Rotor blade assembly device

Abstract

The present invention discloses a rotor blade assembly device for rotor blades, comprising a support platform, a frame fixedly mounted on the bottom of the support platform; an assembly table, an assembly component is arranged on the assembly table; the assembly table is placed at the center of the support platform; a conveying table; the conveying table is centered on the assembly table, and a plurality of groups are arranged on the support platform at equal intervals; the rotor blade is divided into two pieces, and the two rotor blades are placed on the conveying tables on both sides of the assembly table; the rotor blade assembly device can ensure the life safety of workers during operation and the accuracy of assembling the rotor blades. Compared with traditional assembly, the rotor blades can be accurately assembled, thereby increasing production efficiency, saving time, reducing costs, facilitating the transportation of the rotor blades, saving manpower, and reducing personal injuries to workers during the transportation process.

Description

Technical Field

[0001] The present invention belongs to the technical field of rotor blade assembly, and in particular relates to a rotor blade assembly device. Background Art

[0002] The rotor blade is one of the most important parts of the gyroplane. Currently, there is no dedicated tooling for assembling the rotor blades, and the traditional method is used for assembly.

[0003] Disadvantages and problems of traditional assembly: Due to the heavy weight and long size of the rotor blades, workers may slip during the handling process, causing serious injury to a part of the worker's body; and the traditional assembly of rotor blades is not only inefficient and time-consuming, but may also increase harm to the human body.

[0004] Therefore, it is urgent to design a rotor blade assembly device. Summary of the Invention

[0005] The object of the present invention is to provide a rotor blade assembly device to solve the above-mentioned problems.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A rotor blade assembly device for a rotor blade, comprising:

[0008] A support platform, with a frame fixedly mounted on the bottom of the support platform;

[0009] An assembly table, on which assembly components are arranged; the assembly table is placed at the center of the support platform;

[0010] Conveying platform; the conveying platform is centered on the assembly platform, and a plurality of groups are arranged at equal intervals on the support platform;

[0011] The rotor blades are provided with two pieces, and the two rotor blades are respectively placed on the conveying platform at both sides of the assembly platform.

[0012] An assembly block is fixedly installed at the center of the assembly table. The center of the assembly block is concave, and both sides are gradually raised upwards. An accommodating groove is opened in the center of the raised parts on both sides of the assembly block. The accommodating groove is used to clamp the end of the rotor blade.

[0013] A central connecting block is placed on the assembly block; the central connecting block is used to be assembled with the two rotor blades; and both sides of the central connecting block extend to above the accommodating groove.

[0014] A support base is fixedly installed on the conveying platform; a correction block is provided on one side of the support base; one side of the rotor piece abuts against the side wall of the correction block; and the bottom of the rotor piece is slidably provided on the top surface of the support base.

[0015] The rotor blade is tilted on the conveying platform and extends from the top to the bottom from a side away from the assembling platform to a side close to the assembling platform.

[0016] A lifting adjustment component is installed on the support base, and the lifting adjustment component includes a control module and a lifting cylinder installed at the bottom of each support base.

[0017] A support column is installed at each of the four corners of the bottom surface of the frame; a pulley frame is fixedly installed on the bottom surface of the support column; and a pulley is rotatably installed on the pulley frame.

[0018] A plurality of reinforcing ribs are welded inside the frame.

[0019] Compared with the existing technology, the present invention has the following advantages and technical effects: the rotor blade assembly device can ensure the life safety of workers during operation and the accuracy of assembling rotor blades. Compared with traditional assembly, it can accurately assemble the rotor blades, increase production efficiency, save time, reduce costs, facilitate the transportation of rotor blades, save manpower, and reduce personal injuries to workers during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work.

[0021] Figure 1 Schematic diagram of the overall structure;

[0022] Figure 2 Schematic diagram of the controller structure;

[0023] Figure 3 This is the circuit diagram of the voltage stabilizing module;

[0024] Among them: 1. Support platform; 2. Frame; 3. Assembly platform; 4. Conveyor platform; 21. Support column; 22. Pulley frame; 23. Pulley; 31. Assembly block; 32. Connecting block; 33. Abutment block; 34. Abutment bar; 41. Support base; 42. Correction block. DETAILED DESCRIPTION

[0025] 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.

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] A rotor blade assembly device for a rotor blade, comprising:

[0028] Support platform 1, with a frame 2 fixedly mounted on the bottom of the support platform 1;

[0029] Assembly table 3, on which assembly components are arranged; assembly table 1 is placed at the center of support platform 1;

[0030] The conveying platform 4 is centered on the assembly platform 3 and has several groups of equally spaced components arranged on the support platform 1;

[0031] There are two rotor blades, which are placed on the conveying platform 4 on both sides of the assembly platform 3.

