CN206811676U - A kind of tuning for Controllable Pitch Propeller blade surface sanding apparatus - Google Patents
A kind of tuning for Controllable Pitch Propeller blade surface sanding apparatus Download PDFInfo
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- CN206811676U CN206811676U CN201720300671.9U CN201720300671U CN206811676U CN 206811676 U CN206811676 U CN 206811676U CN 201720300671 U CN201720300671 U CN 201720300671U CN 206811676 U CN206811676 U CN 206811676U
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Abstract
The utility model discloses a kind of tuning for Controllable Pitch Propeller blade surface sanding apparatus, including support, blade clamp assembly, gantry sanding apparatus and computer.Blade clamp assembly includes clamp assembly and blade support component；Gantry sanding apparatus includes six degree of freedom manipulator, flexible air-floating main shaft, current transformer, emery wheel and camera.Flexible air-floating main shaft includes cylinder, main shaft, motor, shaft coupling and hollow bearing；Main shaft one end is connected by shaft coupling and motor connection, the main shaft other end with emery wheel；Current transformer is connected with motor.The utility model automaticity is high, automatically path planning can be carried out to blade surface, the change of grinding force can be detected by detecting the curent change of flexible air-floating main shaft, and the compensation of grinding force is realized along Z-direction feeding and by the aspect of the amount of floating of flexible air-floating main shaft itself two by controlling six degree of freedom machinery hand-motion flexible air to float main shaft, so as to which while polishing cost and polishing time is saved, polishing precision is high.
Description
Technical field
The sanding apparatus in grinding technology field is the utility model is related to, particularly a kind of tuning for Controllable Pitch Propeller blade surface polishing dress
Put.
Background technology
Current large-scale free form surface sanding and polishing is substantially to be completed by man-hour manually hand-held power tool by experience, and this causes
Polishing pressure and polishing path are difficult to keep uniformity, seriously affect the polishing quality of product, meanwhile, it is larger for volume
Workpiece, manual polishing speed is limited so that processing efficiency is relatively low, and the bad environments of sanding and polishing, serious threat to labor
The health of dynamic person.
And plant equipment sanding and polishing is used, current functions of the equipments are single, part simple surface can only be realized and polished,
Do not adapted to complex-curved, precision is not high.
Tuning for Controllable Pitch Propeller manufacturing enterprise in China's substantially manually polishes blade surface at present, manual polishing production efficiency
It is low, product rejection rate is high, worker's working strength is big, working environment damages workers ' health.
Chinese CN201320870855.0 patents disclose a kind of new type propeller sander, and it includes base, emery wheel
With the body frame on base, the body frame is provided with large arm and is connected to the forearm of large arm end, described forearm one end with
Large arm is connected, and the other end is connected with connecting seat, and the emery wheel is connected by connecting seat with the forearm, the connecting seat with it is described
Be provided with some elastic components between forearm contact surface, the both ends of the surface of the elastic component respectively with the end face of the connecting seat and small
Arm end face connects.Due to being provided with elastic component between connecting seat and forearm contact surface, and the both ends of the surface of elastic component respectively with institute
End face and the connection of forearm end face of connecting seat are stated, can avoid causing emery wheel to come off due to vibrations during wheel grinding.
Above-mentioned sander automaticity is low, it is impossible to carries out blade surface path planning, each polishing action is required for people
Work is operated to complete, and grinding efficiency is low, and precision is low and cost of labor is high.
Utility model content
The technical problems to be solved in the utility model is to be directed to above-mentioned the deficiencies in the prior art, and provides a kind of tuning for Controllable Pitch Propeller oar
Leaf surface sanding apparatus, the tuning for Controllable Pitch Propeller blade surface sanding apparatus automaticity is high, can carry out path to blade surface automatically
Planning, can detect the change of grinding force by detecting the curent change of flexible air-floating main shaft, and by controlling six degree of freedom machine
Tool hand-motion flexibility air-floating main shaft feeds along Z-direction and realizes grinding force by the aspect of amount of floating two of flexible air-floating main shaft itself
Compensation, so as to which while polishing cost and polishing time is saved, polishing precision is high.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of tuning for Controllable Pitch Propeller blade surface sanding apparatus, including support, blade clamp assembly, gantry sanding apparatus and calculating
Machine.
Blade clamp assembly is secured directly or indirectly on support, and blade clamp assembly includes clamp assembly and blade supports
Component, wherein, clamp assembly is used for being fixedly clamped for blade chassis, and blade support component is used to support blade.
It is mutual that gantry sanding apparatus includes gantry leg post, transverse beam assembly, six degree of freedom manipulator, flexible air-floating main shaft, electric current
Sensor, 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 machine
One end of tool hand is fixedly installed on the middle part of transverse beam assembly, and the other end of six degree of freedom manipulator is fixed with flexible air-floating main shaft to be connected
Connect.
