A device and method for grinding the insulation layer of the arc rotary surface head of a large engine combustion chamber

Abstract

The present invention provides a device and method for grinding the thermal insulation layer of the arc rotating surface head of a large engine combustion chamber, comprising a mobile platform, a rotating module, a floating grinding device, and a swing arm module; the floating grinding device and the swing arm module are integrally connected to the rotating module, the rotating module drives the entire mechanical arm to perform a rotating motion around the X axis, and the mobile platform drives the rotating module to move in the X direction; the floating grinding device is mounted on the mobile platform of the swing arm module, the swing arm module is connected to the rotating module, and the swing arm module uses an angle adjustment motor to adjust the angle of the floating grinding device around the R2 axis. The multiple degrees of freedom of the present invention can adapt to the multi-angle grinding requirements of the thermal insulation layer of the arc rotating surface, and the rotary motion of the rotary motor can improve the efficiency of the subsequent grinding operation. The overall motion form is relatively simple and the grinding efficiency is high; during the grinding operation, the thermal insulation layer is pressed in real time to protect the vacuum adsorption state of the thermal insulation layer and the box body, and a trajectory is automatically generated for the grinding operation.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent grinding equipment for complex surfaces, and in particular to a device and method for grinding the thermal insulation layer of a circular arc rotary surface end cap of a combustion chamber of a large engine. Background Art

[0002] At present, with the rapid development of my country's national defense technology and aerospace technology, the demand for large solid rocket engines is also increasing year by year. Before loading the combustion chamber of a large solid rocket engine, the internal insulation layer needs to be roughened to increase the surface roughness and improve the interface adhesion. Due to the thickness variation of the insulation layer, the overlapping edges and the loose fit with the combustion chamber, the grinding device needs to be adaptable to the insulation layer profile. That is, although the state of each position of the insulation layer is different, the grinding thickness requirement is consistent, and the insulation layer profile before and after grinding must be consistent with that before grinding. However, due to the complex shape of the arc rotating surface insulation sleeve and the small combustion chamber opening, manual grinding is still used for grinding. However, manual grinding has the disadvantages of high cost, uneven grinding effect, and low efficiency. Therefore, to address this problem, an intelligent grinding equipment is designed, in which the processing method is adapted to the surface state of the arc rotating surface insulation layer and the grinding method is adapted to the internal profile of the insulation layer. Summary of the Invention

[0003] The device and method for grinding the insulation layer of the arc rotating surface head of a large engine combustion chamber provided by the present invention are mainly used for the automated mechanical grinding operation inside the insulation layer of the arc rotating surface. It can also be applied to the grinding of other special-shaped insulation layers. The floating grinding device drives the grinding cutter disc to rotate rapidly to realize the grinding process of the insulation layer of the arc rotating surface.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A device for grinding the insulation layer of the arc rotary surface of a large engine combustion chamber head comprises a mobile platform, a rotary module, a floating grinding device, and a swing arm module; wherein the floating grinding device and the swing arm module are integrally connected to the rotary module, the rotary module drives the entire mechanical arm to rotate around the X-axis, and the mobile platform drives the rotary module to move in the X direction;

[0006] The floating grinding device is installed on the mobile platform of the swing arm module. The swing arm module is connected to the rotary module. The swing arm module adjusts the angle of the floating grinding device around the R2 axis through the angle adjustment motor.

[0007] Furthermore, the rotary module includes a mounting base, a rotary motor, a bearing seat and a rotary shaft mounted on the bearing seat. The rotary motor is mounted on the mounting base through a motor support. One end of the rotary shaft is connected to the rotary motor, and the other end is connected to the floating grinding device and the swing arm module.

[0008] Furthermore, a linear module is provided on the mobile platform, and the mounting base is mounted on the linear module of the mobile platform. The mobile platform drives the rotary module to move in the X direction through the linear module.