[0032] An assembly block 31 is fixedly installed at the center of the assembly table 3. The center of the assembly block 31 is concave, and both sides gradually bulge upward; a receiving groove is opened in the center of the bulging parts on both sides of the assembly block 31; the receiving groove is used to clamp the end of the rotor blade.

[0033] A central connecting block 32 is placed on the assembly block 31 ; the central connecting block 32 is used to be assembled with the two rotor blades; both sides of the central connecting block 32 extend to above the accommodating groove.

[0034] Furthermore, the two rotor blades are mounted on both sides of the central link block 32 through threads.

[0035] A support base 41 is fixedly mounted on the conveying platform 4 ; a correction block 42 is provided on one side of the support base 41 ; one side of the rotor piece abuts against the side wall of the correction block 42 ; the bottom of the rotor piece is slidably provided on the top surface of the support base 41 .

[0036] The rotor blades are tilted on the conveying platform 4 and extend from the side away from the assembly platform 3 to the side close to the assembly platform 3 .

[0037] A lifting adjustment assembly is installed on the support base 41 , and the lifting adjustment assembly includes a control module and a lifting cylinder installed at the bottom of each support base 41 .

[0038] A support column 21 is installed at each of the four corners of the bottom surface of the frame 2; a pulley frame 22 is also fixedly installed on the bottom surface of the support column 21; and a pulley 23 is rotatably installed on the pulley frame 22.

[0039] Several reinforcing ribs are also welded inside the frame 2.

[0040] In one embodiment of the present invention, the rotor blade is mainly made of nylon plate, which can prevent the surface from being damaged during the assembly process of the rotor blade, thereby ensuring a clean and tidy appearance and saving production time. In addition, the cost of producing the tooling is low, which not only ensures the life safety of workers during operation and the accuracy of assembling the rotor blade.

[0041] Furthermore, the rotor blade is assembled and used on a J-RO C-100 gyroplane.

[0042] In one embodiment of the present invention, the correction block 42 is symmetrically arranged about the center of the assembly block 31; and only one correction block 42 is installed on a conveyor platform 4; while ensuring the placement of the rotor blade, the rotor blade is easy to disassemble.

[0043] Furthermore, when the rotor blades are disassembled, the connecting block 32 is rotated to separate the two rotor blades from the supporting base 41, thereby completing the disassembly.

[0044] In one embodiment of the present invention, two abutment blocks 33 are fixedly installed on both sides of the assembly block 31, and an abutment bar 34 is installed in the abutment block; the abutment bar 34 is an "L"-shaped structure; the abutment bar 34 is used to form an end limit after the rotor blade is placed.

[0045] Furthermore, two abutting blocks 33 and two abutting bars 34 are provided, and are symmetrically arranged about the center of the assembly block 31 .

[0046] In one embodiment of the present invention, Figure 2-3 As shown, the control module includes a controller, a voltage stabilizer and an external power supply; the external power supply is electrically connected to the voltage stabilizer, and the voltage stabilizer is electrically connected to the controller; the controller exchanges information with the lifting cylinder and the position sensor respectively; each lifting cylinder is provided with a displacement sensor, a response sensor and a drive module; the drive module is used to drive the lifting cylinder and provide a power source for the lifting cylinder; the displacement sensor exchanges information with the controller through the distance the piston rod of the lifting cylinder moves downward, so that the response sensor receives an electrical signal to realize the opening and closing of the lifting cylinder, and the height of the support base 41 is adjusted by driving the lifting cylinder with the drive module.

[0047] In a further preferred embodiment of the present invention, the controller is used to receive feedback signals and send control signals, respond according to the feedback signals, and then control the motor drive module through the voltage stabilizer;

