Propeller polishing apparatus

Abstract

This invention relates to a propeller grinding device, comprising: a transfer mechanism, a clamping mechanism, a tilting mechanism, and a grinding mechanism; the transfer mechanism is equipped with multiple lifting platforms that jointly support the propeller, and adjusting the height of each lifting platform changes the horizontal state of the propeller; the clamping mechanism is located on the moving path of the transfer mechanism and clamps and fixes the end of the propeller; the tilting mechanism moves towards the transfer mechanism, and the tilting mechanism can align with the end of the propeller, causing the propeller to tilt radially and be placed on the lifting platform; the grinding mechanism moves along the extension direction of the propeller, performing double-sided grinding on the propeller before and after tilting. This invention provides a propeller grinding device specifically designed for grinding parts with helical curved surface structures such as propellers, meeting grinding requirements, being simple to operate, and improving grinding quality and efficiency.

Description

Technical Field

[0001] This invention relates to the field of grinding equipment technology, and in particular to a propeller grinding device. Background Technology

[0002] Propeller-type parts are generally helical curved structures with large mounting screw holes at the end. The surface of the propeller needs to be polished during manufacturing.

[0003] The existing grinding equipment lacks a single grinding fixture that can meet integrated grinding needs, and three problems need to be solved:

[0004] 1. The propeller is quite long, and existing grinding equipment cannot support and fix it, nor can it grind the propeller along its length.

[0005] 2. Because the propeller has a curved structure, when polishing the propeller, it is necessary to adjust the placement of the propeller horizontally according to its attitude to ensure that the polishing surface is horizontal.

[0006] 3. Both sides of the propeller need to be polished, and how to achieve rapid rotation of the propeller is also a problem that cannot be solved by existing technology;

[0007] Therefore, considering operability, quality, efficiency, and operational intelligence, it is necessary to design a grinding equipment to solve the above problems and meet grinding requirements. Summary of the Invention

[0008] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the existing grinding equipment cannot meet the grinding requirements of propellers, and to provide a propeller grinding equipment that is specifically used in the grinding process of parts with helical curved surface structures such as propellers, which meets the grinding requirements, is easy to operate, and can improve grinding quality and grinding efficiency.

[0009] To solve the above-mentioned technical problems, the present invention provides a propeller grinding device, comprising:

[0010] The transfer mechanism is provided with multiple lifting platforms, which are distributed along the extension direction of the propeller. The multiple lifting platforms jointly support the propeller, and the height of each lifting platform can be adjusted to change the horizontal state of the propeller.

[0011] A clamping mechanism is provided on the moving path of the transfer mechanism. The transfer mechanism carries and drives the end of the propeller through the clamping mechanism, and the clamping mechanism clamps and fixes the end of the propeller.

[0012] A flipping mechanism is provided on the moving path of the transfer mechanism and moves in the opposite direction to the transfer mechanism. The flipping mechanism can dock with the end of the propeller. The flipping mechanism drives the propeller to flip radially. When the propeller flips, the lifting platform descends to reserve flipping space. After the propeller flips, the lifting platform rises and supports the propeller again.

[0013] A grinding mechanism is located on one side of the transfer mechanism and moves along the extension direction of the propeller to grind both sides of the propeller before and after flipping.

[0014] In one embodiment of the present invention, the transfer mechanism includes:

[0015] Frame;

[0016] Wheel assembly for supporting the frame and driving the frame to move;

[0017] A slide rail, wherein the wheel assembly is disposed on the slide rail and the wheel assembly moves along the extension direction of the slide rail;

[0018] The drive assembly includes a gear drive source mounted on the frame and a rack mounted below the frame. The gear drive source meshes with the rack to convert the rotational force provided by the gear drive source into a driving force that drives the frame to reciprocate in the horizontal direction.