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, one end of main shaft by shaft coupling and motor connection, the other end of main shaft from
Pass in cylinder 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
Connect.
The clamp assembly includes V-type frame and pressure head, and V-type frame is secured directly or indirectly on support, for placing blade
Chassis；Pressure head is co-axially located at the surface of V-type frame, and fall head can lift.
The blade support component includes elevating mechanism two and blade contact bulb；Elevating mechanism two is directly or indirectly set
On support, blade contact bulb is fixedly installed on the top of elevating mechanism two.
Gear frame is additionally provided between main shaft and shaft coupling in the flexible air-floating main shaft, is set between gear frame and main shaft
There is ball.
Also include gravity center measurement device, gravity center measurement device includes weighing sensor and measurement workbench；Measure workbench
The surface of support is arranged on by elevating mechanism one, measuring the height of workbench can lift；Weighing sensor at least three
Individual, all weighing sensors are arranged on the support immediately below measurement workbench；Clamp assembly is fixedly installed on measurement
On workbench, blade support component is slidably arranged on measurement workbench.
Gravity center measurement device also includes blade spatial attitude measurement apparatus, and blade spatial attitude measurement apparatus includes laser position
Displacement sensor measurement apparatus and dip measuring device.
Laser displacement sensor measurement apparatus includes three-dimensional movable stand and the laser position being fixedly installed on three-dimensional movable stand
Displacement sensor；Three-dimensional movable stand can drive laser displacement sensor to realize the sliding in tri- directions of X, Y and Z；Measurement of dip angle fills
Put including obliquity sensor, the obliquity sensor can measure to the angle of inclination of blade.
After the utility model uses said structure, have the advantages that：
1. gantry sanding apparatus moves forward and backward, not only reliable and stable, and add can polishing region；Using six degree of freedom
The method of manipulator upside-down mounting, also increasing manipulator can polishing region.
2. using flexible air-floating main shaft, make emery wheel and blade surface flexible contact, i.e., being capable of flexible compensation part random angle
Stock removal when degree polishing, moreover it is possible to ensure polishing safety.
3. automaticity is high, whole bruting process is controlled by computer and completed, and the curved surface path of complexity is advised first
Transfer and be changed into simple X1Y1The path planning of plane and γ angles, the coordinate of blade profile is then found by camera, will
The coordinate that blade is put is matched with the coordinate of computer path planning, so that it is determined that the position of actual blade, then basis
Simple path planned in advance is polished, and saves the time of complex-curved path planning.
4. the utility model to detect grinding force but controls flexible float not over installation force snesor by detecting
The curent change of main shaft detects the change of grinding force, and by controlling six degree of freedom machinery hand-motion flexible air to float main shaft along Z
The compensation of grinding force is realized in terms of feeding and by the amount of floating two of flexible air-floating main shaft itself, not only reduces cost,
It also assures that stock removal；So the utility model is not only safe and reliable, polishing cost and polishing time are also greatlyd save.
Brief description of the drawings
Fig. 1 shows a kind of right side parallax stereogram of tuning for Controllable Pitch Propeller blade surface sanding apparatus of the utility model.
Fig. 2 shows a kind of front view of tuning for Controllable Pitch Propeller blade surface sanding apparatus of the utility model.
Fig. 3 shows the structural representation of flexible air-floating main shaft in the utility model.
Fig. 4 shows the mplifying structure schematic diagram in guidance set vertical section (namely the areas of Tu2Zhong I).
Fig. 5 shows the structural scheme of mechanism of clamp assembly.
Fig. 6 shows the structural representation of laser displacement sensor measurement apparatus.
Fig. 7 shows the structural representation of dip measuring device.
Fig. 8 shows the distance planning schematic diagram of tuning for Controllable Pitch Propeller blade surface polishing process.
Fig. 9 shows the schematic flow sheet of tuning for Controllable Pitch Propeller blade surface polishing process.
Wherein have：
1st, support；
2nd, straight line module；2.1st, module sliding block；
3rd, guidance set；3.1st, the axis of guide；3.2nd, linear bearing；3.3rd, linear bearing installation sleeve；
4th, elevating mechanism one；
5th, weigh assembly；5.1st, weighing sensor mounting seat；5.2nd, weighing sensor；
6th, workbench is measured；
7. clamp assembly；7.1st, V-type frame；7.2nd, limited block；7.3rd, clamp platen；7.4th, handwheel；7.5th, trapezoidal screw；
7.6th, feed screw nut；7.7th, feed screw nut seat；7.8th, pressure head；
8th, blade support component；8.1st, motor-driven jack；8.2nd, jack base；8.3rd, magnechuck；8.4th, blade connects
Touch bulb；
9.1st, laser displacement sensor measurement apparatus；
9.11st, Z-direction slide rail；9.12nd, Z-direction sliding block；9.13rd, Y-direction sliding block；9.14th, X direction guiding rails；9.15th, laser displacement passes
Sensor；9.16th, Y-direction slide rail；9.17, magnetic railings ruler；9.18th, magnetic grid ruler reading head；9.19th, X is to sliding block；
9.21st, obliquity measurement sensor mounting seat；9.22, axle sleeve；9.23rd, groove axle；9.24, locating shaft；9.25, bullet
Spring；9.26, obliquity sensor；
10th, gantry sanding apparatus；
10.1st, gantry leg post；10.2, transverse beam assembly；10.3rd, six degree of freedom manipulator；
10.4th, flexible air-floating main shaft；
10.4a. cylinders；10.4b. main shafts；10.4c. motors；10.4d. shaft couplings；10.4e. inductance transformer；10.4f.