[0048] Furthermore, the voltage regulator module is a 5V voltage regulator module and a 3V voltage regulator module; the minimum system of the controller is composed of chip U1, resistors R1~R5, capacitors C1~C9, crystal oscillator Y1, normally open switch RST1 and light emitting diode D1; the chip uses high performance Cortex TM-M3 32-bit RISC core, operating frequency is 72MHz, built-in high-speed memory (up to 512K bytes of flash memory and 64K bytes of SRAM), including three 12-bit ADCs, four general-purpose 16-bit timers and two PWM timers; including standard communication interfaces: up to two I2Cs, three SPIs, two I2Ss, one SDIO, five USARTs, one USB and one CAN; in addition, there is an off-chip EEPROM / AT24C256C chip U4, capacitor C19, resistors R18 ~ R19; chip U1 has pins VBAT, pin NRET, pin VSSA, pin VDDA, pin VSS, pin VDD, pin BOOT0, pin Pin GND, pins PA0~15, pins PB0~15, pins PC0~15, pins PD0~2; chip U4 has pins A0, pin A1, pin A3, pin GND, pin VCC, pin WP, pin SCL, pin SDA; the positive pole of the light-emitting diode D1 is connected to the pin VBAT (pin 1) of the chip U1, and the negative pole of the light-emitting diode D1 is connected to 3V; the crystal oscillator Y1 is connected in parallel with the resistor R3, one end of which is connected to the pin PD0 (pin 5) of the chip U1, and the other end is connected to the pin PD1 (pin 6) of the chip U1; one end of the capacitor C3 is connected to the pin PD0 (pin 5) of the chip U1, and the other end is grounded; one end of the capacitor C4 is connected to the pin PD1 (pin 6) of the chip U1, and the other end is connected to the ground. Ground; one end of resistor R4 is connected to 3V voltage, and the other end is connected to capacitor C5 and grounded; capacitor C5 is connected in parallel with capacitor C6, and the grounded end of capacitor C6 is connected to the pin VSSA (pin 12) of chip U1, and the other end is connected to the pin VDDA (pin 13) of chip U1; one end of capacitor C8 is connected to both the 3V power supply and the pin VDD (pin 19) of chip U1, and the other end is grounded; the pin VSS (pin 18) of chip U1 is grounded; one end of resistor R1 is connected in series with the normally open switch REST1 and grounded, and the other end of resistor R1 is connected to the 3V power supply; the pin NRST (pin 7) of chip U1 is connected between resistor R1 and the normally open switch REST1; the normally open switch REST1 is connected in parallel with capacitor C2; one end of resistor R5 is connected to PB2 (pin 28) of chip U1 is connected to the ground; the VSS (pin 31) of chip U1 is grounded; one end of capacitor C9 is connected to both the 3V power supply and the VDD (pin 32) of chip U1, and the other end of capacitor C9 is grounded; the VSS (pin 63) of chip U1 is grounded; one end of capacitor C1 is connected to both the 3V power supply and the VDD (pin 64) of chip U1, and the other end of capacitor C1 is grounded; one end of resistor R2 is grounded, and the other end of resistor R2 is connected to the BOOT0 (pin 60) of chip U1; the VSS (pin 47) of chip U1 is grounded; one end of capacitor C7 is connected to both the 3V power supply and the VDD (pin 48) of chip U1, and the other end of capacitor C7 is grounded;Pins A0, A1, A3, and GND of chip U4 are grounded, pin VCC is connected to a 3V power supply, and pin WP is grounded; one end of capacitor C19 is connected to pin VCC of chip U4, and the other end of the capacitor is connected to pin WP of chip U4; pin SCL of chip U4 is simultaneously connected to pin PB6 (pin 58) of chip U1 and one end of resistor R18; the other end of resistor R18 is connected to a 3V power supply; pin SDA of chip U4 is simultaneously connected to pin PB7 (pin 59) of chip U1 and one end of resistor R19; the other end of resistor R19 is connected to a 3V power supply;

[0049] The 5V voltage regulator module is composed of the AX3071 chip U2, resistors R6 to R17, capacitors C10 to C18, D4184 field-effect transistors Q1 to Q2, inductor L1, and light-emitting diodes LED1 to LED2. Chip U1 has pins Vin, COMP, FB, SEN2, SEN1, BS, LX, UG, LG, and GND. Capacitor C13 is a polar capacitor, with its positive electrode connected in series with resistor R8 to pin Vin of chip U1, and its negative electrode grounded. One end of capacitor C12 is connected in parallel with resistor R3 to pin V of chip U2. in, the other end is grounded; the chip U2 pin Vin is connected to the POWER-IN connector RS1; one end of the resistor R10 is connected to the chip U2 pin SEN2, and the other end is grounded; one end of the resistor R11 is connected to the chip U2 pin SEN1, and the other end is grounded; the chip U2 pin UG is connected in series with one end of the resistor R9, and the other end of the resistor R9 is connected to the gate G of the field effect transistor Q1; the chip U2 pin LX is connected in series with the resistor R7, and the other end of the resistor R7 is connected to the source S of the field effect transistor Q1; the chip U2 pin BS is connected in series with the capacitor C11, and the other end of the capacitor C11 is connected to the source S of the field effect transistor Q1; the chip The pin LG of chip U2 is connected in series with the resistor R14, and the other end of the resistor R9 is connected to the gate G of the field effect transistor Q2; the drain D of the field effect transistor Q2 is connected to the source S of the field effect transistor Q1, and the source S of the field effect transistor Q2 is grounded; the drain D of the field effect transistor Q1 is connected in series with the capacitor C10 and grounded, and the drain D of the field effect transistor Q1 is also connected to the POWER-IN connector RS1; one end of the light-emitting diode LED1 is connected in series with the resistor R16 and grounded, and the other end of the light-emitting diode LED1 is connected to the POWER-IN connector RS1; one end of the resistor R12 is connected in series with the capacitor C16 and grounded, and the other end is connected to the field effect transistor Q1. The source S of the transistor Q1 should be connected in parallel with one end of the inductor L1; the resistor R13 and the capacitor C15 are connected in parallel to the other end of the inductor L1 and connected to the pin FB of the chip U2; the capacitor C14 is a polar capacitor, its positive pole is connected to the other end of the inductor L1, and its negative pole is grounded; one end of the light-emitting diode LED2 is connected in series with the resistor R15 and grounded, and the other end of the light-emitting diode LED2 is connected to the positive pole of the polar capacitor C14; the GND pin of the chip U2 is grounded; the POWER-IN connector is connected to the external power supply; the 5V voltage regulator module is connected to the motor, drive module and other components through the 3V voltage regulator module via the connector P1.

