Folding propeller machining equipment and machining process based on unmanned aerial vehicle

Abstract

The invention discloses folding propeller machining equipment and a machining process based on an unmanned aerial vehicle, and belongs to the technical field of machine tool machining, the folding propeller machining equipment comprises a machine tool, the machine tool is provided with a spindle head and a fixing tool, the bottom of the spindle head is provided with a tool bit, and the spindle head is further provided with a damping mechanism. In the machining process, the clamping head synchronously moves along with the tool bit, when the fixing tool rotates, the clamping head can guarantee the clamping effect on the propeller, dynamic clamping close to the tool bit in the propeller machining process is achieved, the fixing and supporting effects on a propeller machining area are improved, vibration is reduced, and the machining efficiency is improved. Meanwhile, through the elastic force of a spring between a telescopic seat and a rotating seat and the elastic force of a spring between a first sliding block and a main shaft head, vibration generated during machining of the propeller clamped by the clamping head can be further restrained and reduced through the damping effect, and vibration generated in the milling machining process of the propeller is effectively reduced; and the overall machining precision and the product quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tool processing. Specifically, it relates to a folding propeller processing device and processing technology based on an unmanned aerial vehicle. Background Technique

[0002] The folding blade, also known as the folding rotor, is mainly generated to increase the wingspan of the rotor blade as much as possible without increasing the size of the aircraft. In the current production process of industrial-grade unmanned aerial vehicle folding propellers, the forming process generally selects autoclave molding of prepreg or casting molding, which can achieve efficient batch production of propellers.

[0003] For the blades formed by the prior art autoclave molding of prepreg or die casting, to ensure the surface profile accuracy, it is necessary to cooperate with laser scanning to compare with the CAD model and perform milling on the blade surface. During milling, due to the thin-wall design of the blade and the stiffness characteristics of the material, when the milling cutter contacts the blade for processing, the farther the distance between the milling cutter and the fixed part of the blade, the smaller the fixing and supporting force on the blade, and the easier it is to generate synchronous vibration with the milling cutter. This not only easily causes vibration marks on the processed surface of the blade, affecting the surface profile accuracy, but also easily causes microscopic cracks on the blade surface due to vibration. During subsequent use, the crack propagation is also likely to accelerate fatigue fracture, resulting in potential safety risks.

[0004] How to invent a folding propeller processing device and processing technology based on an unmanned aerial vehicle to improve these problems has become an urgent problem for those skilled in the art. Summary of the Invention

[0005] To make up for the above deficiencies, the present invention provides a folding propeller processing device and processing technology based on an unmanned aerial vehicle, aiming to improve the problems raised in the above background technique.

[0006] The present invention is implemented as follows: The present invention provides a folding propeller processing device based on an unmanned aerial vehicle, including a machine tool. The machine tool is provided with a spindle head and a fixing fixture. A cutter head is arranged at the bottom of the spindle head, and a vibration damping mechanism is also arranged on the spindle head;

[0007] The vibration damping mechanism includes a slider one movably sleeved inside the spindle head. A spring one is arranged between the slider one and the spindle head. The bottom of the slider one is fixedly connected with a connecting rod. The bottom of the connecting rod is rotatably connected with a rotating seat. The bottom of the rotating seat is provided with a telescopic seat. A rod movably sleeved with the rotating seat is arranged at the top of the telescopic seat. And a spring is arranged between the rod at the top of the telescopic seat and the rotating seat. The side wall of the telescopic seat is rotatably connected with a clamping head. The clamping head is provided with a clamping assembly for clamping the folding propeller, and a grinding assembly for grinding the folding propeller is also arranged on the side wall of the clamping head.

[0008] Preferably, the clamping assembly includes clamping plates arranged on the upper and lower sides of the clamping head. The clamping plates are movably sleeved on the clamping head, and a spring is arranged between the clamping plates and the clamping head. Ball bearings are also arranged on the sides of the clamping plates that are close to each other.