[0019] In one embodiment of the present invention, the transfer mechanism further includes a braking component, which restricts the movement of the transfer mechanism when the grinding mechanism grinds the propeller. The braking component includes a braking drive source and two grippers driven by the braking drive source. The two grippers extend toward the slide rail and extend to both sides of the slide rail. The braking drive source drives the two grippers to clamp the slide rail.

[0020] In one embodiment of the present invention, the lifting platform includes:

[0021] A shelf, which is a U-shaped shelf, has a protruding support part and a rubber pad on the support part;

[0022] A lifting drive source is disposed below the shelf, and the actuator of the lifting drive source is connected to the shelf, and the lifting drive source drives the shelf to move up and down;

[0023] A guide rod is disposed below the shelf and supports the shelf on both sides. The guide rod passes through the transfer mechanism, and the extension direction of the guide rod is the same as the direction in which the lifting drive source drives the shelf to move.

[0024] In one embodiment of the present invention, the lifting platform further includes a detection sensor disposed on the shelf and the lifting drive source, for detecting the height and load of the multiple lifting platforms and determining the horizontal state of the propeller placement.

[0025] In one embodiment of the present invention, a positioning platform is further provided on the transfer mechanism. The positioning platform and the lifting platform jointly support the propeller. The positioning platform is used to support the end cylindrical section structure of the propeller. The positioning platform includes a U-shaped positioning bracket and a roller assembly disposed in the U-shaped positioning bracket.

[0026] In one embodiment of the present invention, the clamping mechanism includes:

[0027] Clamping drive source;

[0028] Two clamping arms are driven by the clamping drive source to move synchronously in opposite directions to achieve clamping opening and closing action. The clamping surfaces of the clamping arms are provided with rubber pads.

[0029] Before the flipping mechanism docks with the propeller, the clamping mechanism clamps and positions the end of the propeller, so that the flipping mechanism is aligned with the end of the propeller.

[0030] In one embodiment of the present invention, the flipping mechanism includes: a horizontal transfer component, a vertical lifting component, a rotating component, and a flipping head. The end of the flipping head is provided with an external thread that mates with the mounting screw hole at the end of the propeller. The horizontal transfer component, the vertical lifting component, and the rotating component respectively drive the flipping head to complete horizontal movement, lifting and lowering, and rotation, so that the flipping head can be inserted into the mounting screw hole at the end of the propeller, threadedly connected to the propeller, and drive the propeller to rotate.

[0031] In one embodiment of the present invention, the grinding mechanism includes: a gantry frame extending in the same direction as the transfer mechanism, a multi-axis robotic arm mounted on the gantry frame, and a grinding disc mounted on the execution end of the multi-axis robotic arm.

[0032] In one embodiment of the present invention, it further includes: an abrasive replacement mechanism and a fence assembly, the abrasive replacement mechanism and the fence assembly assisting the propeller grinding equipment in completing the grinding action.

[0033] The technical solution of the present invention has the following advantages over the prior art:

[0034] The propeller grinding equipment described in this invention is specifically designed for grinding parts with helical curved surface structures, such as propellers. It meets grinding requirements, is easy to operate, and can improve grinding quality and efficiency.

[0035] Furthermore, the transfer mechanism uses multiple lifting platforms to support the propeller. By adjusting the height of the lifting platforms at different positions, the horizontal position of the propeller can be adjusted to ensure that the grinding surface of the propeller is horizontal during grinding, thus meeting the needs of auxiliary grinding.

[0036] Meanwhile, based on the unique mounting screw holes at the propeller end, a clamping mechanism and a flipping mechanism are set up to work together. First, the clamping mechanism clamps and fixes the propeller, and then the flipping mechanism works with the mounting screw holes to achieve docking. Finally, the propeller is driven to flip, so that both sides of the propeller can be polished. Attached Figure Description

[0037] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein...