Gear frame；10.4g. balls；10.4h. hollow bearings；
10.5 emery wheels；10.6 cameras；
11. blade.
Embodiment
The utility model is described in further detail with specific better embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2 and Figure 3, including support 1, blade clamp assembly, gravity center measurement device, gantry sanding apparatus 10
And computer.
Blade clamp assembly is secured directly or indirectly on support, and in the utility model, blade clamp assembly is preferably fixed
On following measurement workbench, namely blade clamp assembly is arranged on support indirectly.
Blade clamp assembly includes clamp assembly 7 and blade support component 8, wherein, clamp assembly is used for blade chassis
It is fixedly clamped, blade support component is used to support blade.
Clamp assembly is used to place blade chassis, as shown in figure 5, clamp assembly 7 includes V-type frame 7.1 and pressure head 7.8, V-type
Frame is fixedly installed on measurement workbench, namely V-type frame is indirectly fixed on support, certainly, can be also directly anchored on support；
Pressure head is co-axially located at the surface of V-type frame, and fall head can lift.
V-type frame 7.1 mainly has steel plate to be welded approximate V shape, and datum clamp face and common is machined with two V-type faces
Screwed hole, the limited block 7.2 of two pieces of nylon materials is installed by screw, stopper slot is formed between two pieces of limited blocks, for pair
Blade chassis carries out spacing.
V-type frame 7.1 not only acts as supporting role to the chassis of blade 11, and automatic centering function, the opposing party are played in also big enable
Face also adapts to the blade chassis of different-diameter, so as to versatile.
Pressure head 7.8 is preferably a rounded rectangles, and its round end compresses the bottom disc of blade 11.
The lift in height of pressure head is prior art, and preferably pressure is driven using screw mandrel lift drive mechanism in the utility model
Head lifting.Screw mandrel lift drive mechanism includes two pieces of clamp platens 7.3, handwheel 7.4, trapezoidal screw 7.5, the and of feed screw nut 7.6
Feed screw nut seat 7.7 etc..Clamp platen 7.3 is a weldment, and approximate V-type is welded into by three blocks of sheet metals；Feed screw nut seat 7.7
For a rectangular-shape, there is a through hole inside, for installing feed screw nut 7.6.Feed screw nut seat 7.7 is arranged on two by screw
Among block clamp platen 7.3；Handwheel 7.4 is arranged on the top of trapezoidal screw 7.5, and pressure head 7.8 is arranged on the bottom of trapezoidal screw 7.5.
Blade support component 8 is arranged on the measurement workbench of clamp assembly side, for supporting blade.Namely oar
Leaf support component is arranged on support indirectly, and as replacement, also directly blade support component can be arranged on support.
Blade support component preferably has two.Two groups of blade support components 8 coordinate clamp assembly 7 to cooperate, can be by oar
Leaf 11 is adjusted to state in a basic balance.
As shown in Fig. 2 each blade support component includes elevating mechanism two and blade contact bulb 8.4；Elevating mechanism
Two are fixedly installed on measurement workbench, and blade contact bulb is preferably copper bulb, is fixedly installed on the top of elevating mechanism two
End.
Elevating mechanism two can be motor-driven jack or electric screw lift etc..Preferably using electronic in the utility model
Jack 8.1.
In addition, above-mentioned elevating mechanism two preferably can enable adaptation to inadequate class in the measurement enterprising line slip of workbench
The blade of type.
The sliding preferred arrangement of elevating mechanism two is：The bottom of motor-driven jack 8.1 sets jack base 8.2,
Jack base 8.2 is a cuboid, and center is machined with a blind circular hole and several regular screw threads holes, preferably passes through screw in blind hole
Magnechuck 8.3 is installed；Blade contact bulb 8.4 is arranged on the top of motor-driven jack 8.1.
Blade support component can adjust Support Position according to different blades, when magnechuck powers off, blade
Support component can move, and magnechuck is powered, and the absorption of blade support component is in measurement worktable upper surface, it is impossible to mobile.
Gantry sanding apparatus includes gantry leg post 10.1, transverse beam assembly 10.2, six degree of freedom manipulator 10.3, flexible air supporting
Main shaft 10.4, current transformer 10.4e, emery wheel 10.5 and camera 10.6.
