CN111702611A - Fan blade grinding equipment - Google Patents

Fan blade grinding equipment Download PDF

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Publication number
CN111702611A
CN111702611A CN202010698421.1A CN202010698421A CN111702611A CN 111702611 A CN111702611 A CN 111702611A CN 202010698421 A CN202010698421 A CN 202010698421A CN 111702611 A CN111702611 A CN 111702611A
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CN
China
Prior art keywords
grinding wheel
sliding table
fan blade
grinding
wheel power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010698421.1A
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Chinese (zh)
Inventor
梁志强
吴乃优
黄溢明
赵照洪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Boke Numerical Control Machinery Co ltd
Original Assignee
Guangdong Boke Numerical Control Machinery Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Boke Numerical Control Machinery Co ltd filed Critical Guangdong Boke Numerical Control Machinery Co ltd
Priority to CN202010698421.1A priority Critical patent/CN111702611A/en
Publication of CN111702611A publication Critical patent/CN111702611A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/06—Work supports, e.g. adjustable steadies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

The invention discloses fan blade polishing equipment which comprises a grinding wheel power sliding table, a blade clamp and an intelligent control system, wherein the blade clamp is connected with a polishing robot; the grinding wheel power sliding table comprises a first grinding wheel power sliding table and a second grinding wheel power sliding table; the blade clamp is connected to an end effector of the polishing robot and used for clamping the fan blades; under the driving action, the polishing robot works to enable different parts of the fan blade clamped by the blade clamp to be in contact polishing with the grinding wheel of the first grinding wheel power sliding table and the grinding wheel of the second grinding wheel power sliding table respectively. The fan blade grinding equipment provided by the invention is large or medium-sized grinding equipment which can be suitable for surface treatment of fan blades of various specifications, can be used for automatically grinding the fan blades, and has a uniform and smooth polished surface without manual rearrangement.