[0038] Figure 1 This is a schematic diagram of the propeller structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the overall structure of the propeller grinding equipment of the present invention;

[0040] Figure 3 This is a schematic diagram of the transfer mechanism of the present invention;

[0041] Figure 4 This is a schematic diagram of the braking assembly of the present invention;

[0042] Figure 5 This is a schematic diagram of the braking component of the present invention in the braking state;

[0043] Figure 6 This is a schematic diagram of the lifting platform of the present invention;

[0044] Figure 7 This is a schematic diagram showing the state in which the lifting platform supports the propeller;

[0045] Figure 8 This is a schematic diagram of the positioning platform of the present invention;

[0046] Figure 9 This is a schematic diagram of the clamping mechanism of the present invention;

[0047] Figure 10 This is a schematic diagram of the flipping mechanism of the present invention;

[0048] Figure 11 This is a schematic diagram of the grinding mechanism of the present invention;

[0049] Figure 12This is a schematic diagram showing the propeller being placed on the transfer mechanism;

[0050] Figure 13 This is a schematic diagram of the clamping mechanism that clamps and fixes the end of the propeller.

[0051] Figure 14 This is a schematic diagram showing the grinding mechanism grinding one side of the propeller.

[0052] Figure 15 This is a schematic diagram showing the state when the flipping mechanism is connected to the end of the propeller;

[0053] Figure 16 This is a schematic diagram showing the state of the flipping mechanism flipping the propeller;

[0054] Explanation of reference numerals in the instruction manual:

[0055] 1. Transfer mechanism; 11. Lifting platform; 111. Shelf; 1111. Support unit; 112. Lifting drive source; 113. Guide rod; 114. Detection sensor; 12. Frame; 13. Wheel assembly; 14. Slide rail; 15. Drive assembly; 16. Braking assembly; 161. Braking drive source; 162. Gripper; 163. Positive and negative lead screws; 17. Positioning platform; 171. U-shaped positioning bracket; 172. Roller assembly;

[0056] 2. Clamping mechanism; 21. Clamping drive source; 22. Clamping arm;

[0057] 3. Tilting mechanism; 31. Horizontal transfer assembly; 32. Vertical lifting assembly; 33. Rotating assembly; 34. Tilting head; 341. External thread;

[0058] 4. Grinding mechanism; 41. Gantry frame; 42. Multi-axis robotic arm; 43. Grinding disc;

[0059] 5. Abrasive replacement mechanism; 6. Fence assembly. Detailed Implementation

[0060] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0061] As mentioned earlier, the surface of the propeller needs to be polished during the manufacturing process, referring to... Figure 1 As shown, propeller-type parts are generally helical curved surface structures with long helical arms, and large-sized mounting screw holes are provided at the propeller end. Existing grinding equipment lacks a grinding fixture capable of meeting integrated grinding requirements. Analyzing this propeller, the following three issues need to be addressed to fulfill the grinding requirements:

[0062] 1. The propeller is quite long, and existing grinding equipment cannot support and fix it, nor can it grind the propeller along its length.

[0063] 2. Because the propeller has a curved structure, when polishing the propeller, it is necessary to adjust the placement of the propeller horizontally according to its attitude to ensure that the polishing surface is horizontal.

[0064] 3. Both sides of the propeller need to be polished. How to achieve rapid rotation of the propeller is also a problem that cannot be solved by existing technology.

