end of the first mechanical arm subsystem;
• the second ultrasonic rolling strengthening subsystem is provided at an end of the second mechanical arm subsystem;
• the first mechanical arm subsystem is configured to drive the first ultrasonic rolling strengthening subsystem to carry out strengthening processing on one side of the blade, and the second mechanical arm subsystem is configured to drive the second ultrasonic rolling strengthening subsystem to carry out strengthening processing on an other side of the blade;
• wherein the system further comprises a strengthening fixture;
• the servo turntable is configured to fix the blade through the strengthening fixture;
• wherein a bottom of the strengthening fixture is provided with a cross-shaped clamping groove, the cross-shaped clamping groove is aligned with a cross-shaped claw provided on the servo turntable and is fixed with the cross-shaped claw through a bolt;
• a top of the strengthening fixture is provided with a groove, a first threaded hole is provided at a top surface around the groove, a second threaded hole is provided at a side surface of the groove;
• the top of the strengthening fixture is further provided with a gland, and a center of the gland is provided with a through hole;
• during operation, a tenon root of the blade is provided in the groove, the gland is fastened with the first threaded hole through a bolt, the blade passes through the through hole, the gland is configured to limit movement of the blade in a Z-axis direction;
• a bolt is screwed into the second threaded hole for limiting movement of the blade in an X-axis direction and a Y-axis direction;
• the Z-axis direction is a strengthening feeding direction, the X-axis direction is a thickness direction of the blade, and the Y-axis direction is a direction perpendicular to the Z-axis direction and the X-axis direction.