CN206811676U - A kind of tuning for Controllable Pitch Propeller blade surface sanding apparatus - Google Patents

Abstract

The utility model discloses a blade surface grinding device of a pitch control propeller, which comprises a machine base, a blade clamp assembly, a gantry grinding device and a computer. The paddle clamp assembly includes a clamp assembly and a paddle support assembly; the gantry grinding device includes a six-degree-of-freedom manipulator, a flexible air-bearing spindle, a current transformer, a grinding wheel, and a camera. The flexible air bearing spindle includes a cylinder, a spindle, a motor, a coupling and a hollow bearing; one end of the spindle is connected to the motor through a coupling, and the other end of the spindle is connected to the grinding wheel; the current transformer is connected to the motor. The utility model has a high degree of automation, can automatically plan the path on the surface of the blade, can detect the change of the grinding force by detecting the current change of the flexible air-floating spindle, and drives the flexible air-floating spindle along the Z direction by controlling the six-degree-of-freedom manipulator. Grinding force is compensated by the feed and the floating amount of the flexible air bearing spindle itself, so that the grinding precision is high while saving the grinding cost and grinding time.

Description

Surface grinding device for blades of controllable pitch propellers

technical field

The utility model relates to a grinding device in the technical field of grinding, in particular to a grinding device for the blade surface of a pitch control paddle.

Background technique

At present, the grinding and polishing of large-scale free-form surfaces is basically done by hand-held tools based on experience, which makes it difficult to maintain uniformity in the grinding pressure and grinding path, which seriously affects the grinding quality of the product. At the same time, for larger workpieces, manual The limited grinding speed makes the processing efficiency low, and the grinding and polishing environment is harsh, which seriously threatens the health of workers.

However, using mechanical equipment for grinding and polishing, the current equipment has a single function, and can only polish some simple curved surfaces, and cannot adapt to complex curved surfaces, and the precision is not high.

At present, my country's controllable pitch propeller manufacturers basically manually polish the surface of the blades. Manual grinding has low production efficiency, high product scrap rate, high work intensity, and the working environment is harmful to workers' health.

Chinese patent No. CN201320870855.0 discloses a novel propeller grinding machine, which includes a base, a grinding wheel and a main frame mounted on the base, the main frame is provided with a boom and a small arm connected to the end of the boom, the One end of the small arm is connected with the big arm, and the other end is connected with a connecting seat, the grinding wheel is connected with the small arm through the connecting seat, and several elastic members are arranged between the connecting seat and the contact surface of the small arm. The two end surfaces of the component are respectively connected with the end surface of the connecting seat and the end surface of the forearm. Since an elastic member is provided between the connecting seat and the contact surface of the forearm, and the two end surfaces of the elastic member are respectively connected with the end surface of the connecting seat and the end surface of the forearm, it is possible to prevent the grinding wheel from falling off due to vibration during the grinding process.

The aforementioned grinding machine has a low degree of automation and cannot perform path planning on the surface of the blade. Each grinding action needs to be completed manually, resulting in low grinding efficiency, low precision and high labor costs.

Utility model content

The technical problem to be solved by the utility model is to provide a grinding device for the blade surface of the controllable pitch propeller aiming at the deficiencies of the above-mentioned prior art. Path planning can detect the change of grinding force by detecting the current change of the flexible air-bearing spindle, and control the six-degree-of-freedom manipulator to drive the flexible air-bearing spindle to feed along the Z direction and through the floating amount of the flexible air-bearing spindle itself To realize the compensation of the grinding force, so that the grinding precision is high while saving the grinding cost and grinding time.

In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is:

A blade surface grinding device for a controllable pitch propeller, comprising a machine base, a blade clamp assembly, a gantry grinding device and a computer.

The blade clamp assembly is directly or indirectly arranged on the frame, and the blade clamp assembly includes a clamp assembly and a blade support assembly, wherein the clamp assembly is used for clamping and fixing the blade chassis, and the blade support assembly is used for supporting the blade.

The gantry grinding device includes a gantry leg column, a beam assembly, a six-degree-of-freedom manipulator, a flexible air-bearing spindle, a current transformer, a grinding wheel, and a camera.

The bottom of the gantry leg column is slidingly connected to the machine base, the beam assembly is fixedly arranged on the top of the gantry leg column, one end of the six-degree-of-freedom manipulator is fixedly installed in the middle of the beam assembly, and the other end of the six-degree-of-freedom manipulator is fixedly connected to the flexible air bearing spindle.

A crossbar is also arranged in the middle of the crossbeam assembly, and the camera is arranged at the bottom of the crossbar.

The flexible air bearing spindle includes cylinder, spindle, motor, coupling and hollow bearing.

The main shaft is coaxially arranged in the middle of the cylinder, one end of the main shaft is connected with the motor through a coupling, the other end of the main shaft passes through the cylinder and is fixedly connected with the grinding wheel, and the hollow bearing is set on the main shaft in the cylinder to support the main shaft.

The current transformer is connected with the motor in the flexible air-bearing main shaft.

The six-degree-of-freedom manipulator, the motor in the flexible air-bearing spindle, the current transformer and the camera are all connected to the computer.