[0065] To solve the above technical problems, refer to Figure 2 As shown, this invention discloses a propeller grinding device, specifically designed for grinding parts with helical curved surface structures such as propellers. It meets grinding requirements, is simple to operate, and improves grinding quality and efficiency. The propeller grinding device includes: a transfer mechanism 1, a clamping mechanism 2, a tilting mechanism 3, and a grinding mechanism 4, wherein: (Refer to...) Figure 3 As shown, multiple lifting platforms 11 are provided on the transfer mechanism 1. These platforms are distributed along the extension direction of the propeller and collectively support it. Adjusting the height of each platform changes the horizontal state of the propeller, ensuring the polishing surface is horizontal during grinding, thus meeting the requirements for auxiliary polishing. The clamping mechanism 2 is located on the moving path of the transfer mechanism 1. The transfer mechanism 1 carries and drives the end of the propeller through the clamping mechanism 2, which clamps and fixes the end of the propeller. The clamping mechanism 2 can clamp and fix the propeller when the polishing mechanism 4 polishes it and when the flipping mechanism 3 docks with it. The flipping mechanism 3 is located on the moving path of the transfer mechanism 1. Online, moving in the opposite direction to the transfer mechanism 1, the flipping mechanism 3 can dock with the end of the propeller. After the flipping mechanism 3 connects with the propeller, the lifting platform 11 descends to reserve flipping space, allowing the propeller to separate from the lifting platform 11. After the propeller flips, the lifting platform 11 rises and supports the propeller again. The flipping mechanism 3 enables the propeller to flip quickly so that both sides can be polished. At the same time, it cooperates with the lifting platform 11 to avoid the transfer mechanism 1 when flipping the propeller, preventing the propeller from colliding with the transfer mechanism 1 during rotation. The polishing mechanism 4 is located on one side of the transfer mechanism 1 and moves along the extension direction of the propeller to perform double-sided moving polishing of the propeller before and after flipping, so as to meet the needs of long-distance polishing.

[0066] In this embodiment, the transfer mechanism 1 has the functions of bearing and transferring. To achieve the above functions, refer to Figure 3 As shown, the transfer mechanism 1 further includes: a frame 12, a wheel assembly 13 that supports and drives the frame 12 to move, a slide rail 14 that restricts the direction of movement of the wheel assembly 13, and a drive assembly 15 that provides power to the frame 12.

[0067] The vehicle frame 12 has a double-layer structure, with the lifting platform 11 located in the upper layer and the drive assembly 15 located in the lower layer.

[0068] The wheel assembly 13 includes multiple sets of wheels arranged along the extension direction of the frame 12, and the multiple sets of wheels together support the frame 12 and drive the frame 12 to move.

[0069] The slide rail 14 consists of two parallel guide rails, and the wheel assembly 13 moves between the two guide rails. The guide rails restrict the direction of movement of the wheel assembly 13.

[0070] The drive assembly 15 includes a gear drive source disposed on the frame 12 and a rack disposed below the frame 12. The gear drive source meshes with the rack to convert the rotational force provided by the gear drive source into a driving force that drives the frame 12 to reciprocate in the horizontal direction. In this embodiment, the driving force is provided by the meshing of a gear and a rack. In other embodiments, the driving force can also be provided by a linear motor module, a lead screw motor, etc. The above driving methods are all existing technologies and will not be described in detail here.

[0071] In this embodiment, a transfer mechanism 1 is used to move the propeller, causing the propeller tip to insert into the clamping mechanism 2. The clamping mechanism 2 fixes the position of the propeller. During the grinding process, the position of the transfer mechanism 1 also needs to be fixed. To solve this problem, refer to... Figure 3 As shown, a braking component 16 is also provided in the transfer mechanism 1, which restricts the movement of the transfer mechanism 1 when the grinding mechanism 4 grinds the propeller.

[0072] Reference Figure 4 and Figure 5As shown, the braking assembly 16 includes a braking drive source 161 and two grippers 162 driven by the braking drive source 161. The two grippers 162 extend towards the slide rail 14, extending to both sides of the slide rail 14. The braking drive source 161 drives the two grippers 162 to clamp the slide rail 14. In this embodiment, the two grippers 162 are hinged to the mounting bracket. The braking drive source 161 is a lead screw drive source, including positive and negative lead screws 163 passing through the two grippers 162. The two grippers 162 are respectively threaded to the positive and negative leads screws 163. Rotation of the positive and negative leads screws 163 can drive the two grippers 162 to move in opposite directions. In other embodiments, the braking drive source 161 can also be a pneumatic cylinder source, as long as it can drive the two grippers 162 to move in opposite directions to achieve clamping of the rail. By clamping the rail, the free movement of the transfer mechanism 1 is restricted.