Description

Fan blade grinding equipment
Technical Field
The invention relates to the technical field of grinding and polishing equipment, in particular to fan blade grinding equipment.
Background
China is a large country for equipment manufacturing, and with the continuous development of manufacturing technology, the method is already involved in large-scale manufacturing of large-scale equipment such as commercial airplanes, ships, steam turbines and the like, wherein fan blades are important components of turbine engines, and in order to ensure stable and long-time operation under extreme environments of high temperature and high pressure, the fan blades are often forged by high-temperature alloys or titanium alloys. Meanwhile, in order to improve the turbine efficiency, the surface shape of the fan blade is generally designed to be a complex shape of a twisted variable cross-section curved surface, and the machining accuracy of the fan blade is required to be high. The blades are required to be ground and polished after being cut and processed, but at present, the blades are mostly operated by hand, the efficiency is low, the quality and consistency of the blades are poor, and workers are easily injured.
Disclosure of Invention
The invention aims to provide fan blade grinding equipment which can automatically grind the edge profile of a fan blade, and the grinding surface is uniform and smooth without manual rearrangement.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a fan blade sharpening apparatus, comprising:
the grinding wheel power sliding table, the blade clamp and the intelligent control system are connected with the grinding robot;
the grinding wheel power sliding table comprises a first grinding wheel power sliding table and a second grinding wheel power sliding table;
the blade clamp is connected to an end effector of the polishing robot and used for clamping the fan blades;
under the driving action, the polishing robot works to enable different parts of the fan blade clamped by the blade clamp to be in contact polishing with the grinding wheel of the first grinding wheel power sliding table and the grinding wheel of the second grinding wheel power sliding table respectively.
Further, the equipment further comprises a six-dimensional force sensor assembly, wherein the six-dimensional force sensor assembly comprises a six-dimensional force sensor and flanges connected to two ends of the six-dimensional force sensor, and the flanges at two ends of the six-dimensional force sensor are respectively connected with the blade clamp and the end effector of the grinding robot to acquire a real-time contact pressure value between the fan blade and the grinding wheel.
Furthermore, the intelligent control system is in signal connection with the six-dimensional force sensor assembly, the first grinding wheel power sliding table and the second grinding wheel power sliding table and is used for controlling the first grinding wheel power sliding table and the second grinding wheel power sliding table to act according to the real-time contact pressure value so as to maintain the real-time contact pressure value between the fan blade and the grinding wheel to be the same as the preset contact pressure value.
Further, the apparatus further comprises a first visual detection device;
the first visual detection device comprises a bracket and a visual sensor fixed on the bracket, and the visual sensor is used for detecting and displaying a blade edge profile curve of the fan blade in the grinding process;
the intelligent control system is further used for controlling the first grinding wheel power sliding table, the second grinding wheel power sliding table and the grinding robot to continue grinding the blades when machining allowance is reserved on the detected edge profile curve of the fan blades.
Further, the first vision inspection device includes two 2D vision sensors, and the two 2D vision sensors are disposed at 90 ° to each other.
Further, the apparatus also includes a second visual inspection device, which includes,
the second visual detection device comprises a mounting frame and a visual sensor arranged on the mounting frame, and the visual sensor is used for detecting the contour dimension of the edge of the whole fan blade after the fan blade is polished.
Further, the mounting frame comprises an upper frame, a left frame, a lower frame and a right frame which are connected end to form a fan blade passageway;
the vision sensors comprise four vision sensors, the four vision sensors are respectively arranged at four corners of the installation frame, and collectors of the four vision sensors are opposite to the central position of the passageway of the fan blades.
Further, the emery wheel power slip table includes:
a sliding table base;
the sliding table, the limiting baffle and the buffer cylinder are arranged on the sliding table base;
the driving motor and the grinding wheel are arranged on the sliding table;
the piston rod of the buffer cylinder is connected with the sliding table, the limiting baffle is arranged at a first position of the sliding table base, and the first position is on the motion track of the piston rod;
the sliding table slides when the fan blades clamped by the blade clamp are in contact with the grinding wheel and the grinding robot continues to apply acting force;
the piston rod slides on the sliding table and drives the piston rod to a first position, and the piston rod is blocked by the limiting baffle;
the intelligent control system is also used for controlling the sliding table to be locked when the piston rod is blocked by the limiting baffle and the real-time contact pressure value between the fan blades and the grinding wheel is equal to the preset contact pressure value.
Further, the first grinding wheel power sliding table comprises a sliding table base, a first driving motor and a first grinding wheel, wherein the first driving motor and the first grinding wheel are arranged on the sliding table base, and the first grinding wheel is used for grinding one side of the fan blade under the driving of the first driving motor;
the second grinding wheel power sliding table comprises a sliding table base, a second driving motor and a second grinding wheel, wherein the second driving motor and the second grinding wheel are arranged on the sliding table base, and the second grinding wheel is used for grinding the other side of the fan blade under the driving of the second driving motor.