[0009] Preferably, the grinding assembly includes a motor arranged on the side wall of the clamping head. A driving roller and a movable roller are arranged inside the clamping head. A transmission shaft is rotatably connected inside the clamping head, and the transmission shaft is in transmission connection with the driving roller. A second slider is slidably connected inside the clamping head. A spring is arranged between the second slider and the clamping head. A rotating shaft is arranged between the side wall of the second slider and the movable roller. A grinding belt is sleeved on the outer side walls of the movable roller and the driving roller. A gear set for drivingly connecting the motor and the transmission shaft is arranged inside the clamping head. A hydraulic mechanism for adjusting the distance between the clamping head and the folding propeller according to the arc of the folding propeller is arranged inside the clamping head.

[0010] Preferably, the gear set consists of two meshing gears. One of the gears in the gear set is in transmission connection with the output shaft of the motor, and the other gear in the gear set is in transmission connection with the transmission shaft.

[0011] Preferably, the hydraulic mechanism includes a hydraulic cavity opened inside the clamping head. A first detection roller and a second detection roller are arranged on the side wall of the clamping head. A first piston sleeved with the hydraulic cavity is arranged on the side wall of the first detection roller. A second piston sleeved with the hydraulic cavity is arranged on the side wall of the second detection roller. Return springs connected to the hydraulic cavity are arranged on both the first piston and the second piston. A transmission cavity connected to the hydraulic cavity is opened inside the clamping head. A third slider is sleeved inside the transmission cavity. A liquid suction assembly for sucking liquid according to the compression degrees of the first detection roller and the second detection roller is arranged inside the clamping head.

[0012] Preferably, the liquid suction assembly includes a liquid suction cavity opened inside the clamping head. A fifth slider is sleeved inside the liquid suction cavity. A third spring connected to the side wall of the liquid suction cavity is arranged on the side of the fifth slider close to the first piston. A liquid suction groove communicating with the hydraulic cavity is opened in the liquid suction cavity. A clamping block is arranged on the side wall of the clamping head. A push rod matched with the clamping block is sleeved inside the clamping head.

[0013] Preferably, the end of the clamping block extending into the liquid suction cavity is provided with an inclined chamfer. An inclined chamfer matched with the push rod is opened inside the clamping block. A spring is arranged between the clamping block and the clamping head.

[0014] Preferably, annularly distributed magnetic blocks are arranged at both ends of the transmission cavity. The third slider is designed as a magnet and is attracted to the magnetic blocks. A reset rod is arranged on the side wall of the third slider.

[0015] A processing technology for a folding propeller processing device based on an unmanned aerial vehicle includes the following steps:

[0016] S1: Fix and position the folding propeller through a fixing tooling;

[0017] S2: Clamp and guide both sides of the folding propeller through the clamping head;

[0018] S3: Start the machine tool, and the cutter head travels along the surface of the folding propeller for milling and trimming processing;

[0019] S4: After the trimming is completed, release the fixation of the folding propeller by the fixing tooling and the clamping head to complete the processing.

[0020] In summary, the beneficial effects of the present invention are as follows:

[0021] 1. During the processing, the clamping head moves synchronously with the cutter head, and when the fixing tooling rotates, the clamping head can still ensure the clamping effect on the propeller, realizing the dynamic clamping close to the cutter head during the propeller processing. This not only improves the fixing and supporting effects on the propeller processing area, reduces vibration, but also through the elastic forces of the springs between the telescopic seat and the rotating seat and between the first slider and the spindle head, the vibration generated during the processing of the propeller clamped by the clamping head can be further suppressed and reduced through the damping effect, effectively reducing the vibration generated during the milling processing of the propeller and improving the overall processing accuracy and product quality.

[0022] 2. During the clamping of the propeller by the clamping head, the side of the propeller can be synchronously polished and trimmed through the polishing belt, removing the raised mold joint lines and burrs on the edge, combining the processing steps, improving the overall processing efficiency, and through the sliding adjustment of the second slider, the coverage and polishing force of the polishing belt on the side of the propeller can be ensured. And when passing through the concave edge of the propeller, through the adjustment of the first detection roller and the second detection roller and the pushing of the push rod, the hydraulic oil inside the hydraulic cavity is sucked into the liquid suction cavity to adjust the distance between the clamping head and the side of the propeller, realizing the adjustment of the total amount of hydraulic oil sucked into the liquid suction cavity and the adjustment of the distance between the clamping head and the propeller according to the concave degree of the side of the propeller, thereby ensuring the contact stress and wrapping effect between the polishing belt and the side of the propeller, and thus ensuring the polishing and trimming effect on the side of the propeller. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a schematic diagram of the overall machine tool provided by the embodiment of the present invention.