[0073] Reference Figure 6 and Figure 7 As shown, the lifting platform 11 includes: a support frame 111, a lifting drive source 112, and a guide rod 113. The support frame 111 is a U-shaped frame, forming a space within the U-shaped frame to support the propeller. A protruding support portion 1111 is provided within the support frame 1111, and a rubber pad is provided on the support portion 1111. The propeller is placed on the rubber pad to achieve elastic support. The supported section of the propeller is typically a helical arc surface. To accommodate this structural feature, an arc-shaped protruding support portion 1111 is also provided within the U-shaped frame, ensuring that the U-shaped frame can reliably support the bottom of the propeller regardless of its position. And effectively support; the lifting drive source 112 is located below the shelf 111, and the execution end of the lifting drive source 112 is connected to the shelf 111. The lifting drive source 112 drives the shelf 111 to move up and down; the guide rod 113 is also located below the shelf 111. The guide rod 113 supports the shelf 111 from both sides. The guide rod 113 passes through the transfer mechanism 1. The extension direction of the guide rod 113 is the same as the direction in which the lifting drive source 112 drives the shelf 111 to move. The lifting direction of the shelf 111 can be restricted by the guide rod 113.

[0074] In this embodiment, in order to ensure that the polishing surface of the propeller is on the same horizontal plane, it is necessary to coordinate the movement of multiple lifting platforms 11. In order to ensure the accuracy of the lifting position of each lifting platform 11, the lifting platform 11 also includes a detection sensor installed on the shelf 111 and the lifting drive source 112, which is used to detect the height and load of the multiple lifting platforms 11, thereby determining the horizontal state of the propeller placement.

[0075] Reference Figure 3 and Figure 8 As shown, a positioning platform 17 is also provided on the transfer mechanism 1. The positioning platform 17 and the lifting platform 11 jointly support the propeller. The positioning platform 17 is used to support the cylindrical end section structure of the propeller. The positioning platform 17 includes a U-shaped positioning bracket 171 and a roller assembly 172 disposed in the U-shaped positioning bracket 171. When the flipping mechanism 3 drives the propeller to rotate, the positioning platform 17 always supports the end of the propeller. The roller assembly 172 supporting the propeller will not affect the rotation of the propeller.

[0076] Reference Figure 9 As shown, the clamping mechanism 2 includes: a clamping drive source 21 and a clamping arm 22 driven by the clamping drive source 21 to move synchronously in opposite directions. The clamping arm 22 is used to fix and release the propeller through its opening and closing action. The clamping surface of the clamping arm 22 is provided with a rubber pad to achieve elastic clamping of the propeller.

[0077] Specifically, before the flipping mechanism 3 docks with the propeller, the clamping mechanism 2 clamps and positions the end of the propeller so that the flipping mechanism 3 and the end of the propeller are aligned, ensuring that the propeller will not rotate with the flipping mechanism 3 when the flipping mechanism 3 docks with the propeller.

[0078] Specifically, the clamping drive source 21 can be a lead screw drive source or a cylinder drive source, as long as it can drive the two clamping arms 22 to move synchronously in opposite directions.

[0079] Reference Figure 10 As shown, the flipping mechanism 3 includes: a horizontal transfer component 31, a vertical lifting component 32, a rotating component 33, and a flipping head 34. The end of the flipping head 34 is provided with an external thread 341 that mates with the mounting screw hole at the end of the propeller. The horizontal transfer component 31, the vertical lifting component 32, and the rotating component 33 respectively drive the flipping head 34 to complete horizontal movement, lifting, and rotation, so that the flipping head 34 can be rotatably inserted into the mounting screw hole at the end of the propeller and threadedly connected to the propeller. When the flipping head 34 is threadedly connected to the propeller, the position of the propeller is fixed by the clamping mechanism 2. Thus, when the flipping head 34 rotates, the propeller remains stationary, thereby achieving a threaded connection. After the flipping mechanism 3 is connected to the end of the propeller, the clamping mechanism 2 no longer fixes the propeller. At this time, the rotation of the flipping head 34 can drive the propeller to rotate.