Further, the fan blade grinding apparatus further includes: the blade silo.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is a large and medium-sized flexible polishing device suitable for shaping and repairing fan blades of various specifications, and the contact pressure of the surface of the polished blade can be preset; when the contact pressure reaches a set value, the grinding wheel power sliding table stops rotating to be firmly positioned, and the real-time contact pressure of the grinding blade is kept constant; in the continuous flexible polishing process, the product quality and consistency are improved by eliminating human subjectivity, the edge profile of the polished blade is uniform and smooth, and manual rearrangement is not needed.
2. The invention adopts two detection devices with 2D vision sensors as cores, can detect and display the blade edge contour curve in the polishing process on line, and detect and display the contour size of the whole blade edge after polishing on line, and the online detection function improves the automatic polishing process to a brand new level.
3. The invention adopts the six-dimensional force sensor assembly to realize the closed-loop control of the motion position of the power sliding table of the grinding wheel and the closed-loop control of the grinding force-torque, realizes the constant control of the real-time contact pressure of the grinding blade and the compensation of the abrasion of the grinding wheel, and reduces the consumption of grinding materials, thereby reducing the production cost.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural view of a fan blade grinding apparatus of the present invention;
FIG. 2 is a schematic structural view of a first wheel power slide of the present invention;
FIG. 3 is a schematic structural view of a second wheel power slide of the present invention;
FIG. 4 is an enlarged view at A in FIG. 1;
FIG. 5 is a schematic view of a first visual inspection device according to the present invention;
FIG. 6 is a schematic structural diagram of a second visual inspection device of the present invention;
FIG. 7 is a schematic structural view of a six-dimensional force sensor assembly of the present invention;
fig. 8 is a block diagram of the intelligent control system of the present invention.
Detailed Description
To better illustrate the present invention, the present invention is described in further detail below with reference to FIGS. 1-8.
As shown in fig. 1, a fan blade grinding apparatus includes:
the grinding wheel power slip table of base 1, the emery wheel power slip table of setting on the base, first visual detection device 4, second visual detection device 5, six-dimensional force sensor subassembly 6, polishing robot 7, the blade anchor clamps 8 of being connected with polishing robot 7, dust catcher 9 (only show the dust absorption collection structure part of being connected with the dust catcher in the figure) and blade silo 10 and intelligence control system 11.
The blade clamp 8 is connected to an end effector of the polishing robot and used for clamping the fan blades;
under the driving action, the polishing robot works to enable different parts of the fan blade clamped by the blade clamp to be in contact polishing with the grinding wheel of the first grinding wheel power sliding table and the grinding wheel of the second grinding wheel power sliding table respectively.
Wherein, as shown in fig. 2 and 3, the grinding wheel power slide table comprises: the slide table bases 20 and 30; the sliding tables 21 and 31, the limit baffle plates 23 and 33 and the buffer air cylinders 22 and 32 are arranged on the sliding table base; drive motors 24 and 34 and grinding wheels 25 and 35 provided on the slide table;
as shown in fig. 4, a piston rod of the buffer cylinder is connected with the sliding table, the limit baffle is arranged at a first position of the sliding table base, and the first position is on a motion track of the piston rod; as shown in fig. 1 to 4, the limit baffle and the buffer cylinder are respectively arranged at two sides of the sliding table base.
The sliding table slides when the fan blades clamped by the blade clamp are in contact with the grinding wheel and the grinding robot continues to apply acting force; the piston rod slides on the sliding table and drives the piston rod to a first position, and the piston rod is blocked by the limiting baffle; under the acting force of the polishing robot, the sliding table slides backwards, the buffer cylinder forms a reverse buffer acting force through the piston rod connected with the sliding table, so that the fan blades slide backwards slowly when being in contact with the grinding wheel, and the fan blades effectively avoid rigid contact and damage to the fan blades when being in contact with the grinding wheel through sliding of the sliding table and the buffer cylinder.
The intelligent control system is used for controlling the sliding table to be locked when the piston rod is blocked by the limiting baffle plate and the real-time contact pressure value between the fan blades and the grinding wheel is equal to the preset contact pressure value.
Specifically, the grinding wheel power slide comprises a first grinding wheel power slide 2 and a second grinding wheel power slide 3. As shown in fig. 1, the first and second grinding wheel power sliding tables are respectively disposed on two sides of the base, and preferably, the first and second grinding wheel power sliding tables are disposed opposite to each other on two sides, so that when the grinding robot drives the fan blade to be in contact with the first and second grinding wheel power sliding tables for grinding, two sides of the fan blade can be respectively ground.