Gantry leg column bottom is preferably slidably connected by straight line module 2 with support, and transverse beam assembly is fixedly installed on gantry leg
Top end, one end of six degree of freedom manipulator are fixedly installed on the middle part of transverse beam assembly, the other end of six degree of freedom manipulator with
Flexible air-floating main shaft is fixedly connected.
A cross bar is also set up in the middle part of transverse beam assembly, cross bar bottom sets the camera.
As shown in figure 3, flexible air-floating main shaft include cylinder 10.4a, main shaft 10.4b, motor 10.4c, shaft coupling 10.4d and
Hollow bearing 10.4h.
Main shaft is co-axially located at cylinder middle section, one end of main shaft by shaft coupling and motor connection, the other end of main shaft from
Pass in cylinder 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
Connect.
Gear frame 10.4f, gear frame and main shaft are further preferably provided between main shaft and shaft coupling in flexible air-floating main shaft
Between be provided with ball 10.4g.
Above-mentioned gravity center measurement device can be configured as needed, and gravity center measurement device includes weigh assembly, measurement work
Make platform and blade spatial attitude measurement apparatus.
Measurement workbench is arranged on the surface of support by elevating mechanism one, and measuring the height of workbench can lift.
Elevating mechanism one is preferably motor-driven jack or electric screw lift etc..Measure workbench, the and of elevating mechanism one
Support is preferably coaxially disposed.
The setting of above-mentioned elevating mechanism one, measurement workbench can be driven to move up and down, and be a power source control measurement
The lifting of workbench, thus when can guarantee that measurement, all weighing sensors 5.2 contact simultaneously, uniform stressed, to weighing sensor
Serve protective effect.
Weigh assembly 5 at least three, is preferably arranged to three in the utility model.Three weigh assemblies 5 are preferably in three
It is angular to be disposed in measuring on the support immediately below workbench.
Each weigh assembly 5 includes weighing sensor mounting seat 5.1 and weighing sensor 5.2.
Weighing sensor mounting seat 5.1 is dumbbell shaped, and both ends are machined with regular screw threads hole, and bottom preferably passes through screw
It is fixed on support 1, top installation weighing sensor 5.2.Contacted, can be surveyed with measurement workbench 6 by weighing sensor 5.2
Obtain the weight of blade 11.Using measuring twice when blade weight measures, blade weight is drawn by way of peeling, recycles power
Square equation of equilibrium and 3 points of survey centre-of-gravity principles can calculate blade 11 in tuning for Controllable Pitch Propeller blade center of gravity measurement and amendment compound platform
Position of centre of gravity in coordinate system.
Guidance set preferably has four, is separately positioned on support and measures four edges between workbench.
As shown in figure 4, each guidance set 3 preferably includes the axis of guide 3.1, the straight line sequentially coaxially set from the inside to the outside
Bearing 3.2 and linear bearing installation sleeve 3.3.
The axis of guide 3.1 is preferably a root flange axle, and end face of flange is fixed by screws on support 1, outside the axis of guide 3.1
It is cased with linear bearing 3.2；Linear bearing installation sleeve 3.3 is end face flange sleeve, and inside is poroid for ladder, and ladder end face adds
Work has four regular screw threads holes, and endoporus lays linear bearing 3.2, and is fixed on the flange face of linear bearing 3.2 by screw
On the ladder end face of linear bearing installation sleeve 3.3；The end face of flange of linear bearing installation sleeve 3.3 is fixed by screws in survey
Measure on workbench 6.Guidance set 3 not only play the guiding role, and can remain that measurement workbench is steady up and down, will not incline
Tiltedly.It can also bear to produce weighing sensor 5.2 side impacting force caused by measurement workbench when blade 11 is installed simultaneously
Protective effect.
Blade spatial attitude measurement apparatus includes laser displacement sensor measurement apparatus 9.1 and dip measuring device.
Laser displacement sensor measurement apparatus is arranged on the measurement workbench of blade support component side.
Laser displacement sensor measurement apparatus 9.1 includes three-dimensional movable stand and the laser being fixedly installed on three-dimensional movable stand
Displacement transducer 9.15.
Three-dimensional movable stand can drive laser displacement sensor to realize the sliding in tri- directions of X, Y and Z.
As shown in fig. 6, three-dimensional movable stand preferably includes X direction guiding rails 9.14, Y-direction slide rail 9.16, Z-direction slide rail 9.11, X to cunning
Block 9.19, Y-direction sliding block 9.13 and Z-direction sliding block 9.12.
Z-direction slide rail bottom is fixedly connected with measurement workbench, and Z-direction sliding block can carry out sliding up and down along Z-direction slide rail；Z-direction is slided
The top and bottom of rail are preferably each provided with a proximity switch, for detecting the high-low limit position of Z-direction sliding block.