[0050] In one embodiment of the present invention, the controller controls the lifting cylinder to coordinate the adjustment of the support base 41; during the coordinated adjustment of the support base 41, the support base 41 forms a smooth inclined surface with a fixed angle to facilitate the sliding introduction of the rotor blade.

[0051] Furthermore, the controller employs a co-modulation algorithm for cooperative control; the communication topology during the co-modulation process is often dynamic. For example, due to multipath effects and other interference, the communication link between the lift cylinders may be unreliable, so the convergence of the communication topology during the co-modulation process needs to be analyzed.

[0052] One approach to analyzing switching topologies is to use algebraic graph theory, which relates every graph topology to the algebraic structure of a correlation matrix. Because it is linear, its solution can be expressed in terms of a state transition matrix x(t) = Φ(t,0)x(0)x(t) = \Phi(t,0)x(0)x(t) = Φ(t,0)x(0), where Φ(t,0)\Phi(t,0)Φ(t,0) is the transition matrix associated with -Ln(t)-\mathcal{L}_n(t)-Ln(t). For all t≠0t\neq0t=0, Φ(t,0)\Phi(t,0)Φ(t,0) is a row random matrix with positive diagonal entries. Consensus is reached if limt→∞Φ(t,0)→1nμTlim_{t\rightarrow\infty}\Phi(t,0)\righ tarrow\mathbb{1}_n\mu^Tlimt→∞Φ(t,0)→1n μT, where μ\muμ is a column vector. It is typically assumed that the communication topology is piecewise constant over a finite length of time, called the dwell time, and that the dwell time is bounded by a positive constant. An(t)\mathcal{A}_{n}(t)An(t) and hence Ln(t)\mathcal{L}_{n}(t)Ln(t) are piecewise functions whose dwell time is τj=tj+1-tj\tau_{j}=t_{j+1}-t_{j}τj=tj+1-tj, where t1,t2,…t_{1},t_{2},\ldo tst1, t2, … are switching moments, and consensus is reached if limj→∞e-Ln(tj)τje-Ln(tj-1)τj-1…e-Ln(t0)τ0=1nμT\lim_{j\rightarrow\infty}e^{-\mathcal{L}_{n}\left(t_{j}\right)\tau_{j}}e^{-\mathcal{L}_{n}\left(t_{j-1}\right)\tau_{j-1}\cdots}e^{-\mathcal{L}_{n}\left(t_{0}\right)\tau_{0}}=\mathb f{1}_{n}\mu^{T}limj→∞e-Ln(tj)τje-Ln(tj-1)τj-1…e-Ln(t0)τ0=1nμT. Because e-Ln(tj)(t-tj)e^{-\mathcal{L}_{n}\left(t_{j}\right)\left(t-t_{j}\right)}e-Ln(tj)(t-tj) is a row random matrix, the convergence analysis involves infinite multiplications of random matrices.