As shown in fig. 2, the first grinding wheel power slide table 2 includes a slide table base 20, a first driving motor 24 and a first grinding wheel 25, which are arranged on the slide table base 20, and the first grinding wheel is driven by the first driving motor 24 to grind one side of a fan blade; preferably, in the embodiment of the present invention, two sets of grinding wheels, and a first driving motor 24, a first sliding table, a first buffer cylinder, and a first limit baffle plate, which correspond to the two sets of grinding wheels, are disposed on the sliding table base of the first grinding wheel power sliding table. The fan blade grinding machine further comprises a dust collection structure which is arranged corresponding to the first grinding wheel and used for collecting dust generated when the first grinding wheel is in contact with the fan blades for grinding.
As shown in fig. 3, the second grinding wheel power sliding table includes a sliding table base, and a second driving motor and a second grinding wheel which are arranged on the sliding table base, and the second grinding wheel is driven by the second driving motor 34 to grind the other side of the fan blade. Preferably, in the embodiment of the present invention, two sets of grinding wheels, and a second driving motor 34, a second sliding table, a second buffer cylinder, and a second limit baffle plate, which correspond to the two sets of grinding wheels, are disposed on the sliding table base of the second grinding wheel power sliding table. The fan blade grinding machine further comprises a dust collection structure which is arranged corresponding to the second grinding wheel and used for collecting dust generated when the second grinding wheel is in contact with the fan blades for grinding.
As shown in fig. 5, the first visual inspection device 4 includes a bracket 43, and visual sensors 41 and 42 fixed on the bracket, the visual sensors being used for detecting and displaying the blade edge profile curve of the fan blade during the grinding process;
the intelligent control system is in signal connection with the first visual detection device 4 and is used for controlling the first grinding wheel power sliding table, the second grinding wheel power sliding table and the grinding robot to continuously grind the blades when machining allowance is reserved on the edge profile curve of the fan blades detected by the first visual detection device 4.
Specifically, when the grinding robot 7 drives the whole blade edge to approach and slowly pass through the center positions of the 2D vision sensors 41 and 42 along the horizontal direction, the detection device cooperates with the intelligent control system 11 to detect and display the blade edge profile curve in the grinding process. If the edge contour of the blade still has machining allowance, the grinding process is continued to the preset shape after the deviation is compensated, and the machining is finished.
In some specific embodiments, the machining allowance remaining part can be identified and calculated by collecting the edge profile curve of the blade in the grinding process and performing pattern overlapping with the edge profile curve of the blade required by a preset machining process, and the like, so as to continue grinding.
As shown in fig. 5, the first visual inspection device 4 includes two 2D visual sensors 41 and 42, which are disposed at 90 ° to each other, and are respectively disposed on two mounting surfaces of a bracket 43, which are perpendicular to each other. The two vision sensors are arranged in a staggered 90-degree mode to acquire and form a three-dimensional edge profile curve of the blade. The bracket 43 is mounted on the ceiling of the apparatus.
As shown in fig. 6, the second visual inspection device 5 includes a mounting frame 53, and visual sensors 51 and 52 disposed on the mounting frame, and the visual sensors are used for detecting and displaying the profile dimension of the entire blade edge of the fan blade after finishing sanding. Preferably, the vision sensor is a 2D vision sensor.
The mounting frame 53 includes upper, left, lower and right frames connected end to form a fan blade passageway 54; the vision sensors comprise four vision sensors, the four vision sensors are respectively arranged at four corners of the installation frame, and collectors of the four vision sensors are opposite to the central position of the passageway of the fan blades. The mounting frame 53 is installed on the ceiling.
When the grinding robot drives the fan blades to slowly pass through the central position of the passageway of the fan blades, the four vision sensors are used for collecting different directions of the fan blades so as to obtain the edge contour size of the whole blade after grinding.
As shown in fig. 7, the six-dimensional force sensor assembly 6 includes a six-dimensional force sensor 61, and flanges 62 and 63 connected to two ends of the six-dimensional force sensor, where the flanges at two ends of the six-dimensional force sensor are respectively connected to the blade clamp 8 and the end effector of the polishing robot 7, so as to obtain a real-time contact pressure value between the fan blade and the grinding wheel.
The intelligent control system is in signal connection with the six-dimensional force sensor assembly, the first grinding wheel power sliding table and the second grinding wheel power sliding table and is used for controlling the first grinding wheel power sliding table and the second grinding wheel power sliding table to act according to the real-time contact pressure value so as to maintain the real-time contact pressure value between the fan blade and the grinding wheel to be the same as the preset contact pressure value. The real-time contact pressure of the polishing blade is constant, and the flexible polishing process is automatically completed. The six-dimensional force sensor assembly 6 is in signal connection with the intelligent control system 11, so that closed-loop control of the movement position of the first grinding wheel power sliding table 2 or the second grinding wheel power sliding table 3 and closed-loop control of grinding force and torque are realized, and constant control of real-time contact pressure of the grinding blade and compensation of grinding wheel abrasion are realized.
It should be noted that, in the embodiment of the present invention, there is no limitation on how to determine, according to the real-time contact pressure value, that the real-time contact pressure value between the blade and the grinding wheel is the same as the preset contact pressure value. For example, in the actual use process, the contact pressure value may be preset, and then the threshold value may be determined.