The fixture assembly includes a V-shaped frame and an indenter. The V-shaped frame is directly or indirectly arranged on the machine base for placing the blade chassis; the indenter is coaxially arranged directly above the V-shaped frame, and the height of the indenter can be raised and lowered.

The paddle support assembly includes a lifting mechanism 2 and a paddle contact ball; the lifting mechanism 2 is directly or indirectly arranged on the machine base, and the paddle contact ball is fixedly arranged on the top of the lifting mechanism 2.

A transmission frame is also arranged between the main shaft and the shaft coupling in the flexible air-floating main shaft, and balls are arranged between the transmission frame and the main shaft.

Also includes a center of gravity measuring device, the center of gravity measuring device includes a load cell and a measuring workbench; the measuring workbench is arranged directly above the machine base through a lifting mechanism, and the height of the measuring workbench can be lifted; there are at least three load cells, and all weighing The heavy sensors are all arranged on the base directly below the measuring workbench; the fixture assembly is fixedly arranged on the measuring workbench, and the paddle support assembly is slidably arranged on the measuring workbench.

The center-of-gravity measuring device also includes a blade spatial attitude measuring device, and the blade spatial attitude measuring device includes a laser displacement sensor measuring device and an inclination measuring device.

The laser displacement sensor measuring device includes a three-dimensional mobile frame and a laser displacement sensor fixed on the three-dimensional mobile frame; the three-dimensional mobile frame can drive the laser displacement sensor to realize sliding in the three directions of X, Y and Z; the inclination measuring device includes an inclination sensor, The inclination sensor can measure the inclination angle of the blade.

After the utility model adopts the above-mentioned structure, it has the following beneficial effects:

1. The gantry grinding device moves back and forth, which is not only stable and reliable, but also increases the area that can be polished; the method of inverting the manipulator with six degrees of freedom also increases the area that can be polished by the manipulator.

2. The flexible air-floating spindle is used to make the surface of the grinding wheel and the paddle contact flexibly, that is, it can flexibly compensate part of the grinding amount when grinding at any angle, and can also ensure the safety of grinding.

3. The degree of automation is high. The entire grinding process is completed by computer control. First, the complex surface path planning is transformed into a simple X ₁ Y ₁ plane and γ angle path planning, and then the coordinates of the blade contour are found through the camera, and the paddle The coordinates of the blade placement are matched with the coordinates of the computer path planning to determine the actual position of the blade, and then polish according to the simple path planned in advance, saving the time for complex surface path planning.

4. The utility model does not detect the grinding force by installing a force sensor, but detects the change of the grinding force by detecting and controlling the current change of the flexible floating spindle, and drives the flexible air-floating spindle along the Z direction by controlling the six-degree-of-freedom manipulator. The compensation of the grinding force is realized through the floating amount of the flexible air bearing spindle itself, which not only reduces the cost, but also ensures the grinding amount; therefore, the utility model is not only safe and reliable, but also greatly saves the grinding cost and grinding time.

Description of drawings

Fig. 1 has shown the right perspective view of a blade surface grinding device of a controllable pitch propeller of the present invention.

Fig. 2 shows a front view of a blade surface grinding device of a controllable pitch propeller according to the present invention.

Fig. 3 shows a schematic structural view of the flexible air bearing main shaft in the utility model.

FIG. 4 shows an enlarged schematic structural view of the longitudinal section of the guide assembly (that is, area I in FIG. 2 ).

Figure 5 shows a schematic diagram of the mechanism of the clamp assembly.

Figure 6 shows the schematic structure of the laser displacement sensor measuring device.

Fig. 7 shows a schematic diagram of the structure of the inclination measuring device.

Fig. 8 shows a schematic diagram of the path planning of the method for grinding the blade surface of the controllable pitch propeller.

Fig. 9 shows a schematic flow chart of the method for grinding the surface of the blade of the controllable pitch propeller.

Including:

1. Machine base;

2. Linear module; 2.1. Module slider;

3. Guide assembly; 3.1. Guide shaft; 3.2. Linear bearing; 3.3. Linear bearing installation sleeve;

4. Lifting mechanism one;

5. Weighing components; 5.1. Load cell mount; 5.2. Load cell;

6. Measuring workbench;

7. Fixture components; 7.1, V-shaped frame; 7.2, limit block; 7.3, clamp pressure plate; 7.4, handwheel; 7.5, trapezoidal screw; 7.6, screw nut; 7.7, screw nut seat; ;

8. Blade support assembly; 8.1. Electric jack; 8.2. Jack base; 8.3. Electromagnetic sucker; 8.4. Blade contact ball head;

9.1. Laser displacement sensor measuring device;

9.11, Z slide rail; 9.12, Z slide block; 9.13, Y slide block; 9.14, X guide rail; 9.15, laser displacement sensor; 9.16, Y slide rail; 9.17, magnetic scale; 9.18, magnetic grid Ruler reading head; 9.19, X-direction slider;

9.21, mounting seat for inclination measuring sensor; 9.22, shaft sleeve; 9.23, groove shaft; 9.24, positioning shaft; 9.25, spring; 9.26, inclination sensor;

10. Gantry grinding device;

10.1. Gantry leg column; 10.2. Beam assembly; 10.3. Six degrees of freedom manipulator;

10.4. Flexible air bearing spindle;

10.4a. Cylinder; 10.4b. Main shaft; 10.4c. Motor; 10.4d. Coupling; 10.4e. Inductance transformer; 10.4f. Transmission frame; 10.4g.