[0009] Furthermore, the swing arm module includes a swing motor, a swing shaft system and a swing arm, wherein the swing motor, the swing shaft system and the swing arm are integrally connected to the rotary shaft.

[0010] Furthermore, the swing motor is arranged parallel to the mobile platform, the swing shaft is arranged perpendicular to the swing motor and one end is connected to the motor shaft of the swing motor, and the other end is connected to the swing arm, and the swing motor drives the swing arm to adjust the angle around the R2 axis.

[0011] Furthermore, a linear module is provided on the swing arm, and the floating grinding device is installed on the linear module of the swing arm and moves along the L direction.

[0012] Furthermore, the floating polishing device includes a floating frame and a polishing module, and the floating frame is connected to the swing arm module to perform floating adjustment on the polishing module.

[0013] Furthermore, the floating frame includes a floating grinding device fixing plate, a six-axis force sensor fixed on the floating grinding device fixing plate at the bottom, and a floating frame fixing part installed on the six-axis force sensor. The parts on the floating frame fixing part are, in sequence, an angle adjustment plate, an angle adjustment centering shaft, a spring fixed base plate, a guide rail liner, a guide rail, a slider, and a grinding module mounting plate, wherein the angle adjustment plate positions the spring fixed base plate through the angle adjustment centering shaft, and the angle adjustment plate can also adjust the angle through the arc groove thereon to adjust the fixed angle during grinding, and two sets of screw and nut groups are installed on the spring fixed base plate, and two pairs of floating springs and a spring stopper in the middle of the floating spring pass through the middle of the screw and nut group, wherein the spring stopper is symmetrically fixed on the grinding module mounting plate.

[0014] Furthermore, the grinding module includes a grinding module fixing plate installed on the floating frame, and the grinding motor fixing seat is installed on the grinding module fixing plate. At the same time, the parts of other parts are installed on the grinding motor fixing seat around the R1 axis. The distribution from bottom to top is the grinding motor, grinding motor transmission coupling, grinding transmission steel shaft, support bearing, grinding cutter disc, backing plate, and cutter disc backing plate. The grinding motor is fixed below the grinding motor fixing seat, the backing plate is fixed above the grinding motor fixing seat, the cutter disc backing plate is fixed on the backing plate, the support bearing is embedded in the grinding motor fixing seat to support the grinding transmission steel shaft, and the cutter disc backing plate and the backing plate are used to control the grinding depth and compress the insulation layer.

[0015] The present invention also provides a method for grinding the insulation layer of the arc rotary surface head of a large engine combustion chamber, comprising the following steps:

[0016] Step S1. Place the large engine combustion chamber in a horizontal position before polishing, positioning it on the mounting base and pressing it with its own weight;

[0017] Step S2. Using the mobile platform's X-axis freedom of movement, the engine combustion chamber arc rotating surface head insulation layer grinding device is inserted into the combustion chamber. After the engine combustion chamber arc rotating surface head insulation layer grinding device is inserted into the combustion chamber, the swing motor is adjusted to determine the grinding angle and grinding contact point position, and the grinding disc of the floating grinding device begins to rotate.

[0018] Step S3. Keeping the swing motor and the moving platform unchanged, the linear module of the swing arm operates and adjusts the length of the swing arm until the floating grinding device contacts the inner surface of the insulation layer. At this time, the cutter head mold also contacts the inner surface of the insulation layer. The floating spring is compressed at the same time, so that the cutter head mold, the mold base plate and the grinding cutter head are tightly pressed against the inner surface to be ground. The six-axis force sensor is notified that the positive pressure detected has reached the requirement. Then the grinding rotary motor rotates. During this process, the swing arm adjusts the length of the swing arm according to the data detected by the six-axis force sensor to ensure that the positive pressure of grinding remains unchanged and the grinding requirement is met. After the rotary motor rotates one circle, the grinding work of the first rotation cycle is completed.