[0080] Reference Figure 11As shown, the grinding mechanism 4 includes a gantry frame 41, a multi-axis robotic arm 42, and a grinding disc 43. The gantry frame 41 has a crossbeam extending in the same direction as the transfer mechanism 1. The multi-axis robotic arm 42 is slidably mounted on the crossbeam. The grinding disc 43 is mounted on the execution end of the multi-axis robotic arm 42. The grinding action on different positions of the propeller is achieved by the multi-axis robotic arm 42 driving the grinding disc 43.

[0081] Reference Figure 1 As shown, the grinding equipment in this embodiment also includes an abrasive replacement mechanism 5, which is provided corresponding to the grinding mechanism 4. The abrasive replacement mechanism 5 can assist the grinding machine in replacing the grinding disc 43.

[0082] Reference Figure 1 As shown, the grinding equipment in this embodiment also includes: a fence assembly 6, which consists of a fence, posts, a door and door interlocks, etc., to provide safety protection for the propeller grinding operation.

[0083] Specifically, the specific operating steps of the propeller grinding equipment in this embodiment are as follows:

[0084] Step 1: Refer to Figure 12 As shown, the propeller that needs to be polished is hoisted onto the transfer mechanism 1. Multiple lifting platforms 11 jointly support the helical surface of the propeller. The positioning platform 17 supports the end of the propeller. The horizontal state of the propeller is detected and sensed by the detection sensors in the multiple lifting platforms 11. The horizontal state of the propeller is adjusted by controlling each lifting platform 11 to extend to different heights.

[0085] Step Two: Refer to Figure 13 As shown, the transfer mechanism 1 is activated and slowly moves closer to the clamping mechanism 2, so that the cylindrical part of the propeller end is between the two clamping arms 22 of the clamping mechanism 2. The clamping mechanism 2 is activated so that the two clamping arms 22 tightly clamp the cylindrical part of the propeller.

[0086] Step 3: Refer to Figure 14 As shown, the grinding mechanism 4 is activated to perform all-round grinding on the upward-facing side of the propeller until all accessible parts are ground, and then the grinding operation is paused.

[0087] Step Four: Refer to Figure 15 As shown, the flipping mechanism 3 is activated, causing it to slowly approach the end of the propeller. During the movement, the position of the flipping head 34 is adjusted synchronously to align the flipping head 34 with the mounting screw hole in the propeller. After the flipping head 34 is inserted into the mounting screw hole, the flipping head 34 is rotated to fix the flipping head 34 to the mounting screw hole through a threaded connection.

[0088] Step 5: Refer to Figure 16 As shown, the clamping mechanism 2 is activated again, causing the two clamping arms 22 that are holding the propeller end to move in opposite directions to release the clamping restriction on the cylindrical part of the propeller end. At the same time, the lifting platform 11 is activated to retract and descend, so as to avoid interference and collision during propeller flipping and damage to the edge of the propeller. Finally, the flipping mechanism 3 is activated to drive the propeller to perform a 180° radial flip.

[0089] Step Six: After the flipping is completed, start the lifting platform 11 to raise it again to support the helical surface of the propeller. The detection sensors in multiple lifting platforms 11 detect and sense the horizontal state of the propeller, and adjust the horizontal state of the propeller by controlling each lifting platform 11 to extend to different heights. Start the grinding mechanism 4 again to grind the upward side of the propeller in all directions until all the parts that can be ground are ground in place. Then pause the grinding operation to complete the double-sided grinding process of the propeller.