10.5 grinding wheel; 10.6 camera;

11. Paddle.

detailed description

The utility model will be described in further detail below in conjunction with the accompanying drawings and specific preferred embodiments.

As shown in FIG. 1 , FIG. 2 and FIG. 3 , it includes a machine base 1 , a blade clamp assembly, a center of gravity measuring device, a gantry grinding device 10 and a computer.

The paddle clamp assembly is directly or indirectly arranged on the machine base. In the present invention, the paddle clamp assembly is preferably fixed on the following measuring workbench, that is, the paddle clamp assembly is indirectly arranged on the machine base.

The blade clamp assembly includes a clamp assembly 7 and a blade support assembly 8 , wherein the clamp assembly is used for clamping and fixing the blade chassis, and the blade support assembly is used for supporting the blade.

The fixture assembly is used to place the paddle chassis, as shown in Figure 5, the fixture assembly 7 includes a V-shaped frame 7.1 and an indenter 7.8, and the V-shaped frame is fixedly arranged on the measuring table, that is, the V-shaped frame is indirectly fixed on the machine base Of course, it can also be directly fixed on the machine base; the indenter is coaxially arranged directly above the V-shaped frame, and the height of the indenter can be raised and lowered.

The V-shaped frame 7.1 is mainly made of steel plates welded into an approximate V shape. The two V-shaped surfaces are processed with installation reference planes and ordinary threaded holes. Two nylon limit blocks 7.2 are installed by screws. A limit slot is formed between them, which is used to limit the paddle chassis.

The V-shaped frame 7.1 not only supports the chassis of the blade 11, but also roughly functions as an automatic centering function. On the other hand, it can also adapt to blade chassis of different diameters, so that it has strong versatility.

The pressure head 7.8 is preferably a round head rectangle, and its round head presses the disc at the bottom of the paddle 11 .

The lifting of the height of the pressure head is a prior art. In the utility model, the lifting and lowering drive mechanism of the screw rod is preferably used to drive the lifting of the pressure head. The screw rod lifting drive mechanism comprises two fixture pressing plates 7.3, a hand wheel 7.4, a trapezoidal screw 7.5, a leading screw nut 7.6 and a leading screw nut seat 7.7 and the like. Fixture pressing plate 7.3 is a weldment, is welded into approximate V by three thin steel plates; Leading screw nut seat 7.7 is a cuboid shape, and the inside has a through hole, is used to install leading screw nut 7.6. Leading screw nut seat 7.7 is installed in the middle of two fixture pressing plates 7.3 by screw; Handwheel 7.4 is arranged on the top of trapezoidal leading screw 7.5, and pressure head 7.8 is installed on the bottom of trapezoidal leading screw 7.5.

The paddle support assembly 8 is arranged on the measuring table at one side of the fixture assembly for supporting the paddle. That is to say, the blade support assembly is indirectly arranged on the machine base, as an alternative, the blade support assembly can also be directly arranged on the machine base.

There are preferably two blade support assemblies. The two groups of paddle support assemblies 8 cooperate with the clamp assembly 7 to adjust the paddle 11 to a basically balanced state.

As shown in Figure 2, each paddle support assembly includes lifting mechanism 2 and paddle contact ball head 8.4; At the top of the lifting mechanism two.

The second lifting mechanism can be an electric jack or an electric screw jack. Preferably adopt electric jack 8.1 in the utility model.

In addition, the above-mentioned two lifting mechanisms are preferably able to slide on the measuring table, so as to be able to adapt to different types of paddles.

The optimal setting method of the sliding of the lifting mechanism 2 is: the bottom of the electric jack 8.1 is provided with a jack base 8.2, the jack base 8.2 is a cuboid, and a blind round hole and several ordinary threaded holes are processed in the center, and the electromagnetic chuck is preferably installed by screws in the blind hole 8.3; the paddle contact ball head 8.4 is installed on the upper part of the electric jack 8.1.

The paddle support assembly can adjust the support position according to different paddles. When the electromagnetic chuck is powered off, the paddle support assembly can move. When the electromagnetic chuck is powered on, the paddle support assembly is adsorbed on the upper surface of the measuring table and cannot be moved.

The gantry grinding device includes a gantry leg column 10.1, a beam assembly 10.2, a six-degree-of-freedom manipulator 10.3, a flexible air bearing spindle 10.4, a current transformer 10.4e, a grinding wheel 10.5 and a camera 10.6.

The bottom of the gantry leg column is preferably slidingly connected to the machine base through the linear module 2, the beam assembly is fixedly arranged on the top of the gantry leg column, one end of the six-degree-of-freedom manipulator is fixedly arranged in the middle of the beam assembly, and the other end of the six-degree-of-freedom manipulator is connected to the flexible gas. The floating spindle is fixedly connected.

A crossbar is also arranged in the middle of the crossbeam assembly, and the camera is arranged at the bottom of the crossbar.

As shown in Figure 3, the flexible air bearing main shaft includes a cylinder 10.4a, a main shaft 10.4b, a motor 10.4c, a shaft coupling 10.4d and a hollow bearing 10.4h.