[0019] Step S4. After completing one rotational cycle of polishing, the swing arm first retracts until it is clear of the polishing surface. The motor then swings to adjust the polishing angle. Simultaneously, the linear module of the mobile platform is adjusted to ensure the position of the polishing contact point. The above steps are repeated for the next rotational cycle of polishing.

[0020] Step S5. After grinding to the end position of the trajectory, the swing arm retracts to the initial position, the grinding disc of the floating grinding device stops rotating, and the swing motor adjusts the angle of the swing arm to 180°, and finally moves the engine combustion chamber arc rotating surface head insulation layer grinding device out of the combustion chamber.

[0021] Compared with the prior art, the present invention has at least the following beneficial effects:

[0022] The grinding equipment of the present invention adopts a mechanical arm structure, and the swing arm mounting seat maximizes its overall strength and rigidity; the degrees of freedom of the mobile platform, swing arm and swing motor can adapt to the multi-angle grinding requirements of the insulation layer of the arc rotating surface, and at the same time, the rotary motion of the rotary motor can improve the efficiency of the grinding operation. Its overall motion form is relatively simple and the grinding efficiency is high; during the grinding operation, the insulation layer is pressed in real time to protect the vacuum adsorption state of the insulation layer and the box body, and a trajectory is automatically generated for the grinding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is the general assembly drawing of the insulation layer grinding device for the arc rotary surface head of a large engine combustion chamber;

[0025] Figure 2 This is a side view of the final assembly of the insulation layer grinding device for the arc rotary surface head of a large engine combustion chamber;

[0026] Figure 3 This is the assembly drawing of the rotary module;

[0027] Figure 4 This is a schematic diagram of the swing arm module assembly;

[0028] Figure 5 Schematic diagram of the swing rocker mechanism structure;

[0029] Figure 6 It is the AA cross-section of the swing module;

[0030] Figure 7 It is a structural diagram of a floating grinding device;

[0031] Figure 8 This is a schematic diagram of the floating frame structure of the floating grinding device;

[0032] Figure 9The figure is an exploded view of the floating frame portion of the floating grinding device;

[0033] Figure 10 It is a structural schematic diagram of the grinding module part of the floating grinding device;

[0034] Figure 11 Instructions for equipment operation Figure 1 ;

[0035] Figure 12 Instructions for equipment operation Figure 2 ;

[0036] Figure 13 This is the insulation layer grinding trajectory diagram (longitudinal section);

[0037] Figure 14 This is the insulation layer grinding trajectory diagram (cross section);

[0038] In the picture:

[0039] 1-mobile platform, 2-rotation module, 2a-rotation motor, 2b-bearing seat, 2c-rotation axis, 3-floating grinding device, 3a-floating frame, 3aa-floating grinding device fixing plate, 3ab-six-axis force sensor, 3ac-floating spring, 3ad-spring stopper, 3ae-screw nut assembly, 3af-floating frame fixing part, 3ag-angle adjustment plate, 3ah-angle adjustment centering shaft, 3ai-spring fixed base plate, 3aj-guide rail liner, 3ak-guide rail, 3al-guide rail, 3am-grinding module mounting plate, 3b-grinding module, 3ba-grinding Grinding module fixing plate, 3bb-cutter disc backing plate, 3bc-grinding cutter disc, 3bd-backing plate, 3be-grinding transmission steel shaft, 3bf-support bearing, 3bg-grinding motor transmission coupling, 3bh-grinding motor fixed seat, 3bi-grinding motor, 4-swing arm module, 4a-swing motor, 4b-swing shaft system, 4ba-swing motor shaft, 4bb-support bearing 1, 4bc-transmission steel shaft, 4bd-swing arm connecting sleeve, 4be-swing motor fixed seat, 4bf-support bearing 2, 4bg-bearing end cover, 4bh-swing motor mounting seat, 4c-swing arm. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "horizontal", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0042] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0043] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0044] like Figure 1-2 As shown, the present invention provides a device for grinding the insulation layer of the arc rotary surface head of a large engine combustion chamber, comprising a mobile platform 1, a rotary module 2, a floating grinding device 3 and a swing arm module 4; wherein the floating grinding device and the swing arm module are integrally connected to the rotary module, the rotary module drives the entire robot arm to rotate around the X axis, and the mobile platform drives the rotary module to move in the X direction;

[0045] The floating grinding device is installed on the mobile platform of the swing arm module. The swing arm module is connected to the rotary module. The swing arm module adjusts the angle of the floating grinding device around the R2 axis through the angle adjustment motor.