[0025] Figure 2 It is a schematic diagram of the overall clamping assembly provided by the embodiment of the present invention.

[0026] Figure 3 It is a schematic internal view of the machine tool provided by the embodiment of the present invention.

[0027] Figure 4 It is a schematic view of the clamping plate provided by the embodiment of the present invention.

[0028] Figure 5 It is a schematic internal view of the clamping head provided by the embodiment of the present invention.

[0029] Figure 6 It is a schematic overall view of the second slider provided by the embodiment of the present invention.

[0030] Figure 7 It is a schematic overall view of the hydraulic mechanism provided by the embodiment of the present invention.

[0031] Figure 8 It is a schematic cross-sectional view of the inside of the clamping head provided by the embodiment of the present invention.

[0032] Figure 9 It is a schematic view of the liquid suction assembly provided by the embodiment of the present invention.

[0033] Figure 10 It is a schematic cross-sectional view of the clamping block provided by the embodiment of the present invention.

[0034] Figure 11 It is a schematic view of the cooperation between the clamping head and the concave surface of the propeller provided by the embodiment of the present invention.

[0035] Legend:

[0036] 100, machine tool; 101, spindle head; 102, fixed tooling; 103, tool bit; 200, first slider; 201, connecting rod; 202, first spring; 203, rotating seat; 204, telescopic seat; 300, clamping head; 301, clamping plate; 310, motor; 311, grinding belt; 312, transmission shaft; 313, gear set; 314, driving roller; 315, movable roller; 316, second slider; 320, first detection roller; 321, second detection roller; 322, first piston; 323, second piston; 324, hydraulic cavity; 325, transmission cavity; 326, third slider; 327, magnetic block; 328, reset rod; 329, reset spring; 336, liquid suction cavity; 337, fifth slider; 338, third spring; 339, liquid suction groove; 340, push rod; 341, clamping block. Detailed implementation manners

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] Referring to Figures 1-11 , the present invention provides a folding propeller processing device based on an unmanned aerial vehicle, including a machine tool 100. The machine tool 100 is provided with a spindle head 101 and a fixing fixture 102. The spindle head 101 is connected to the spindle of the machine tool 100. A tool head 103 is provided at the bottom of the spindle head 101, and a vibration damping mechanism is also provided on the spindle head 101.

[0039] The vibration damping mechanism includes a slider one 200 movably sleeved inside the spindle head 101. The slider one 200 is movably sleeved in a limited manner with the spindle head 101 through a set of fixing rods. A spring one 202 is provided between the slider one 200 and the spindle head 101. The bottom of the slider one 200 is fixedly connected to a connecting rod 201. The bottom of the connecting rod 201 is rotatably connected to a rotating seat 203. A telescopic seat 204 is provided at the bottom of the rotating seat 203. A rod movably sleeved with the rotating seat 203 is provided at the top of the telescopic seat 204, and a spring is provided between the rod at the top of the telescopic seat 204 and the rotating seat 203. A clamping head 300 is rotatably connected to the side wall of the telescopic seat 204. The clamping head 300 is provided with a clamping assembly for clamping the folding propeller, and a grinding assembly for grinding and processing the folding propeller is also provided on the side wall of the clamping head 300.

[0040] Referring to Figures 2-4 , the clamping assembly includes clamping plates 301 provided on the upper and lower sides of the clamping head 300. The clamping plates 301 are movably sleeved with the clamping head 300, and a spring is provided between the clamping plates 301 and the clamping head 300. Ball bearings are also provided on the sides of the clamping plates 301 that are close to each other.