The main shaft is coaxially arranged in the middle of the cylinder, one end of the main shaft is connected with the motor through a coupling, the other end of the main shaft passes through the cylinder and is fixedly connected with the grinding wheel, and the hollow bearing is set on the main shaft in the cylinder to support the main shaft.

The current transformer is connected with the motor in the flexible air-bearing main shaft.

The six-degree-of-freedom manipulator, the motor in the flexible air-bearing spindle, the current transformer and the camera are all connected to the computer.

A transmission frame 10.4f is also preferably arranged between the main shaft and the shaft coupling in the flexible air bearing main shaft, and a ball 10.4g is arranged between the transmission frame and the main shaft.

The center-of-gravity measuring device can be set as required, and the center-of-gravity measuring device includes a weighing assembly, a measuring workbench and a blade space attitude measuring device.

The measuring workbench is arranged directly above the machine base through the lifting mechanism one, and the height of the measuring workbench can be raised and lowered.

Lifting mechanism one is preferably an electric jack or an electric screw jack or the like. The measuring table, the lifting mechanism 1 and the machine base are preferably coaxially arranged.

The setting of the above-mentioned lifting mechanism 1 can drive the measuring table to move up and down, and is a power source to control the lifting of the measuring table, so it can ensure that all the load cells 5.2 are in contact at the same time during the measurement, and the force is evenly applied, which plays a role in the load cell. Protective effects.

There are at least three weighing components 5, preferably three in the present invention. The three weighing assemblies 5 are preferably triangularly arranged on the machine base directly below the measuring workbench.

Each weighing assembly 5 includes a load cell mount 5.1 and a load cell 5.2.

The load cell mounting base 5.1 is dumbbell-shaped, and both ends are processed with ordinary threaded holes. The bottom end is preferably fixed on the machine base 1 by screws, and the load cell 5.2 is installed at the top. The weight of the blade 11 can be measured by contacting the load cell 5.2 with the measuring table 6 . When measuring the weight of the blade, two measurements are used, and the weight of the blade is obtained by peeling, and then the formula of moment balance and the principle of three-point center of gravity can be used to calculate the composite platform for measuring and correcting the center of gravity of the blade 11 in the controllable pitch propeller. The location of the center of gravity in the coordinate system.

There are preferably four guide assemblies, which are respectively arranged at the four corners between the machine base and the measuring table.

As shown in FIG. 4 , each guide assembly 3 preferably includes a guide shaft 3.1 , a linear bearing 3.2 and a linear bearing installation sleeve 3.3 arranged coaxially in sequence from the inside to the outside.

The guide shaft 3.1 is preferably a flange shaft, the end face of the flange is fixed on the base 1 by screws, the guide shaft 3.1 is covered with a linear bearing 3.2 outside; the linear bearing installation sleeve 3.3 is a flange sleeve on the end face, and the inside is a ladder Hole-shaped, four ordinary threaded holes are processed on the stepped end surface, and the linear bearing 3.2 is placed in the inner hole, and the flange surface of the linear bearing 3.2 is fixed on the stepped end surface of the linear bearing installation sleeve 3.3 by screws; the linear bearing installation sleeve 3.3 The end face of the flange is fixed on the measuring table 6 by screws. The guide assembly 3 not only plays a guiding role, but also can keep the measuring table stable up and down all the time without tilting. At the same time, it can also withstand the lateral impact force generated on the measuring workbench when the paddle 11 is installed, and has a protective effect on the load cell 5.2.

The blade spatial attitude measuring device includes a laser displacement sensor measuring device 9.1 and an inclination measuring device.

The measuring device of the laser displacement sensor is arranged on the measuring table on the side away from the propeller support assembly.

The laser displacement sensor measuring device 9.1 comprises a three-dimensional mobile frame and a laser displacement sensor 9.15 fixedly arranged on the three-dimensional mobile frame.

The three-dimensional mobile frame can drive the laser displacement sensor to realize the sliding in the three directions of X, Y and Z.

As shown in Figure 6, the three-dimensional mobile frame preferably includes an X-direction rail 9.14, a Y-direction slide rail 9.16, a Z-direction slide rail 9.11, an X-direction slide block 9.19, a Y-direction slide block 9.13 and a Z-direction slide block 9.12.

The bottom end of the Z-direction slide rail is fixedly connected with the measuring workbench, and the Z-direction slider can slide up and down along the Z-direction slide rail; the top and bottom ends of the Z-direction slide rail are preferably provided with a proximity switch for detecting the Z-direction The upper and lower limit positions of the slider.

The Y-direction slide rail is fixed on the Z-direction slide block, and the Y-direction slide block can slide along the Y-direction slide rail; the left end and the right end of the Y-direction slide rail are preferably each provided with a proximity switch for detecting the Y-direction slide block. Left and right extreme positions.

One end of the X-guiding rail is fixed on the Y-sliding block, and the other end of the X-guiding rail points to the paddle chassis placed on the V-shaped frame; the X-sliding block can slide along the X-guiding rail, and the laser displacement sensor is fixed on the X slider up.

The front end and the rear end of the X-direction slide rail are preferably respectively provided with a proximity switch for detecting front and rear limit positions of the X-direction slide block.