Specifically, in the embodiment of the invention, when the fan blades are in contact with the grinding wheel, under the action of the acting force continuously applied by the grinding robot, the sliding table where the grinding wheel is located slides backwards until a piston rod of a buffer cylinder connected with the sliding table is in contact with the limiting baffle plate, and the sliding table is blocked; and then the polishing robot continues to exert the effect, and the contact pressure between fan blade and the emery wheel is crescent, and the six-dimensional force sensor who is connected with fan blade and polishing robot end effector acquires the contact pressure value between the two in real time, and when both contact pressure values are the same, the locking of intelligence control system control slip table keeps the fan blade to polish under the effect of invariable contact pressure, accomplishes automatic flexible polishing.
As shown in fig. 8, the intelligent control system 11 includes an industrial tablet pc-human machine interface display unit 111, a central logic control unit 112, a first visual detection signal unit 113, a second visual detection signal unit 114, a first grinding wheel power slide table driving control unit 115, a second grinding wheel power slide table driving control unit 116, and a six-dimensional force control sensor signal processing unit 117.
The industrial tablet computer-human-machine interface display unit 111 is used for presetting a contact pressure value and displaying the real-time contact pressure value; receiving and processing the signal of the first visual inspection signal unit 113, and displaying the blade edge profile curve in the polishing process; and receiving the signal of the second processing visual detection signal unit 114, and displaying the contour size of the whole blade edge after grinding.
Further, the industrial tablet pc-human machine interface display unit 111 receives a signal of the six-dimensional force sensor assembly signal processing unit 117 through the ethernet, determines according to a contact pressure value preset by a user through the industrial tablet pc-human machine interface display unit 111, and when the contact pressure is equal to the preset contact pressure value, sends a driving signal to the first grinding wheel power slide driving control unit 115 or the second grinding wheel power slide driving control unit 116 through the central logic control unit 112, so as to control the buffer cylinder 22 or 32 of the grinding wheel power slide to rotate and position, and maintain the real-time contact pressure of the polishing blade constant.
The central logic control unit 112 is connected to a first grinding wheel power slide drive control unit 115 and a second grinding wheel power slide drive control unit 116 through ethernet networks, respectively, and drives the motors 24 and 34, respectively. The central logic control unit 112 is also connected to a vacuum cleaner, etc.
The industrial tablet computer-human machine interface display unit 111 is also used for inputting other process parameters and force-torque closed-loop control, and displaying other process parameters and the like.
Specifically, in the embodiment of the present invention, the industrial tablet pc-hmi interface display unit 111, the six-dimensional force sensor assembly signal processing unit 117, the first visual detection signal unit 113, the second visual detection signal unit 114 and the central logic control unit 112 are connected to an external communication interface through ethernet TCP/IP; the intelligent control system takes an embedded industrial tablet computer-human-computer interface display unit 111 and a central logic control unit 112 as a core, and completes signal connection of the control units through an Ethernet network.
The invention is a large and medium-sized flexible grinding device suitable for polishing fan blades of various specifications, and the surface contact pressure can be preset; when the contact pressure is equal to a set value, the equipment can maintain the real-time contact pressure of the grinding blade to be constant, realize the closed-loop control of the motion position of the grinding wheel power sliding table and the grinding force-torque closed-loop control, compensate the abrasion of the grinding wheel, reduce the consumption of grinding materials and further reduce the production cost.
Preferably, online detection is realized in the continuous flexible polishing process, the product quality and consistency are improved by eliminating human subjectivity, the uniformity and smoothness of the polished blade are ensured, and manual rearrangement is not needed.
The invention adopts two detection devices with 2D vision sensors as cores, can detect and display the blade edge contour curve in the polishing process on line, and detect and display the contour size of the whole blade edge after polishing on line, and the online detection function improves the automatic polishing process to a brand new level.
The invention adopts the six-dimensional force sensor assembly to realize the closed-loop control of the motion position of the power sliding table of the grinding wheel and the closed-loop control of the grinding force-torque, realizes the constant control of the real-time contact pressure of the grinding blade and the compensation of the abrasion of the grinding wheel, and reduces the consumption of grinding materials, thereby reducing the production cost.
In some embodiments, for example, the peripheral devices of the intelligent control system are connected and controlled by adopting a communication connection or a remote connection.
In addition, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the description of the present invention, it is to be understood that the terms "vertical", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the scope of the present invention.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the use of "first" and "second" is merely for convenience in describing the invention and to simplify the description, and unless otherwise stated the above words are not intended to have a special meaning.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.