Y-direction slide rail is fixed on Z-direction sliding block, and Y-direction sliding block can enter line slip along Y-direction slide rail；The left end and right-hand member of Y-direction slide rail
It is preferred that a proximity switch is each provided with, for detecting the Derivative limit on the left or on the right position of Y-direction sliding block.
One end of X direction guiding rails is fixed on Y-direction sliding block, and the other end of X direction guiding rails points to the blade bottom being positioned on V-type frame
Disk；X can enter line slip to sliding block along X direction guiding rails, and laser displacement sensor is fixedly installed on X on sliding block.
X is preferably each provided with a proximity switch to the front-end and back-end of slide rail, for detecting the front and rear limit of the X to sliding block
Position.
Front and rear slidings of the X to sliding block along X direction guiding rails, is only used when installing speed governing, when laser displacement sensor moves, X
Keep fixing to slide position.
Magnetic railings ruler 9.17, Z-direction sliding block and Y-direction are preferably provided with by magnetic railings ruler installing plate on Z-direction slide rail and Y-direction slide rail
The magnetic grid ruler reading head 9.18 of corresponding magnetic railings ruler data can be read by being provided with sliding block.
Magnetic grid ruler reading head 9.18 can read displacement of the laser displacement sensor 9.15 on corresponding moving direction；Pass through
The point of four diverse locations on laser detection blade chassis, the corresponding variable in spatial attitude of blade 11 can be calculated.
In use, laser displacement sensor 9.15 is carried out up and down or moved left and right only in YZ planes, first in YZ planes
Location point to be measured corresponding to four is found, laser displacement sensor is moved to this four location points to be measured, tests out four successively
The distance value of location point to be measured and the point of four diverse locations on blade chassis, calculates blade 11 according to this four distance values and exists
Corresponding variable in spatial attitude.
As shown in fig. 7, dip measuring device includes cross bar, locating shaft 9.24 and obliquity sensor 9.26.
The length of cross bar can stretch, and the both ends of cross bar respectively set a locating shaft, and every locating shaft can be with blade bottom
Chassis hole on disk is engaged, and obliquity sensor is preferably fixed on cross bar by obliquity sensor mounting seat 9.21.
The telescopic of above-mentioned cross bar is prior art, and the utility model cross bar preferably includes axle sleeve 9.22, spring 9.25
With two groove axles 9.23.
Spring is built in the middle part of axle sleeve, and one end of two groove axles is stretched into axle sleeve and can slid along sleeve lining face,
The other end of two groove axles respectively sets a locating shaft；Limiting stand is provided with the every groove axle in axle sleeve
Shoulder, the stop screw or spacer pin being engaged with spacing shoulder are provided with axle sleeve.
During measurement, dip measuring device is arranged on blade chassis, and two locating shafts 9.24 respectively penetrate blade chassis hole
Interior, blade chassis is close in a side of obliquity sensor mounting seat 9.21, is surveyed inclination angle by the resilient support of spring 9.25
Amount device is fixed on blade chassis, realizes real-time measurement when blade 11 adjusts；The result measured by dip measuring device
It is combined with the result that laser displacement sensor measurement apparatus 9.1 measures, can be derived that the spatial attitude that blade 11 is arbitrarily placed.
Then, the coordinate between the spatial attitude coordinate of blade 11 and tuning for Controllable Pitch Propeller blade center of gravity measurement and amendment compound platform is mutually turned
Change, so as to draw spatial attitude of the blade 11 in tuning for Controllable Pitch Propeller blade center of gravity measurement and amendment compound platform coordinate system, in conjunction with
Position of centre of gravity of the blade 11 that weighing sensor 5.2 measures in tuning for Controllable Pitch Propeller blade center of gravity measurement and amendment compound platform coordinate,
Calculated by backoff algorithm, can accurately draw the position of centre of gravity in the space coordinates of blade 11.
Weighing sensor and blade spatial attitude measurement apparatus measurement draw blade 11 in tuning for Controllable Pitch Propeller blade center of gravity measurement and
After correcting the particular location in compound platform coordinate system, computer control straight line module 2 moves to driven portal sanding apparatus 10
Setting position, polishing amendment position of centre of gravity is carried out by gantry sanding apparatus 10.
Using sanding apparatus of the present utility model, calculated, accurately drawn in the space coordinates of blade 11 by backoff algorithm
Position of centre of gravity concrete operation method it is as described below.
Step 1, sensor coordinate system is established.
Above three weighing sensor, one of them is arranged in the underface on blade chassis, and two other is arranged in
The lower section of blade；XY faces are established based on three weighing sensors, and to be arranged in weighing immediately below blade chassis
Sensor is origin of coordinates O, and the bearing of trend along blade is X-axis positive direction, is faced out perpendicular to XY as Z axis positive direction,
Perpendicular to the X axis right side it is Y-axis positive direction in XY faces.
Step 2, blade center of gravity measurement in sensor coordinate system：Blade is placed into measuring surface, using 3 check weighing hearts
Principle calculates position of centre of gravity (X, Y).