The X-direction slider slides forward and backward along the X-guiding rail. It is only used when the speed control is installed. When the laser displacement sensor moves, the position of the X-direction slider remains fixed.

The magnetic scale 9.17 is preferably installed on the Z-direction slide rail and the Y-direction slide rail through the magnetic scale scale mounting plate, and the Z-direction slider and the Y-direction slider are both equipped with a magnetic scale that can read the corresponding magnetic scale scale data. Read Head 9.18.

The magnetic scale reading head 9.18 can read the displacement of the laser displacement sensor 9.15 in the corresponding moving direction; the corresponding variable of the blade 11 in the space attitude can be calculated by detecting four points at different positions on the blade chassis by the laser.

When in use, the laser displacement sensor 9.15 only moves up and down or left and right in the YZ plane. First, four corresponding position points to be measured are found in the YZ plane, and the laser displacement sensor moves to these four position points to be measured in sequence. According to the distance values between one position point to be measured and four points at different positions on the blade chassis, the corresponding variable of the blade 11 in the space attitude is calculated according to these four distance values.

As shown in Figure 7, the inclination measuring device includes a cross bar, a positioning shaft 9.24 and an inclination sensor 9.26.

The length of the cross bar can be stretched, and a positioning shaft is respectively arranged at both ends of the cross bar, and each positioning shaft can be matched with the chassis hole on the paddle chassis, and the inclination sensor is preferably fixed on the cross bar through the inclination sensor mounting seat 9.21 .

The length expansion and contraction of the above-mentioned cross bar is a prior art, and the cross bar of the utility model preferably includes a shaft sleeve 9.22, a spring 9.25 and two grooved shafts 9.23.

The spring is built in the middle of the shaft sleeve, one end of the two grooved shafts extends into the shaft sleeve and can slide along the inner wall of the shaft sleeve, and the other end of the two grooved shafts is respectively provided with a positioning shaft; Limiting shoulders are arranged on each groove shaft in the shaft, and limit screws or limit pins matched with the limit shoulders are arranged on the shaft sleeves.

During measurement, the inclination measuring device is installed on the paddle chassis, and two positioning shafts 9.24 penetrate into the holes of the paddle chassis respectively, and one side of the inclination sensor mounting seat 9.21 is close to the paddle chassis, and the inclination is measured by the elastic support of the spring 9.25. The device is fixed on the blade chassis to realize real-time measurement of the blade 11 when it is adjusted; by combining the measurement results of the inclination measurement device with the measurement results of the laser displacement sensor measurement device 9.1, the spatial attitude of the blade 11 can be obtained arbitrarily placed. Then, the space attitude coordinates of the blade 11 and the coordinates between the controllable pitch propeller blade center of gravity measurement and correction composite platform are converted to each other, so as to obtain the propeller 11 in the control pitch propeller blade center of gravity measurement and correction composite platform coordinate system combined with the position of the center of gravity of the blade 11 measured by the load cell 5.2 in the measurement of the center of gravity of the pitch control blade and the correction of the coordinates of the composite platform, and calculated by the compensation algorithm, it can be accurately obtained that the space coordinate system of the blade 11 is center of gravity position.

After measuring the specific position of the blade 11 in the center of gravity measurement of the pitch control blade and correcting the coordinate system of the composite platform through the measurement of the load cell and the blade space attitude measurement device, the computer controls the linear module 2 to drive the gantry grinding device 10 to move to the set point. Determine the position, and the center of gravity position is corrected by grinding with the gantry grinding device 10.

Using the grinding device of the present invention, the specific operation method for accurately obtaining the position of the center of gravity of the blade 11 in the space coordinate system through compensation algorithm calculation is as follows.

Step 1, the sensor coordinate system is established.

Among the above three load cells, one is arranged directly under the paddle chassis, and the other two are respectively arranged under the paddle blades; the XY plane is established based on the three load cells, and they are arranged on the front of the paddle chassis. The load cell below is the coordinate origin O, the extension direction along the blade blade is the positive direction of the X-axis, the positive direction of the Z-axis is perpendicular to the XY plane outward, and the positive direction of the Y-axis is perpendicular to the right of the X-axis in the XY plane.

Step 2, measurement of the center of gravity of the blade in the sensor coordinate system: place the blade on the measurement surface, and calculate the position of the center of gravity (X, Y) using the principle of three-point measurement of the center of gravity.

The method of calculating the position of the center of gravity (X, Y) using the principle of three-point measurement of the center of gravity is as follows:

G＝G ₁ +G ₂ +G ₃

G×X _{＝ C2} ×X2 ₊ G3× _X3

G×Y _＝ C2× _{Y2 +} G3× _Y3

In the formula: G is the total mass of this measurement, G ₁ is the measurement quality of weighing point A, G ₂ is the measurement quality of weighing point C, G ₃ is the measurement quality of weighing point B; X is the relationship between the center of gravity of the blade on the XY plane and the Y axis Y is the distance between the center of gravity of the blade on the XY plane and the X axis, X ₂ is the distance between the weighing point C on the XY plane and the Y axis, X ₃ is the weighing point B on the XY plane The distance from the Y axis, Y ₂ is the distance between the weighing point C on the XY plane and the X axis, and Y ₃ is the distance between the weighing point B on the XY plane and the X axis.