Claims (10)

1. A fan blade sharpening apparatus, comprising:
the grinding wheel power sliding table, the blade clamp and the intelligent control system are connected with the grinding robot;
the grinding wheel power sliding table comprises a first grinding wheel power sliding table and a second grinding wheel power sliding table;
the blade clamp is connected to an end effector of the polishing robot and used for clamping the fan blades;
under the driving action, the polishing robot works to enable different parts of the fan blade clamped by the blade clamp to be in contact polishing with the grinding wheel of the first grinding wheel power sliding table and the grinding wheel of the second grinding wheel power sliding table respectively.
2. The fan blade sharpening apparatus of claim 1, further comprising a six-dimensional force sensor assembly,
the six-dimensional force sensor assembly comprises a six-dimensional force sensor and flanges connected to two ends of the six-dimensional force sensor, and the flanges at the two ends of the six-dimensional force sensor are respectively connected with the blade clamp and the end effector of the polishing robot and used for acquiring a real-time contact pressure value between the fan blade and the grinding wheel.
3. The fan blade sharpening apparatus of claim 2,
the intelligent control system is in signal connection with the six-dimensional force sensor assembly, the first grinding wheel power sliding table and the second grinding wheel power sliding table and is used for controlling the first grinding wheel power sliding table and the second grinding wheel power sliding table to act according to the real-time contact pressure value so as to maintain the real-time contact pressure value between the fan blade and the grinding wheel to be the same as the preset contact pressure value.
4. The fan blade sharpening apparatus of claim 1, further comprising a first visual detection device,
the first visual detection device comprises a bracket and a visual sensor fixed on the bracket, and the visual sensor is used for detecting the blade edge profile curve of the fan blade in the grinding process;
the intelligent control system is further used for controlling the first grinding wheel power sliding table, the second grinding wheel power sliding table and the grinding robot to continue grinding the blades when machining allowance is reserved on the detected edge profile curve of the fan blades.
5. The fan blade sharpening apparatus of claim 4, wherein the first visual detection device comprises two 2D visual sensors, the two 2D visual sensors being disposed at 90 ° to each other.
6. The fan blade sharpening apparatus of claim 1, further comprising a second visual detection device comprising:
the second visual detection device comprises a mounting frame and a visual sensor arranged on the mounting frame, and the visual sensor is used for detecting the contour dimension of the edge of the whole fan blade after the fan blade is polished.
7. The fan blade sharpening apparatus of claim 6, wherein:
the mounting frame comprises an upper frame, a left frame, a lower frame and a right frame which are connected end to form a fan blade passageway;
the vision sensors comprise four vision sensors, the four vision sensors are respectively arranged at four corners of the installation frame, and collectors of the four vision sensors are opposite to the central position of the passageway of the fan blades.
8. The fan blade sharpening apparatus of claim 1, wherein the wheel power slide comprises:
a sliding table base;
the sliding table, the limiting baffle and the buffer cylinder are arranged on the sliding table base;
the driving motor and the grinding wheel are arranged on the sliding table;
the piston rod of the buffer cylinder is connected with the sliding table, the limiting baffle is arranged at a first position of the sliding table base, and the first position is on the motion track of the piston rod;
the sliding table slides when the fan blades clamped by the blade clamp are in contact with the grinding wheel and the grinding robot continues to apply acting force;
the piston rod slides on the sliding table and drives the piston rod to a first position, and the piston rod is blocked by the limiting baffle;
the intelligent control system is also used for controlling the sliding table to be locked when the piston rod is blocked by the limiting baffle and the real-time contact pressure value between the fan blades and the grinding wheel is equal to the preset contact pressure value.
9. The fan blade sharpening apparatus of claim 1, wherein:
the first grinding wheel power sliding table comprises a sliding table base, a first driving motor and a first grinding wheel, wherein the first driving motor and the first grinding wheel are arranged on the sliding table base;
the second grinding wheel power sliding table comprises a sliding table base, a second driving motor and a second grinding wheel, wherein the second driving motor and the second grinding wheel are arranged on the sliding table base, and the second grinding wheel is used for grinding the other side of the fan blade under the driving of the second driving motor.
10. The fan blade sharpening apparatus of claim 1, wherein:
this fan blade equipment of polishing still includes: the blade silo.
CN202010698421.1A 2020-07-20 2020-07-20 Fan blade grinding equipment Pending CN111702611A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010698421.1A CN111702611A (en) 2020-07-20 2020-07-20 Fan blade grinding equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010698421.1A CN111702611A (en) 2020-07-20 2020-07-20 Fan blade grinding equipment

Publications (1)

Publication Number Publication Date
CN111702611A true CN111702611A (en) 2020-09-25

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112405228A (en) * 2020-11-11 2021-02-26 湖州龙洲制刷有限公司 Polishing device for paint brush handle
CN112757119A (en) * 2020-10-28 2021-05-07 厦门达科塔机械有限公司 Full-automatic blade polisher
CN112828728A (en) * 2021-02-26 2021-05-25 中国科学院自动化研究所 Blade finishing operation robot system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112757119A (en) * 2020-10-28 2021-05-07 厦门达科塔机械有限公司 Full-automatic blade polisher
CN112405228A (en) * 2020-11-11 2021-02-26 湖州龙洲制刷有限公司 Polishing device for paint brush handle
CN112828728A (en) * 2021-02-26 2021-05-25 中国科学院自动化研究所 Blade finishing operation robot system

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