[0041] Referring to Figures 2-6, the grinding assembly includes a motor 310 provided on the side wall of the clamping head 300. Inside the clamping head 300, there are a driving roller 314 and a movable roller 315. A transmission shaft 312 is rotatably connected inside the clamping head 300. The transmission shaft 312 is in transmission connection with the driving roller 314. A second slider 316 is slidably connected inside the clamping head 300. A spring is provided between the second slider 316 and the clamping head 300. A rotating shaft is provided between the side wall of the second slider 316 and the movable roller 315. A grinding belt 311 is sleeved on the outer side walls of the movable roller 315 and the driving roller 314. A gear set 313 for transmitting the motor 310 to the transmission shaft 312 is provided inside the clamping head 300. A hydraulic mechanism for adjusting the distance between the clamping head 300 and the folding propeller according to the arc of the folding propeller is provided inside the clamping head 300.

[0042] Further, the gear set 313 is two sets of meshing gears. One set of gears in the gear set 313 is in transmission connection with the output shaft of the motor 310, and the other set of gears in the gear set 313 is in transmission connection with the transmission shaft 312.

[0043] Refer to Figures 7-10 , the hydraulic mechanism includes a hydraulic chamber 324 opened inside the clamping head 300. A first detection roller 320 and a second detection roller 321 are provided on the side wall of the clamping head 300. Both the first detection roller 320 and the second detection roller 321 are roller mechanisms composed of a set of concave sliders and rotating shafts. A first piston 322 sleeved with the hydraulic chamber 324 is provided on the side wall of the concave slider of the first detection roller 320. A second piston 323 sleeved with the hydraulic chamber 324 is provided on the side wall of the concave slider of the second detection roller 321. A return spring 329 connected to the hydraulic chamber 324 is provided on both the first piston 322 and the second piston 323. A transmission chamber 325 connected to the hydraulic chamber 324 is opened inside the clamping head 300. A third slider 326 is sleeved inside the transmission chamber 325. A liquid suction assembly for sucking liquid according to the compression degrees of the first detection roller 320 and the second detection roller 321 is provided inside the clamping head 300.

[0044] Refer to Figures 8-10 , the liquid suction assembly includes a liquid suction chamber 336 opened inside the clamping head 300. A fifth slider 337 is sleeved inside the liquid suction chamber 336. A third spring 338 connected to the side wall of the liquid suction chamber 336 is provided on one side of the fifth slider 337 close to the first piston 322. A liquid suction groove 339 communicating with the hydraulic chamber 324 is opened in the liquid suction chamber 336. A clamping block 341 is provided on the side wall of the clamping head 300. A push rod 340 matching with the clamping block 341 is sleeved inside the clamping head 300.

[0045] Further, one end of the clamping block 341 extending into the liquid suction chamber 336 is provided with an inclined chamfer. An inclined chamfer matching with the push rod 340 is opened inside the clamping block 341. A spring is provided between the clamping block 341 and the clamping head 300.

[0046] It should be noted that annularly distributed magnets 327 are arranged at both ends of the transmission cavity 325. The third slider 326 is designed as a magnet and is attracted to the magnets 327. A reset rod 328 is arranged on the side wall of the third slider 326. Through the magnet design of the magnets 327, when the first detection roller 320 and the second detection roller 321 come into contact with the propeller at the start of the clamping operation, the internal pressure of the hydraulic cavity 324 increases, pushing the third slider 326 to move away from the magnet 327 on the side close to the hydraulic cavity 324 and move to and be attracted by the magnet 327 on the side far from the hydraulic cavity 324. When the clamping is released, the first detection roller 320 and the second detection roller 321 are reset under the elastic force of the second piston 323. When the pressure of the hydraulic cavity 324 decreases, the third slider 326 can be driven to reset. Moreover, multiple branches are arranged at the end of the reset rod 328, which cooperate with the fifth slider 337 and the push rod 340 respectively. When the third slider 326 moves and resets towards the side of the first detection roller 320, the fifth slider 337 and the push rod 340 can be simultaneously pushed to reset synchronously. And through the magnet design of the third slider 326 and the magnets 327, when the liquid suction cavity 336 is in the liquid suction and reset processes and the hydraulic pressure is not sufficient to drive the third slider 326 to break away from the magnetic connection with the magnets 327, the third slider 326 can remain fixed, avoiding affecting the internal hydraulic operation.