Step 3, measuring the distance parameter of the laser distance sensor: the specific steps are as follows.

Step 31, find the edge point of the laser measurement surface: the blade chassis includes the laser measurement surface and the blade installation surface coaxially located on the outer periphery of the laser measurement surface, the laser measurement surface is higher than the blade installation surface by a set value a, the set value a is preferably not less than 20 mm, more preferably 40 mm.

Several blade installation holes are evenly arranged on the blade installation surface along the circumferential direction.

The moving plane of the laser distance sensor is parallel to the YZ plane, adjust the laser distance sensor to the range of the blade chassis, move the sensor from left to right and collect the distance from the laser distance sensor to the surface of the blade chassis, and compare the adjacent measured values at the same time, when there is When the difference between two adjacent values exceeds the set value a, that is, when it exceeds 20mm, it is determined that this is the edge point of the laser measurement surface, and the edge point of the laser measurement surface measured for the first time is recorded as C ₁ , then the coordinate of point C ₁ is (Y ₅ , Z ₅ ), and the edge point of the laser measurement surface measured for the second time from left to right is C ₂ , then the coordinates of point C ₂ are (Y ₆ , Z ₆ ); similarly, from top to bottom again Carry out sampling measurement, record the edge point of the laser measurement surface measured for the first time as C ₃ , then the coordinates of C ₃ are (Y ₇ , Z ₇ ), and the second time from top to bottom is the coordinate of point C ₄ is (Y ₈ ,Z ₈ ).

Step 32, find the coordinates of the center of the laser measurement surface: take three points C ₁ , C ₂ , and C ₃ , make a connecting line between C ₁ and C ₂ and make a perpendicular line of the connecting line, and make a point between C ₂ and C ₃ Make a connecting line between them and make the perpendicular line of the connecting line. The intersection point of the two perpendicular lines is the center of the laser measurement surface. At the same time, the coordinate _P5 of the center of the laser measurement surface can be calculated as (Y _o , Z _o ), in:

Step 33, determine the position of the measurement point: the measurement point includes four laser surface measurement points on the laser measurement surface and four laser sensor moving measurement points on the laser sensor motion plane; four laser surface measurement points and four laser sensor One-to-one correspondence of mobile measurement points.

Step 331, find the point P5' on the moving plane of the laser distance sensor: project the center _P5 of the laser measurement surface found in step 32 onto the moving plane of the laser distance sensor along the X axis, then the projected point is P5', and the lateral direction of point P5' And the vertical coordinates are also (Y _o , Z _o ).

Step 332, calculate the radius of the laser measurement surface: calculate the radius R of the laser measurement surface according to the coordinates of the center of the laser measurement surface and the coordinates of point _C4 found in step 32.

Step 333, determine four laser sensor moving measurement points: on the moving plane of the laser distance sensor, take the point P5' found in step 331 as the center point, draw a square with a side length of 0.8R, and make the upper and lower sides of the square be In the horizontal direction, the four corner points of the square are the four laser sensor moving measurement points, and the four laser sensor moving measurement points are respectively recorded as point P1', point P2', point P3' and point clockwise from the upper left corner. Point P4'; the coordinates of point P1' are (Y _o +0.4R, Z _o + 0.4R), the coordinates of point P2' are (Y _o -0.4R, Z _o +0.4R), and the coordinates of point P3' are (Y _o -0.4R, Z _o -0.4R), the coordinates of point P4' are (Y _o +0.4R, Z _o -0.4R).

Step 334, determine four laser surface measurement points: the four laser sensor moving measurement points determined in step 333 are projected onto the laser measurement surface along the X axis to form four laser surface measurement points, and the four laser surface measurement points start from the upper left corner They are respectively recorded as point P1, point P2, point P3 and point P4 in clockwise direction.

Step 34, measure the distance parameter: according to the position of the measurement point determined in step 33, use the laser distance sensor to measure the distance parameter, and obtain the distance parameter values of 5 points respectively, and the distance between point P1 and point P1' is measured as L ₁ The measured distance between point P2 and point P2' is L ₂ , the measured distance between point P3 and point P3' is L ₃ , the measured distance between point P4 and point P4' is L ₄ , and the measured distance between point P5 and point The distance between _P5 ' was measured as L5.

Step 4, parameter measurement of the inclination sensor: select the two blade installation holes distributed horizontally above the blade chassis as the measurement points for the β angle in the space attitude of the blade, and place the inclination sensor parallel to the line connecting the centers of the two holes, thus measuring The angle of is the rotation angle β of the current blade space attitude around the X-axis. At this time, the line connecting the centers of the two blade mounting holes distributed horizontally is called the blade horizontal line.

Step ₅ , establishing the blade space coordinate system: according to the parameters measured by the inclination sensor and the laser distance sensor, establish the blade space coordinate system; The plane is Y ₄ Z ₄ , the positive direction of the X ₄ axis is perpendicular to the laser measurement surface and facing the direction of the blade; the positive direction of the Y ₄ axis is the positive direction of the Y 4 axis when the laser measurement surface passes the origin and is parallel to the horizontal line of the blade described in step 4. , which are respectively perpendicular to the X ₄ and Y ₄ axes and pass through the origin and upwards is the positive direction of the Z ₄ axis.