[0090] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A propeller polishing apparatus, characterized by, include: The transfer mechanism is provided with multiple lifting platforms, which are distributed along the extension direction of the propeller. The multiple lifting platforms jointly support the propeller, and the height of each lifting platform can be adjusted to change the horizontal state of the propeller. A clamping mechanism is provided on the moving path of the transfer mechanism. The transfer mechanism carries and drives the end of the propeller through the clamping mechanism, and the clamping mechanism clamps and fixes the end of the propeller. A flipping mechanism is disposed on the moving path of the transfer mechanism and moves in the opposite direction to the transfer mechanism. The flipping mechanism can dock with the end of the propeller and drives the propeller to flip radially. A grinding mechanism is located on one side of the transfer mechanism and moves along the extension direction of the propeller to grind both sides of the propeller before and after flipping. The transfer mechanism includes: a frame; a wheel assembly for supporting the frame and driving the frame to move; a slide rail, on which the wheel assembly is disposed and moves along the extension direction of the slide rail; a drive assembly including a gear drive source disposed on the frame and a rack disposed below the frame, the gear drive source meshing with the rack to convert the rotational force provided by the gear drive source into a driving force that drives the frame to reciprocate in the horizontal direction; and a braking assembly for restricting the movement of the transfer mechanism when the grinding mechanism grinds the propeller, the braking assembly including a braking drive source and two grippers driven by the braking drive source, the two grippers extending towards the slide rail and extending to both sides of the slide rail, the braking drive source driving the two grippers to clamp the slide rail; The lifting platform includes: a shelf, which is a U-shaped frame with a protruding support portion and a rubber pad on the support portion; a lifting drive source, located below the shelf, with its actuator connected to the shelf, and the lifting drive source driving the shelf to move up and down; and a guide rod, located below the shelf, supporting the shelf on both sides, passing through the transfer mechanism, with the extension direction of the guide rod being the same as the direction in which the lifting drive source drives the shelf to move. The transfer mechanism is also equipped with a positioning platform, which together with the lifting platform supports the propeller. By adjusting the height of the lifting platform at different positions, the horizontal position of the propeller can be adjusted. The positioning platform is used to support the cylindrical end section structure of the propeller. The positioning platform includes a U-shaped positioning bracket and a roller assembly disposed in the U-shaped positioning bracket.

2. The propeller grinding equipment according to claim 1, characterized in that: The lifting platform also includes detection sensors installed on the shelf and the lifting drive source, used to detect the height and load of multiple lifting platforms and determine the horizontal position of the propeller.

3. The propeller grinding equipment according to claim 1, characterized in that: The clamping mechanism includes: Clamping drive source; Two clamping arms are driven by the clamping drive source to move synchronously in opposite directions to achieve clamping opening and closing action. The clamping surfaces of the clamping arms are provided with rubber pads. Before the flipping mechanism docks with the propeller, the clamping mechanism clamps and positions the end of the propeller, so that the flipping mechanism is aligned with the end of the propeller.

4. The propeller grinding equipment according to claim 1, characterized in that: The flipping mechanism includes a horizontal transfer component, a vertical lifting component, a rotating component, and a flipping head. The end of the flipping head is provided with an external thread that mates with the mounting screw hole at the end of the propeller. The horizontal transfer component, the vertical lifting component, and the rotating component respectively drive the flipping head to complete horizontal movement, lifting, and rotation, so that the flipping head can be inserted into the mounting screw hole at the end of the propeller, threadedly connected to the propeller, and drive the propeller to rotate.

5. The propeller grinding equipment according to claim 1, characterized in that: The grinding mechanism includes: a gantry frame extending in the same direction as the transfer mechanism, a multi-axis robotic arm mounted on the gantry frame, and a grinding disc mounted on the execution end of the multi-axis robotic arm.

6. The propeller grinding equipment according to claim 1, characterized in that: Also includes: The abrasive replacement mechanism and the fence assembly assist the propeller grinding equipment in completing the grinding action.

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