[0046] like Figure 3As shown, the rotary module includes a mounting base, a rotary motor 2a, a bearing seat 2b, and a rotary shaft 2c mounted on the bearing seat. The rotary motor is mounted on the mounting base via a motor support. One end of the rotary shaft is connected to the rotary motor, and the other end is connected to the floating grinding device and the swing arm module. A linear module is provided on the mobile platform, and the mounting base is mounted on the linear module of the mobile platform. The mobile platform drives the rotary module to move in the X direction through the linear module. Figure 4-6 As shown, the swing arm module 4 includes a swing motor 4a, a swing shaft system 4b, and a swing arm 4c. The swing motor, swing shaft system, and swing arm are integrally connected to a rotary shaft. The swing shaft system includes a swing motor shaft 4ba, a support bearing 1 4bb, a transmission steel shaft 4bc, a swing arm connecting sleeve 4bd, a swing motor mounting base 4be, a support bearing 2 4bf, and a bearing end cap 4bg. These components are connected in sequence to transmit the swing motor's rotational motion to the swing arm 4c.

[0047] The floating grinding device 3 is installed on the mobile platform of the swing arm 4c, and the swing arm 4c drives the floating grinding device 3 to move through the motor and the screw (screw module); the swing arm 4c is connected to the rotary module 2 through the swing motor mounting bracket 4bh, and the mobile platform 1 drives the rotary module 2 to move in the X direction through the linear module; the swing arm module 4 is installed on the rotary shaft 2c of the rotary module 2, and can drive the rotary shaft 2c to rotate together through the rotary motor 2a; the swing arm 4c is adjusted around the R2 axis by the angle adjustment motor 4a.

[0048] The main structural components of the rotary module 2 are a rotary motor 2a, a bearing seat 2b and a rotary shaft 2c installed on the bearing seat 2b.

[0049] like Figure 7-9 As shown, the floating grinding device has one degree of freedom of rotation, and the grinding disc 3bc rotates around the axis R1 for grinding. The floating grinding device 3 is structurally composed of two parts, namely the floating frame 3a and the grinding module 3b.

[0050] The floating frame 3a is constructed with a six-axis force sensor 3ab fixed to the bottom floating grinding device fixing plate 3aa, and a floating frame fixing member 3af mounted on the six-axis force sensor. The components on the floating frame fixing member are, in order, the angle adjustment plate 3ag, the angle adjustment centering shaft 3ah, the spring fixing base plate 3ai, the guide rail liner 3aj, the guide rail 3ak, the slider 3al, and the grinding module mounting plate 3am. The angle adjustment plate 3ag positions the spring fixing base plate 3ai via the angle adjustment centering shaft 3ah. The angle adjustment plate 3ag can also be adjusted via its circular arc groove to adjust the fixed angle during grinding. Two sets of screw and nut assemblies 3ae are mounted on the spring fixing base plate 3ai. Two pairs of floating springs 3ac and a spring stopper 3ad pass through the screw and nut assemblies 3ae. The spring stoppers 3ad are symmetrically fixed to the grinding module mounting plate 3am.