Step 6. Calculation of blade space attitude parameters: Take the two points C ₁ and C ₂ in step 31, and according to the distance difference L 6 between the two points in the direction of the Y axis L ₆ = |Y ₅ -Y ₆ | and the difference between the measured value| L ₁ -L ₂ | can get the two side lengths of a right triangle, and calculate the rotation angle γ of the current blade space attitude around the Z axis according to the following formula:

Similarly, according to the difference between the measured value L ₂ of point P2 and the measured value L ₃ of point P3, the distance difference L ₇ in the Z-axis direction between point P2 and point P3 =|Z ₆ -Z ₇ | Rotation angle α of the blade space attitude around the Y axis:

Step 7, calculating the position of the center of gravity of the blade: the specific steps are as follows.

Step 71, calculating K value and γ';

In the formula, K is the corrected displacement of L ₅ along the X ₄ axis in the blade coordinate system; γ' is the corrected angle of the γ angle, that is, the rotation angle of the current blade space attitude around the Z ₄ axis.

Since the calculated γ angle is the rotation angle around the Z-axis in the sensor coordinate system, there is a spatial variation deviation between the actual blade coordinate system and the sensor coordinate system, so this angle needs to be corrected, and transformed into γ', similarly K is the corrected displacement of the displacement of L ₅ in the blade coordinate system.

Step 72, calculate the center of gravity position (X ₄ , Y ₄ ) of the blade in the blade coordinate system:

X ₄ ＝Xcosγ′+Ysinγ′-K

Y ₄ ＝Xsinγ′+Ycosγ′

In the formula, the K value and γ' take the calculation results of step 71, and the X and Y values take the center of gravity position (X, Y) in the sensor coordinate system calculated in step 2.

After the above center of gravity measurement is completed, the center of gravity can be polished and corrected.

A method for polishing the surface of a controllable pitch propeller blade, comprising the steps of:

Step 1, establish the blade grinding coordinate system: In the computer, take the upper surface of the machine base or the measuring table as the X ₁ Y ₁ plane, take the midpoint of one side of the upper surface of the base as the coordinate origin O ₁ , and the direction of the side is the X ₁ direction, and the direction perpendicular to this side is the Y ₁ direction; the Z ₁ direction is based on the coordinate origin of the X ₁ Y ₁ plane and is perpendicular to the X ₁ Y ₁ plane.

Step 2. Preliminary planning of the grinding path of the six-degree-of-freedom manipulator: import the 3D model of the pitch control propeller blade into the blade grinding coordinate system established in step 1, and the computer will automatically recognize the blade contour and surface curvature. Then, the computer will carry out six-freedom Preliminary planning of the grinding path of the high-degree manipulator, the preliminary planning content includes: the path planning of the blade plane X ₁ Y ₁ direction according to the blade contour coordinates and the path planning of the grinding angle γ according to the surface curvature in the 3D model of the blade, and finally generates The coordinates of the moving point (X ₁ , Y ₁ , γ); among them, γ refers to the angle formed between the blade surface and the Z1 direction; finally, the computer transmits the preliminary planning of the six-degree-of-freedom manipulator’s grinding path to the six-degree-of-freedom manipulator , to generate the motion sequence of the six-degree-of-freedom manipulator along the X ₁ Y ₁ direction and the γ angle.

Step 3, setting the grinding parameters: setting the grinding force value and the rotational speed of the flexible air bearing spindle; the set grinding force value includes the maximum grinding force F _max and the minimum grinding force F _min .

Step 4, fix the paddle: clamp and fix the paddle with the paddle clamp assembly.

Step 5, the path planning of the six-degree-of-freedom manipulator in the X ₁ Y ₁ direction: the gantry leg column slides, so that the camera is positioned above the blade, and the camera takes a plane profile shot of the entire upper surface of the blade, and transmits the shooting results to In the computer, the computer will automatically calculate the coordinates of the outer contour of the blade, and match the calculated coordinates of the contour of the blade with the preliminary planning of the grinding path of the six-degree-of-freedom manipulator in step 2, so as to determine the actual position of the blade; The actual position of the blade, and re-plan the path planning in the direction of X ₁ Y ₁ for the plane of the blade obtained by shooting; finally, the computer transmits the path planning in the direction of X ₁ Y ₁ to the six-degree-of-freedom manipulator, and generates the six-degree-of-freedom manipulator in X ₁ Movement sequence in Y ₁ direction.

Step 6, paddle grinding: the gantry leg column slides, so that the six-degree-of-freedom manipulator moves to the starting position of the path planning in the direction of X ₁ Y ₁ in step 5, and then the six-degree-of-freedom manipulator drives the grinding wheel down along the Z ₁ direction, and the edge of the grinding wheel While falling, the grinding force F is detected. When the grinding force is controlled between the grinding force values set in step 3, the grinding wheel stops falling and starts grinding. The six-degree-of-freedom manipulator generates X ₁ Y according to step 5. ₁ -direction motion sequence to move and grind; during the grinding process, the grinding force still needs to be detected in real time; the specific method of grinding force detection is: real-time monitoring of the loop current I of the motor in the flexible air-bearing spindle through the inductance transformer , the loop current I of the motor has a linear relationship with the grinding force F of the grinding wheel, and changes in the size of the grinding force F will cause changes in the loop current I.