[0047] A processing technology for a folding propeller processing device based on an unmanned aerial vehicle includes the following steps:

[0048] S1: Fix and position the folding propeller through the fixing tooling 102;

[0049] S2: Clamp and guide both sides of the folding propeller through the clamping head 300;

[0050] S3: Start the machine tool 100, and the tool bit 103 travels along the surface of the folding propeller for milling and trimming processing;

[0051] S4: After the trimming is completed, release the fixation of the folding propeller by the fixing tooling 102 and the clamping head 300 to complete the processing.

[0052] The working process of the folding propeller processing device and the processing technology based on the unmanned aerial vehicle is as follows:

[0053] First, both ends of the formed propeller to be machined are fixed by the fixing tooling 102. Further, both sides of the propeller are fixed by the clamping heads 300 at both ends. The specific operation is to first push the clamping heads 300 towards both sides to stretch the first spring 202, then pull the clamping plate 301 away from the propeller to make the clamping plate 301 open, and then adjust the position so that when the clamping plate 301 resets, it can clamp the side of the propeller. At the same time, with the reset of the first spring 202, it drives the clamping heads 300 to move towards the propeller, so that the clamping heads 300 on both sides clamp the side of the propeller at the same time. Moreover, with the elastic force of the first spring 202, the first detection roller 320, the second detection roller 321, and the grinding belt 311 are all in pressure contact with the side wall of the propeller. And through the balls on the clamping heads 300, the clamping heads 300 can move along the side wall of the propeller while clamping.

[0054] When starting the machine tool 100 to mill the surface of the propeller through the cutter head 103, the spindle head 101 drives the cutter head 103 to move. Along with the rotation of the fixing tooling 102, the angle is adjusted to mill the surface of the propeller. At this time, the clamping heads 300 move synchronously with the spindle head 101. During the milling process of the cutter head 103, the clamping position of the clamping heads 300 is always close to the machining position of the cutter head 103, which can always provide a stable and reliable supporting effect for the propeller during the milling process, improve the overall system stiffness during the machining of the propeller, thereby reducing the vibration generated when the propeller contacts the tool. At the same time, the elastic forces of the spring between the telescopic seat 204 and the rotating seat 203 and the spring between the first slider 200 and the spindle head 101 can further suppress and reduce the vibration generated during the machining of the propeller clamped by the clamping heads 300 through the damping effect, effectively reducing the vibration generated during the milling process of the propeller and improving the overall machining accuracy and product quality.

[0055] It should be noted that through the design of the first spring 202, when the fixing tooling 102 drives the propeller to rotate and adjust the angle in a small range for milling, it always provides a thrust towards the propeller for the clamping heads 300. At the same time, with the movable socket connection between the telescopic seat 204 and the rotating seat 203, the telescopic seat 204 can extend or retract into the rotating seat 203 according to the rotation angle of the clamping heads 300, realizing adaptive adjustment according to the angle of the clamping heads 300, so as to ensure the contact stress and clamping effect. Through the rotational connection design of the connecting rod 201 and the rotating seat 203, when the clamping heads 300 pass through the arc area of the side wall of the propeller, they can maintain a small range of adaptive rotation.

[0056] Further, during the process of the spindle head 101 moving to drive the cutter head 103 to mill the surface of the propeller, by starting the motor 310, the transmission shaft 312 is further driven by the gear set 313 to drive the polishing belt 311 to rotate, and the side of the propeller in contact with the polishing belt 311 is polished synchronously, effectively removing the mold joint protrusions after the blade is formed and the burrs caused by the leakage of fibers at the edge part. While realizing the surface milling process, the edge is automatically trimmed, the processing steps are combined, and the processing efficiency is improved. At the same time, under the clamping and stress action of the clamping head 300, the propeller maintains stress contact with the first detection roller 320, the second detection roller 321 and the polishing belt 311. When the propeller is in stress contact with the polishing belt 311, the contact between the propeller and the polishing belt 311 causes the polishing belt 311 to deform and automatically wrap the side of the propeller. At the same time, the deformation of the polishing belt 311 can be compensated by adjusting the distance between the transmission roller 314 and the movable roller 315 through the sliding of the second slider 316. Through the elastic design and movement of the second slider 316, the tensioning effect on the polishing belt 311 can be achieved, and the stable transmission connection of the polishing belt 311 through the transmission shaft 312 and the movable roller 315 and the polishing force and effect on the side surface of the propeller can be maintained.