[0051] like Figure 10 As shown, the structure of the grinding module 3b is composed of a grinding module fixing plate 3ba installed on the floating frame 3a, a grinding motor fixing seat 3bh installed on the grinding module fixing plate 3ba, and other parts are installed on the grinding motor fixing seat 3bh around the R1 axis. The distribution from bottom to top is as follows: grinding motor 3bi, grinding motor transmission coupling 3bg, grinding transmission steel shaft 3be, support bearing 3bf, grinding cutter disc 3bc, backing plate 3bd, and cutter disc backing plate 3bb, wherein the grinding motor 3bi is fixed below the grinding motor fixing seat 3bh, the backing plate 3bd is fixed above the grinding motor fixing seat 3bh, the cutter disc backing plate is fixed on the backing plate 3bd, the support bearing 3bf is embedded in the grinding motor fixing seat to support the grinding transmission steel shaft 3be, the cutter disc backing plate 3bb and the backing plate 3bd are used to control the grinding depth and compact the insulation layer.

[0052] Since the combustion chamber and the arc rotating surface insulation sleeve are bonded by vacuum adsorption, the adhesion between the insulation layer and the combustion chamber may be unstable, causing the insulation layer and the combustion chamber to droop. Therefore, a mold is provided around the grinding disc, and the floating spring 3ac on the floating grinding device 3 is used to press the drooping insulation layer tightly, so that the insulation layer and the combustion chamber are closely attached. At the same time, the mold can also control the grinding depth by controlling the extension amount of the grinding disc 3bc, so as to achieve the requirement of normal and uniform grinding.

[0053] When performing the grinding work, it is necessary to first adjust the floating grinding device to a fixed angle with the insulation layer of the arc rotating surface, and the position and pressure also need to be set. The specific steps are as follows: the swing motor 4a at the swing arm 4c adjusts the grinding angle, and at the same time adjusts the swing arm 4c and the moving platform 1 so that the grinding contact point, grinding angle and grinding pressure meet the set requirements, and then the rotary motor 2 starts to rotate, and the swing arm 4c is adjusted synchronously to ensure that the grinding pressure is fixed, and a rotation cycle of grinding is performed. After the floating grinding disc moves from the major axis end of the ellipse to the other end along the arc rotating surface, as shown Figure 11 and 12 As shown in the figure, the grinding work of the head part is completed.

[0054] This embodiment also has the function of connecting to a data acquisition system. Parameters such as the equipment's grinding angle, grinding disc operating time, rotation speed, displacement of the swing arm and mobile platform, and pressure during grinding can all be collected, stored, and set in the data acquisition system. By arranging cameras and lighting devices, the grinding process can be monitored in real time.

[0055] The grinding equipment adopts a robotic arm structure, and the swing arm mounting seat maximizes its overall strength and rigidity; the degrees of freedom of the mobile platform, swing arm and swing motor can adapt to the multi-angle grinding requirements of the insulation layer of the arc rotating surface. At the same time, the rotary motion of the rotary motor can improve the efficiency of the grinding operation. Its overall movement form is relatively simple and the grinding efficiency is high; during the grinding operation, the insulation layer is pressed in real time to protect the vacuum adsorption state of the insulation layer and the box, and the trajectory is automatically generated for the grinding operation.

[0056] This embodiment also provides a device for grinding the insulation layer of the arc rotary surface head of a large engine combustion chamber, comprising the following steps:

[0057] Step S1. Place the large engine combustion chamber in a horizontal position before polishing, positioning it on the mounting base and pressing it with its own weight;

[0058] Step S2. Using the mobile platform's X-axis freedom of movement, the engine combustion chamber arc rotating surface head insulation layer grinding device is inserted into the combustion chamber. After the engine combustion chamber arc rotating surface head insulation layer grinding device is inserted into the combustion chamber, the swing motor is adjusted to determine the grinding angle and grinding contact point position, and the grinding disc of the floating grinding device begins to rotate.