The method that centre-of-gravity principle calculating position of centre of gravity (X, Y) is surveyed using 3 points is as follows：
G=G1+G2+G3
G × X=C2×X2+G3×X3
G × Y=C2×Y2+G3×Y3
In formula：G measures gross mass, G for this1To weigh, point A measures quality, G2To weigh, point C measures quality, G3To claim
Emphasis B measures quality；X is distance of the blade center of gravity on X/Y plane between Y-axis, Y be blade center of gravity on X/Y plane with X-axis
The distance between, X2For distances of the point C on X/Y plane between Y-axis, the X of weighing3For weigh point B on X/Y plane between Y-axis
Distance, Y2For distances of the point C on X/Y plane between X-axis, the Y of weighing3For weigh point B on X/Y plane between X-axis away from
From.
Step 3, laser distance sensor distance parameter measures：It is as follows to specifically include step.
Step 31, laser measurement face marginal point is found：Blade chassis includes laser measurement face and is coaxially located at laser measurement
The blade mounting surface of face periphery, laser measurement face are higher by a setting value a than blade mounting surface, and setting value a is preferably not less than
20mm, more preferably 40mm.
Blade mounting surface is evenly distributed in the circumferential direction several blade mounting holes.
Laser distance sensor is adjusted to blade chassis scope by laser distance sensor plane of movement parallel to YZ faces
It is interior, from left to right movable sensor and laser distance sensor is gathered to the distance of blade chassis surface, while contrast adjacent survey
Value, when exceed setting value a in the presence of two adjacent value difference values, namely during beyond 20mm, judge to be laser measurement face marginal point herein,
It is C to record the laser measurement face marginal point measured for the first time1, then point C1Coordinate is (Y5,Z5), measure for the second time from left to right
Laser measurement face marginal point be C2, then point C2Coordinate is (Y6,Z6)；Similarly once carry out sampled measurements from top to bottom again, remember
The laser measurement face marginal point measured for the first time under record is C3, then C3Coordinate is (Y7,Z7), second is point C from top to bottom4Coordinate
For (Y8,Z8)。
Step 32, the central coordinate of circle in laser measurement face is found：Take C1、C2、C33 points, in C1、C2Between do line and be somebody's turn to do
The perpendicular bisector of line, in C2、C3Between do line and do the perpendicular bisector of the line, the intersection point of two perpendicular bisectors is laser measurement face
The center of circle, while the center of circle P in laser measurement face can be calculated5Coordinate is (Yo,Zo), wherein：
Step 33, measurement point position is determined：Measurement point include four lasing area measurement points on the laser measurement face and
Four laser sensor traverse measurement points on laser sensor plane of movement；Four lasing area measurement points and four laser
Sensor traverse measurement point corresponds.
Step 331, the point P5' on laser distance sensor plane of movement is found：The laser measurement face that step 32 is found
Center of circle P5Projected to along X-axis on laser distance sensor plane of movement, then subpoint is P5', point P5' horizontal and vertical coordinate
Also it is (Yo,Zo)。
Step 332, the radius in laser measurement face is calculated：The laser measurement face central coordinate of circle and point C found according to step 324
Coordinate, calculate the radius R in laser measurement face.
Step 333, four laser sensor traverse measurement points are determined：On laser distance sensor plane of movement, with step
Point centered on the rapid 331 point P5' found, draw the length of side and be 0.8R square, and make square bottom and upper segment be water
Square to then four square angle points are four laser sensor traverse measurement points, four laser sensor traverse measurements
Point is designated as point P1', point P2', point P3' and point P4' respectively in the direction of the clock since the upper left corner；Then point P1' coordinates are (Yo+
0.4R, Zo+ 0.4R), point P2' coordinates are (Yo- 0.4R, Zo+ 0.4R), point P3' coordinates are (Yo- 0.4R, Zo- 0.4R), point P4'
Coordinate is (Yo+ 0.4R, Zo-0.4R)。
Step 334, four lasing area measurement points are determined：Four laser sensor traverse measurement points that step 333 determines are along X
Axial projection forms four lasing area measurement points, four lasing area measurement points are since the upper left corner by up time on laser measurement face
Pin direction is designated as point P1, point P2, point P3 and point P4 respectively.
Step 34, mensuration distance parameter：The measurement point position determined according to step 33, is carried out using laser distance sensor
Distance parameter measures, and respectively obtains the distance parameter value of 5 points, and distance is measured as L between its midpoint P1 to point P1'1, point P2 extremely
Distance is measured as L between point P2'2, point P3 to distance between point P3' be measured as L3, point P4 to distance between point P4' be measured as L4、
Distance is measured as L between point P5 to point P5'5。
Step 4, obliquity sensor parameter measurement：It is in two blade mounting holes of horizontal distribution above selected blade chassis
β angular measurements point in blade spatial attitude, obliquity sensor are placed parallel to holes circle center line connecting, and the angle thus measured is as current
Blade spatial attitude is around the anglec of rotation β of X-axis, and now, the circle center line connecting in two blade mounting holes of horizontal distribution is referred to as blade
Horizontal line.