Step 7, grinding force F compensation: When the grinding force detected in step 6 is higher than the set value, that is, higher than the maximum grinding force F _max , the computer controls the six-degree-of-freedom manipulator to drive the flexible air bearing spindle to rise A compensation amount δ1; when the grinding force detected in step 6 is less than the set value, that is, when the grinding force is less than the minimum value F _min , the computer controls the six-degree-of-freedom manipulator to drive the flexible air bearing spindle to drop a compensation amount δ2; While the six-degree-of-freedom manipulator is descending, the flexible air-bearing spindle will firstly perform flexible compensation of the grinding force based on its own floating amount, so that the grinding force can always be controlled between the maximum value F _max and the minimum value F _min ;

Step 8, when grinding to the end position of the path planning in the X ₁ Y ₁ direction in Step 5, the blade is polished once, and the six-degree-of-freedom manipulator moves to the starting position of the path planning in the X ₁ Y ₁ direction in Step 5, according to For the grinding method from step 6 to step 7, perform the second grinding, and cycle in turn until the grinding is completed.

The grinding device of the present invention can directly correct and polish the center of gravity after the measurement of the center of gravity is completed. The correction and grinding of the center of gravity are basically the same as the above steps 1 to 8, and the difference is only in the path planning of steps 2 and 5. Center of gravity measurements are used for planning.

The preferred embodiment of the utility model has been described in detail above, but the utility model is not limited to the specific details in the above-mentioned embodiment, and within the scope of the technical concept of the utility model, various equivalent transformations can be carried out to the technical solution of the utility model , these equivalent transformations all belong to the protection scope of the present utility model.

Claims (6)

1. A kind of 1. tuning for Controllable Pitch Propeller blade surface sanding apparatus, it is characterised in that：Including support, blade clamp assembly, gantry polishing dress Put and computer；

   Blade clamp assembly is secured directly or indirectly on support, and blade clamp assembly includes clamp assembly and blade support group Part, wherein, clamp assembly is used for being fixedly clamped for blade chassis, and blade support component is used to support blade；

   Gantry sanding apparatus include gantry leg post, transverse beam assembly, six degree of freedom manipulator, flexible air-floating main shaft, current transformer, Emery wheel and camera；

   Gantry leg column bottom is slidably connected with support, and transverse beam assembly is fixedly installed on gantry leg top end, six degree of freedom manipulator One end be fixedly installed on the middle part of transverse beam assembly, the other end of six degree of freedom manipulator is fixedly connected with flexible air-floating main shaft；

   A cross bar is also set up in the middle part of transverse beam assembly, cross bar bottom sets the camera；

   Flexible air-floating main shaft includes cylinder, main shaft, motor, shaft coupling and hollow bearing；

   Main shaft is co-axially located at cylinder middle section, and one end of main shaft is by shaft coupling and motor connection, and the other end of main shaft is from cylinder In pass and be fixedly connected with emery wheel, hollow bearing is sleeved on the main shaft in cylinder, for supports main shaft；

   Current transformer is connected with the motor in flexible air-floating main shaft；

   Six degree of freedom manipulator, the motor in flexible air-floating main shaft, current transformer and camera are connected with computer.
2. 2. tuning for Controllable Pitch Propeller blade surface sanding apparatus according to claim 1, it is characterised in that：The clamp assembly includes V Type frame and pressure head, V-type frame are secured directly or indirectly on support, for placing blade chassis；Pressure head is co-axially located at V-type frame Surface, fall head can lift.
3. 3. tuning for Controllable Pitch Propeller blade surface sanding apparatus according to claim 1, it is characterised in that：The blade support component bag Include elevating mechanism two and blade contact bulb；Elevating mechanism two is secured directly or indirectly on support, and blade contact bulb is fixed It is arranged on the top of elevating mechanism two.
4. 4. tuning for Controllable Pitch Propeller blade surface sanding apparatus according to claim 1, it is characterised in that：In the flexible air-floating main shaft Main shaft and shaft coupling between be additionally provided with gear frame, ball is provided between gear frame and main shaft.
5. 5. tuning for Controllable Pitch Propeller blade surface sanding apparatus according to claim 1, it is characterised in that：Also include center of gravity measurement to fill Put, gravity center measurement device includes weighing sensor and measurement workbench；Measurement workbench is arranged on support by elevating mechanism one Surface, measuring the height of workbench can lift；Weighing sensor at least three, all weighing sensors are arranged at On the support immediately below measurement workbench；Clamp assembly is fixedly installed on measurement workbench, and blade support component is slided It is arranged on measurement workbench.
6. 6. tuning for Controllable Pitch Propeller blade surface sanding apparatus according to claim 5, it is characterised in that：Gravity center measurement device also includes Blade spatial attitude measurement apparatus, blade spatial attitude measurement apparatus include laser displacement sensor measurement apparatus and measurement of dip angle Device；Laser displacement sensor measurement apparatus includes three-dimensional movable stand and the laser displacement being fixedly installed on three-dimensional movable stand passes Sensor；Three-dimensional movable stand can drive laser displacement sensor to realize the sliding in tri- directions of X, Y and Z；Dip measuring device bag Obliquity sensor is included, the obliquity sensor can measure to the angle of inclination of blade.