[0057] Further, during the processing, when the clamping head 300 clamps the side of the propeller, when the propeller is in stress contact with the first detection roller 320 and the second detection roller 321, referring to Figure 11 , the side contour of the propeller is designed as an arc shape. If the arc-shaped area of the side of the propeller passed by the clamping head 300 is a concave arc design, due to the symmetrical design of the hydraulic mechanism on both sides of the polishing belt 311, when the first detection roller 320 and the second detection roller 321 on both sides contact the side of the propeller, through the concave design of the side of the propeller, the distance between the middle part of the clamping head 300, that is, the middle part of the hydraulic mechanism on both sides, and the side of the propeller increases, so that the contact stress between the polishing belt 311 connected to the clamping head 300 and the side of the propeller decreases, or in other words, the bending deformation range of the polishing belt 311 becomes smaller, reducing the wrapping effect on the side of the propeller. At this time, referring to Figures 8-11, the adaptation of the concave arc edge of the propeller causes the detection roller two 321 closer to the grinding belt 311 to extend, while the detection roller one 320 moves towards the inside of the hydraulic chamber 324 and pushes the push rod 340 through the piston one 322. When the push rod 340 passes through the clamping block 341, the chamfer inside the clamping block 341 pushes the clamping block 341 away from the slider five 337, releasing the limit on the slider five 337. The elastic force of the spring three 338 causes the slider five 337 to move, and the hydraulic oil inside the hydraulic chamber 324 is sucked into the liquid suction chamber 336, reducing the total amount of hydraulic oil inside the hydraulic chamber 324. As a result, the degree to which the piston one 322 and the piston two 323 enter the hydraulic chamber 324 increases, and the part of the detection roller one 320 and the detection roller two 321 extending outside the clamping head 300 becomes smaller, thereby reducing the distance between the clamping head 300 and the side of the propeller. When passing through the concave arc edge, the distance between the clamping head 300 and the propeller is automatically adjusted, thereby adjusting the contact stress between the grinding belt 311 and the side of the propeller, ensuring the grinding and trimming effect. At the same time, multiple groups of clamping blocks 341 are provided. Whenever the current group of clamping blocks 341 releases the limit on the slider five 337, the slider five 337 will move backward until it contacts and is blocked by the next group of clamping blocks 341. The greater the degree of depression of the arc edge of the propeller, the greater the range of movement of the push rod 340 pushed by the piston one 322, and thus the greater the number of clamping blocks 341 pushed, and the greater the amount of hydraulic oil sucked into the liquid suction chamber 336, and the greater the degree of adjustment of the distance between the clamping head 300 and the propeller.

[0058] It should be noted that when the clamping head 300 passes through the side of the convex propeller, the contact stress between the grinding belt 311 located in the middle of the two hydraulic mechanisms on both sides and the propeller is sufficient, the wrapping effect of the grinding belt 311 on the side of the propeller is good, and the grinding force is sufficient, so no extra adjustment is required.

[0059] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A folding propeller processing device based on an unmanned aerial vehicle, comprising a machine tool (100), characterized in that, The machine tool (100) is provided with a spindle head (101) and a fixed fixture (102). A tool bit (103) is provided at the bottom of the spindle head (101), and the spindle head (101) is further provided with a vibration damping mechanism; The vibration damping mechanism includes a first slider (200) movably sleeved inside the spindle head (101). A first spring (202) is provided between the first slider (200) and the spindle head (101). A connecting rod (201) is fixedly connected to the bottom of the first slider (200). A rotating seat (203) is rotatably connected to the bottom of the connecting rod (201). A telescopic seat (204) is provided at the bottom of the rotating seat (203). A rod movably sleeved with the rotating seat (203) is provided at the top of the telescopic seat (204), and a spring is provided between the rod at the top of the telescopic seat (204) and the rotating seat (203). A clamping head (300) is rotatably connected to the side wall of the telescopic seat (204). The clamping head (300) is provided with a clamping assembly for clamping a folding propeller, and a grinding assembly for grinding the folding propeller is further provided on the side wall of the clamping head (300); The clamping assembly includes clamping plates (301) provided on the upper and lower sides of the clamping head (300). The clamping plates (301) are movably sleeved with the clamping head (300), and a spring is provided between the clamping plates (301) and the clamping head (300). Ball bearings are further provided on the sides of the clamping plates (301) close to each other.