[0059] Step S3. Keeping the swing motor and the moving platform unchanged, the linear module of the swing arm operates and adjusts the length of the swing arm until the floating grinding device contacts the inner surface of the insulation layer. At this time, the cutter head mold also contacts the inner surface of the insulation layer. The floating spring is compressed at the same time, so that the cutter head mold, the mold base plate and the grinding cutter head are tightly pressed against the inner surface to be ground. The six-axis force sensor is notified that the positive pressure detected has reached the requirement. Then the grinding rotary motor rotates. During this process, the swing arm adjusts the length of the swing arm according to the data detected by the six-axis force sensor to ensure that the positive pressure of grinding remains unchanged and the grinding requirement is met. After the rotary motor rotates one circle, the grinding work of the first rotation cycle is completed.

[0060] Step S4. After completing one rotational cycle of polishing, the swing arm first retracts until it is clear of the polishing surface. The motor then swings to adjust the polishing angle. Simultaneously, the linear module of the mobile platform is adjusted to ensure the position of the polishing contact point. The above steps are repeated for the next rotational cycle of polishing.

[0061] Step S5. After grinding to the end position of the trajectory, the swing arm retracts to the initial position, the grinding disc of the floating grinding device stops rotating, and the swing motor 4a adjusts the angle of the swing arm 4c to 180°, and finally moves the engine combustion chamber arc rotating surface head insulation layer grinding device out of the combustion chamber.

[0062] Grinding track Figure 13 and Figure 14 As shown, the cross-section of the insulation sleeve is circular, while the longitudinal cross-section of its end portion is an elliptical profile. During the grinding process, it is necessary to ensure that the angle between the floating grinding disc 3 and the normal of the arc rotating surface is fixed during each grinding cycle. The moving platform 1 and the swing motor 4a then maintain the grinding angle and position, and each subsequent track is polished until all tracks on the arc rotating surface are completed.

[0063] The above embodiments are merely illustrative of the technical solutions of the present invention. The methods and devices of the present invention are not limited solely to those described in the above embodiments, but are subject to the scope defined by the claims. Any modifications, supplements, or equivalent substitutions made by persons skilled in the art based on these embodiments are within the scope of protection claimed by the claims.

Claims

1. A device for grinding the insulation layer of the arc rotary surface head of a large engine combustion chamber, characterized by: It includes a mobile platform, a rotary module, a floating polishing device and a swing arm module; wherein the floating polishing device and the swing arm module are integrally connected to the rotary module, the rotary module drives the entire robotic arm to rotate around the X axis, and the mobile platform drives the rotary module to move in the X direction; The floating grinding device is installed on the mobile platform of the swing arm module, and the swing arm module is connected to the rotary module. The swing arm module adjusts the angle of the floating grinding device around the R2 axis through the angle adjustment motor; The floating grinding device includes a floating frame and a grinding module, wherein the floating frame is connected to the swing arm module to perform floating adjustment on the grinding module; The floating frame includes a floating grinding device fixing plate, a six-axis force sensor is fixed on the floating grinding device fixing plate at the bottom, and a floating frame fixing part is installed on the six-axis force sensor. The parts on the floating frame fixing part are, in order, an angle adjustment plate, an angle adjustment centering shaft, a spring fixing base plate, a guide rail liner, a guide rail, a slider, and a grinding module mounting plate, wherein the angle adjustment plate positions the spring fixing base plate through the angle adjustment centering shaft, and the angle adjustment plate can also adjust the angle through the circular arc groove thereon to adjust the fixed angle during grinding, and two sets of screw and nut groups are installed on the spring fixing base plate, and two pairs of floating springs and a spring stopper in the middle of the floating spring pass through the middle of the screw and nut group, wherein the spring stopper is symmetrically fixed on the grinding module mounting plate; The grinding module includes a grinding module fixing plate installed on a floating frame, a grinding motor fixing seat installed on the grinding module fixing plate, and other parts are installed on the grinding motor fixing seat around the R1 axis. The distribution from bottom to top is the grinding motor, grinding motor transmission coupling, grinding transmission steel shaft, support bearing, grinding cutter disc, backing plate, and cutter disc backing plate. The grinding motor is fixed below the grinding motor fixing seat, the backing plate is fixed above the grinding motor fixing seat, the cutter disc backing plate is fixed on the backing plate, the support bearing is embedded in the grinding motor fixing seat to support the grinding transmission steel shaft, and the cutter disc backing plate and the backing plate are used to control the grinding depth and compact the insulation layer.