Step 5, blade space coordinates are established：The parameter measured according to obliquity sensor and laser distance sensor,
Establish blade space coordinates；The laser measurement face center of circle P that blade space coordinates are found with step 325For origin, Laser Measuring
Amount face is Y4Z4Face, perpendicular to laser measurement face and towards blade direction be X4Axle positive direction；It is excessively former towards laser measurement face
Point is Y to the left parallel to the blade horizontal line described in step 44Axle positive direction, is respectively perpendicular to X4、Y4Axle and excessively origin are simultaneously upward
For Z4Axle positive direction.
Step 6, blade spatial attitude parameter calculates：Take two point C in step 311、C2, according in point-to-point transmission Y direction
Range difference L6=| Y5-Y6| and the difference of measured value | L1-L2| two length of sides of a right angled triangle can be obtained, according to following formula meter
Calculate current blade spatial attitude anglec of rotation γ about the z axis：
Similarly, according to point P2 measured values L2With point P3 measured values L3Difference, the distance between point P2 and point P3 in Z-direction
Poor L7=| Z6-Z7| current blade spatial attitude is calculated around Y-axis rotation angle α according to following formula：
Step 7, blade position of centre of gravity calculates：Comprise the following steps that.
Step 71, K values and γ ' are calculated；
In formula, K values are L5Along X in blade coordinate system4The amendment displacement of axle；γ ' is the angle correction at γ angles, is also
Current blade spatial attitude is around Z4The anglec of rotation of axle.
It is relative with actual blade coordinate system because the γ angles calculated are the anglec of rotation in sensor coordinate system about the z axis
In deviation of the sensor coordinate system in Existential Space change, it is necessary to be modified to this angle, γ ' is transformed to after amendment,
Similarly K values are L5The amendment displacement of the displacement in blade coordinate system.
Step 72, the blade position of centre of gravity (X in blade coordinate system is calculated4, Y4)：
X4=Xcos γ '+Ysin γ '-K
Y4=Xsin γ '+Ycos γ '
In formula, K values and γ ' take the result of calculation of step 71, and X and Y value are taken in the sensor coordinate system calculated in step 2
Position of centre of gravity (X, Y).
After the completion of above-mentioned center of gravity measurement, center of gravity polishing amendment can be carried out.
A kind of tuning for Controllable Pitch Propeller blade surface polishing process, comprises the following steps：
Step 1, blade polishing coordinate system is established：In a computer, using support or measurement worktable upper surface as X1Y1It is flat
Face, using the midpoint of base upper surface wherein a line as origin of coordinates O1, direction where the side is X1Direction, perpendicular to the side side
To for Y1Direction；Z1Direction is then with X1Y1The origin of coordinates of plane is origin, and perpendicular to X1Y1Plane.
Step 2, six degree of freedom manipulator polishing path preliminary planning：By the threedimensional model steps for importing 1 of tuning for Controllable Pitch Propeller blade
In the blade polishing coordinate system of foundation, computer is by automatic identification blade profile and surface curvature, then, computer carry out six from
By the preliminary planning in degree manipulator polishing path, preliminary planning content includes：Blade plane X is carried out according to blade profile coordinate1Y1
The path planning in direction and the surface curvature in blade threedimensional model carry out grinding angle γ path planning, most throughout one's life
Into the coordinate (X in motor point1、Y1、γ)；Wherein, γ refers to the angle that blade curved surface is formed with Z1 directions；Finally, computer will
The preliminary planning in six degree of freedom manipulator polishing path is transmitted to six degree of freedom manipulator, generates six degree of freedom manipulator along X1Y1
Direction and the motion sequence of γ angles.
Step 3, polishing parameter is set：The rotating speed of grinding force value and flexible air-floating main shaft is set；The grinding force value bag of setting
Include grinding force maximum FmaxWith grinding force minimum value Fmin。
Step 4, fixed blades：Blade is fixedly clamped by blade clamp assembly.
Step 5, six degree of freedom manipulator is in X1Y1The path planning in direction：Gantry leg post sliding, makes camera be located at blade
Top, camera carries out face profile shooting to whole blade back, and the result of shooting transmitted to computer, counted
Calculation machine will calculate the coordinate of blade outline automatically, and the six degree of freedom in the blade profile coordinate of calculating and step 2 is mechanical
The preliminary planning in hand polishing path is matched, so that it is determined that the physical location of blade；Computer according to the physical location of blade,
Again X is carried out to the blade plane that shooting obtains1Y1The path planning in direction；Finally, computer is by X1Y1The path rule in direction
Draw and transmit to six degree of freedom manipulator, generation six degree of freedom manipulator is in X1Y1The motion sequence in direction.