2. The folding propeller processing device based on an unmanned aerial vehicle according to claim 1, characterized in that The grinding assembly includes a motor (310) provided on the side wall of the clamping head (300). A driving roller (314) and a movable roller (315) are provided inside the clamping head (300). A transmission shaft (312) is rotatably connected inside the clamping head (300). The transmission shaft (312) is in transmission connection with the driving roller (314). A second slider (316) is slidably connected inside the clamping head (300). A spring is provided between the second slider (316) and the clamping head (300). A rotating shaft is provided between the side wall of the second slider (316) and the movable roller (315). A grinding belt (311) is sleeved on the outer side walls of the movable roller (315) and the driving roller (314). A gear set (313) for drivingly connecting the motor (310) and the transmission shaft (312) is provided inside the clamping head (300). A hydraulic mechanism for adjusting the distance between the clamping head (300) and the folding propeller according to the curvature of the folding propeller is provided inside the clamping head (300).

3. The folding propeller processing equipment based on an unmanned aerial vehicle according to claim 2, characterized in that, The gear set (313) is composed of two meshing gears. One of the gears in the gear set (313) is in transmission connection with the output shaft of the motor (310), and the other gear in the gear set (313) is in transmission connection with the transmission shaft (312).

4. A folding propeller processing device based on an unmanned aerial vehicle according to claim 2, wherein, The hydraulic mechanism includes a hydraulic chamber (324) opened inside the clamping head (300). A first detection roller (320) and a second detection roller (321) are arranged on the side wall of the clamping head (300). A first piston (322) sleeved with the hydraulic chamber (324) is arranged on the side wall of the first detection roller (320). A second piston (323) sleeved with the hydraulic chamber (324) is arranged on the side wall of the second detection roller (321). A return spring (329) connected to the hydraulic chamber (324) is arranged on both the first piston (322) and the second piston (323). A transmission chamber (325) connected to the hydraulic chamber (324) is opened inside the clamping head (300). A third slider (326) is sleeved inside the transmission chamber (325). A liquid suction assembly for sucking liquid according to the compression degrees of the first detection roller (320) and the second detection roller (321) is arranged inside the clamping head (300).

5. A folding propeller processing device based on an unmanned aerial vehicle according to claim 4, characterized in that, The liquid suction assembly includes a liquid suction chamber (336) opened inside the clamping head (300). A fifth slider (337) is sleeved inside the liquid suction chamber (336). A third spring (338) connected to the side wall of the liquid suction chamber (336) is arranged on the side of the fifth slider (337) close to the first piston (322). A liquid suction groove (339) communicating with the hydraulic chamber (324) is opened in the liquid suction chamber (336). A clamping block (341) is arranged on the side wall of the clamping head (300). A push rod (340) matched with the clamping block (341) is sleeved inside the clamping head (300).

6. The folding propeller processing device based on an unmanned aerial vehicle according to claim 5, wherein, One end of the clamping block (341) extending into the liquid suction chamber (336) is provided with an inclined chamfer. An inclined chamfer matched with the push rod (340) is opened inside the clamping block (341). A spring is arranged between the clamping block (341) and the clamping head (300).

7. A folding propeller processing device based on an unmanned aerial vehicle according to claim 4, characterized in that, Magnetic blocks (327) distributed annularly are arranged at both ends of the transmission chamber (325). The third slider (326) is designed as a magnet and is attracted to the magnetic blocks (327). A return rod (328) is arranged on the side wall of the third slider (326).

8. The processing technology of a folding propeller processing device based on an unmanned aerial vehicle according to claim 1, characterized in that, The processing technology includes the following steps: S1: Fix and position the folding propeller through the fixing fixture (102); S2: Clamp and guide both sides of the folding propeller through the clamping head (300); S3: Start the machine tool (100), and the cutter head (103) travels along the surface of the folding propeller for milling and trimming processing; S4: After the trimming is completed, release the fixation of the folding propeller by the fixing fixture (102) and the clamping head (300) to complete the processing.

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