2. A large engine combustion chamber arc rotary surface head insulation layer grinding device according to claim 1, characterized in that: The rotary module includes a mounting base, a rotary motor, a bearing seat and a rotary shaft mounted on the bearing seat. The rotary motor is mounted on the mounting base through a motor support. One end of the rotary shaft is connected to the rotary motor, and the other end is connected to the floating grinding device and the swing arm module.

3. A device for polishing the heat insulation layer of the arc rotary surface head of a large engine combustion chamber according to claim 2, characterized in that: The movable platform is provided with a linear module, the mounting base is mounted on the linear module of the movable platform, and the movable platform drives the rotary module to move in the X direction through the linear module.

4. The device for polishing the heat insulation layer of the arc rotary surface head of a large engine combustion chamber according to claim 1, characterized in that: The swing arm module includes a swing motor, a swing shaft system and a swing arm, wherein the swing motor, the swing shaft system and the swing arm are integrally connected to the rotary shaft.

5. A device for polishing the heat insulation layer of the arc rotary surface head of a large engine combustion chamber according to claim 4, characterized in that: The swing motor is arranged parallel to the mobile platform, the swing shaft is arranged perpendicular to the swing motor and one end is connected to the motor shaft of the swing motor, and the other end is connected to the swing arm. The swing motor drives the swing arm to adjust the angle around the R2 axis.

6. A device for polishing the heat insulation layer of the arc rotary surface head of a large engine combustion chamber according to claim 5, characterized in that: The swing arm is provided with a linear module, and the floating grinding device is installed on the linear module of the swing arm and moves along the L direction.

7. A method for grinding the heat insulation layer of a large engine combustion chamber arc rotary surface head according to any one of claims 1 to 6, characterized in that: The steps include: Step S1. Place the large engine combustion chamber in a horizontal position before polishing, positioning it on the mounting base and pressing it with its own weight; Step S2. Using the mobile platform's X-axis freedom of movement, the engine combustion chamber arc rotary surface head insulation layer grinding device is inserted into the combustion chamber. After the engine combustion chamber arc rotary surface head insulation layer grinding device is inserted into the combustion chamber, the swing motor of the swing arm module is adjusted to determine the grinding angle and grinding contact point position, and the grinding cutter head of the floating grinding device begins to rotate. Step S3. Keeping the swing motor and the moving platform unchanged, adjust the linear module of the swing arm of the swing arm module to work, and adjust the length of the swing arm until the floating grinding device contacts the inner surface of the insulation layer. At this time, the cutter head mold also contacts the inner surface of the insulation layer. The floating spring is compressed at the same time, so that the cutter head mold, the mold base plate and the grinding cutter head are tightly pressed against the inner surface to be ground. The six-axis force sensor is notified that the positive pressure detected has reached the requirement. Then the grinding rotary motor rotates. During this process, the swing arm adjusts the length of the swing arm according to the data detected by the six-axis force sensor to ensure that the positive pressure of grinding remains unchanged and the grinding requirement is met. After the rotary motor rotates one circle, the grinding work of the first rotation cycle is completed. Step S4. After completing one rotational cycle of polishing, the swing arm retracts until it clears the polishing surface. The motor then swings to adjust the polishing angle. Simultaneously, the linear module of the movable platform adjusts to maintain the position of the polishing contact point. The above steps are repeated for the next rotational cycle. Step S5. After grinding to the end position of the trajectory, the swing arm retracts to the initial position, the grinding disc of the floating grinding device stops rotating, and the swing motor adjusts the angle of the swing arm to 180°, and finally moves the engine combustion chamber arc rotating surface head insulation layer grinding device out of the combustion chamber.

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