Step 6, blade is polished：Gantry leg post sliding, makes six degree of freedom manipulator be moved to step 5 in X1Y1Direction path
The original position of planning, then six degree of freedom machinery hand-motion emery wheel is along Z1Direction declines, to mill when emery wheel is while declining
Power F is cut to be detected, when control of grinding force is between the grinding force value that step 3 is set, emery wheel stops declining, and starts to polish,
The X that six degree of freedom manipulator generates according to step 51Y1Direction motion sequence is moved and polished；In bruting process, still need to pair
Grinding force is detected in real time；Grinding force detection concrete mode be：By inductance transformer to motor in flexible air-floating main shaft
Loop current I monitored in real time, the loop current I of motor and the grinding force F of emery wheel are linear, grinding force F sizes
Change will cause loop current I change.
Step 7, grinding force F is compensated：When the grinding force detected in step 6 is higher than setting value, namely higher than grinding force most
Big value FmaxWhen, computer control six degree of freedom machinery hand-motion flexible air floats main shaft and rises a compensation rate δ 1；When in step 6
The grinding force detected is less than setting value, namely less than grinding force minimum value FminWhen, computer control six degree of freedom manipulator band
Dynamic flexible air-floating main shaft declines a compensation rate δ 2；While six degree of freedom manipulator declines, flexible air-floating main shaft will rely on
The amount of floating of itself first carries out the flexible compensation of grinding force, grinding force is controlled all the time in maximum FmaxWith minimum value Fmin
Between；
Step 8, when being polishing to step 5 in X1Y1During the final position of direction path planning, blade is once polished completion, and six
Free degree manipulator is re-moved to step 5 in X1Y1The original position of direction path planning, according to step 6 to step 7 side of polishing
Method, carry out second and polish, circulate successively, until polishing is completed.
Sanding apparatus of the present utility model, it can directly carry out center of gravity amendment and polishing, weight after the completion of center of gravity measurement
Heart amendment is essentially identical to step 8 with above-mentioned steps 1 with polishing, and difference is only in step 2 and step 5 path planning, foundation
Center of gravity measurement result is planned.
Preferred embodiment of the present utility model described in detail above, still, the utility model is not limited to above-mentioned reality
The detail in mode is applied, in range of the technology design of the present utility model, the technical solution of the utility model can be entered
The a variety of equivalents of row, these equivalents belong to the scope of protection of the utility model.
Claims (6)
- 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. 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. 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. 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. 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. 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.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881648A (en) * | 2017-03-27 | 2017-06-23 | 江苏科技大学 | A kind of tuning for Controllable Pitch Propeller blade surface sanding apparatus and polishing process |
| CN109047867A (en) * | 2018-10-18 | 2018-12-21 | 重庆驰骋轻型汽车部件股份有限公司 | A kind of automatic milling machine work station |
| CN110253150A (en) * | 2019-07-29 | 2019-09-20 | 武汉拓帆轨道交通科技股份有限公司 | A kind of rail tunneling boring rust remover and derusting method |
| CN112318294A (en) * | 2020-11-23 | 2021-02-05 | 中机中联工程有限公司 | Controllable torque floating main shaft and control method |
| CN112370113A (en) * | 2020-11-03 | 2021-02-19 | 杨勰娟 | Medical orthopedics section grinds flat fixed perforating device |
| CN114406876A (en) * | 2022-01-25 | 2022-04-29 | 中国铁建高新装备股份有限公司 | Steel rail polishing flexible feeding device and control method |
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2017
- 2017-03-27 CN CN201720300671.9U patent/CN206811676U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881648A (en) * | 2017-03-27 | 2017-06-23 | 江苏科技大学 | A kind of tuning for Controllable Pitch Propeller blade surface sanding apparatus and polishing process |
| CN106881648B (en) * | 2017-03-27 | 2022-12-27 | 江苏科技大学 | Blade surface polishing device and method for controllable-pitch propeller |
| CN109047867A (en) * | 2018-10-18 | 2018-12-21 | 重庆驰骋轻型汽车部件股份有限公司 | A kind of automatic milling machine work station |
| CN109047867B (en) * | 2018-10-18 | 2024-04-30 | 重庆驰骋轻型汽车部件股份有限公司 | Automatic milling machine workstation |
| CN110253150A (en) * | 2019-07-29 | 2019-09-20 | 武汉拓帆轨道交通科技股份有限公司 | A kind of rail tunneling boring rust remover and derusting method |
| CN112370113A (en) * | 2020-11-03 | 2021-02-19 | 杨勰娟 | Medical orthopedics section grinds flat fixed perforating device |
| CN112318294A (en) * | 2020-11-23 | 2021-02-05 | 中机中联工程有限公司 | Controllable torque floating main shaft and control method |
| CN114406876A (en) * | 2022-01-25 | 2022-04-29 | 中国铁建高新装备股份有限公司 | Steel rail polishing flexible feeding device and control method |
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