[0053] The convergence of infinite products of SIA matrices is verified (see Appendix C). Let S = S1, S2, ..., SkS = {S_1, S_2, ..., S_k}S = S1, S2, ..., Sk be a finite set of SIA matrices with the property that every finite product SijSij-1···Si1S_{i_j}S_{i_j-1}···S_{i_1}SijSij-1··Si1 is SIA. Then for every infinite sequence Si1,Si2,...S_{i_1},S_{i_2},...Si1,Si2,..., there always exists a column vector v\mathcal{v}v such that limj→∞SijSij-1…Si1=1νT\lim_{j\rightarrow\infty}S_{i_{j}}S_{i_{j-1}}\cdotsS_{i_{1}}=1\nu^{T}limj→∞Sij Sij-1…Si1=1νT. Since the potential communication topology is finite, if the allowed stay time τj=tj+1-tj\tau_{j}=t_{j+1}-t_{j}τj=tj+1-tj is selected from a finite set, the matrix set is limited.

[0054] These matrices are SIA, and using this result we show that consensus is achieved on the active corners of support base 41 using the nearest neighbor rule. This is a special case of the discrete-time consensus algorithm if there exists an infinite sequence of continuous, uniformly bounded time intervals, with one of a finite number of different lengths, and with the property that on each interval, the union of the undirected communication topology is connected.

[0055] On the other hand, consider the more realistic assumption that the residence time is piecewise continuous and its non-zero positive entries have consistent lower and upper bounds. In this case, let S={S1,S2,...}S=\{S_1,S_2,...\}S={S1,S2,...} be an infinite set of n×nn\timesnn×n SIA matrices, let NtN_tNt be the number of different types of all n×nn\timesnn×n SIA matrices, and define the matrix function χ(P)=1-mini1,i2∑jmin(pi1j,pi2j).\chi(P)=1-\min_{i_{1},i_{2}}\sum_{j}\min\left(p_{i_{1}j},p_{i_{2}j}\right).χ(P)=1-mini1,i2∑jmin(pi1

[0056] j,pi2j). Then,limj→∞SijSij-1…Si1=1νT\lim_{j\rightarrow\infty}S_{i_{j}}S_{i_{j-1}}\cdotsS_{i_{1}}=\mathbf{1}\nu^{T}limj→∞SijSij-1…Si1=1νT if there exists a constant d∈[0,1)d\in[0,1)d∈[0,1) such that for each Sk1Sk2…SkNt+1W\triangleqS_{k_{1}}S_{k_{2}}\cdotsS_{k_{N_{t}+1}} Sk1Sk2…SkNt+1, it follows that χ(W)≤d

[253] \chi(W)\leqd

[253] χ(W)≤d

[253] . It can be shown that this condition is satisfied if there exists an infinite sequence of continuous, uniformly bounded time intervals, whose property is that within each time interval, the union of directed communication topologies has a directed spanning tree. A similar problem is considered by studying the product of row random matrices with lower triangular structure.

[0057] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying 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 on the present invention.

[0058] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A rotor blade assembly device, characterized in that: For rotor blades, including: A support platform (1), wherein a frame (2) is fixedly mounted on the bottom of the support platform (1); An assembly table (3), on which assembly components are arranged; the assembly table (1) is placed at the center of the support platform (1); A conveying platform (4); the conveying platform (4) is centered on the assembly platform (3), and a plurality of groups are arranged at equal intervals on the support platform (1); The rotor blades are provided in two pieces, and the two rotor blades are placed on the conveying platform (4) on both sides of the assembly platform (3); A support base (41) is fixedly mounted on the conveying platform (4); a correction block (42) is provided on one side of the support base (41); one side of the rotor blade abuts against the side wall of the correction block (42); the bottom of the rotor blade is slidably provided on the top surface of the support base (41); The rotor blade is tilted on the conveying platform (4) and extends from the top to the bottom from a side away from the assembly platform (3) to a side close to the assembly platform (3); A lifting adjustment component is installed on the support base (41), and the lifting adjustment component includes a control module and a lifting cylinder installed at the bottom of each support base (41).

2. The rotor blade assembly device according to claim 1, characterized in that: An assembly block (31) is fixedly installed at the center of the assembly table (3), wherein the center of the assembly block (31) is concave, and both sides gradually bulge upwards; a receiving groove is provided at the center of the bulging parts on both sides of the assembly block (31); the receiving groove is used to clamp the end of the rotor blade.

3. The rotor blade assembly device according to claim 2, characterized in that: A central connecting block (32) is placed on the assembly block (31); the central connecting block (32) is used for assembling and forming with the two rotor blades; both sides of the central connecting block (32) extend to above the accommodating groove.

4. The rotor blade assembly device according to claim 1, characterized in that: A support column (21) is installed at each of the four corners of the bottom surface of the frame (2); a pulley frame (22) is also fixedly installed on the bottom surface of the support column (21); and a pulley (23) is rotatably installed on the pulley frame (22).

5. The rotor blade assembly device according to claim 1, characterized in that: A plurality of reinforcing ribs are also welded inside the frame (2).

Images