Propeller blade automatic marking system

Abstract

The invention relates to an automatic scribing system for propeller blades. The automatic scribing system comprises a detection and data processing module, an automatic drawing module, a mechanical arm driving system module, a scribing execution module and a feedback and adjustment module. The detection and data processing module is used for collecting three-dimensional data of the paddle by using a plurality of groups of scanning cameras and processing the data to generate a section line and a design center line; the automatic drawing module generates a drawing path and parameters accordingly; the mechanical arm driving system module drives the mechanical arm to complete scribing; and the lineation execution module adopts high-quality oily fluorescent paint and a micro-vision optical probe to realize accurate spraying. Through automatic scanning, data processing and mechanical arm driving, high-precision and high-efficiency scribing operation is achieved, personal errors are remarkably reduced, and the scribing precision and efficiency are improved. And meanwhile, self-defined parameter adjustment is supported, the flexibility and adaptability of scribing are enhanced, the scribing requirements of different paddle models can be met, the scribing quality and visibility are improved, and important application value is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of propeller testing, in particular to an automatic marking system for propeller blades. Background Art

[0002] During the propeller test, we need to visually observe the cavitation performance of the propeller blades under certain working conditions. This process not only requires us to be able to analyze the various hydrodynamic performance parameters of the propeller in detail, but also to accurately define the specific area where the cavitation phenomenon occurs and ends. In the past, this task relied on traditional manual marking methods. This method has a simple structure and a single function, but it is highly dependent on the operator's technical proficiency and long-term accumulated practical experience. It is affected by human factors and often has accuracy deviations. With the continuous advancement of science and technology and breakthroughs in the field of automation, the precision of propeller marking is getting higher and higher. Accuracy and efficiency, propeller blade profile marking devices have come into being. This device automatically and accurately completes the marking task through sophisticated mechanical and electronic control technology, reducing errors caused by human factors.

[0003] For this purpose, we propose an automatic marking system for propeller blades. Summary of the Invention

[0004] In response to the shortcomings of the above-mentioned existing production technologies, the applicant provides an automatic marking system for propeller blades. By comprehensively using a 3D scanning camera, a computer-aided drawing system, a robotic arm drive system and a high-quality marking execution module, it achieves high-precision, high-efficiency, high-flexibility and high-quality marking of propeller blades.

[0005] The technical solutions adopted in the present invention are as follows:

[0006] A propeller blade automatic marking system, comprising:

[0007] The detection and data processing module is used to collect the three-dimensional data of the propeller blades and process the collected data to generate the blade's profile and design centerline;

[0008] an automatic drawing module, connected to the detection and data processing module, for generating a drawing motion path and drawing parameters based on the processed data;

[0009] A robotic arm driving system module, connected to the automatic drawing module, for driving the robotic arm to perform a marking operation according to the generated drawing motion path and drawing parameters;

[0010] A marking execution module, provided at the end of the robot arm drive system module, for performing a marking operation;

[0011] The feedback and adjustment module is connected to the robot drive system module and the marking execution module, and is used to monitor the marking process in real time and make adjustments when an abnormality occurs.

[0012] As a further improvement of the above technical solution:

[0013] In one embodiment, the detection and data processing module includes:

[0014] Multiple sets of scanning cameras are arranged in a closed housing to achieve a complete scanning of the propeller blades;

[0015] A parameter adaptive module, connected to the data processing module, for generating an optimized profile in accordance with fluid mechanics characteristics in real time according to input parameters;

[0016] The data processing module is connected to the multiple groups of scanning cameras and is used to perform registration and fusion on the collected point cloud data to generate a three-dimensional model of the blade.

[0017] The multiple groups of scanning cameras are arranged in a regular polyhedron layout, each camera covers a certain field of view angle and has high resolution to solve the problem of overlapping blades of complex propellers and ensure the comprehensiveness and accuracy of the detection data.

[0018] In one embodiment, the automatic drawing module includes:

[0019] A drawing motion path and parameter generation unit, used for automatically drawing the blade's cross-section line based on the input blade model parameters;

[0020] Motion planning algorithm unit, used to develop constraint space optimization algorithm based on blade surface characteristics to ensure the continuity and accuracy of the drawing path;

[0021] The custom module is used to support users to adjust parameters according to actual needs and improve the flexibility and accuracy of line drawing.

[0022] In one embodiment, the robotic arm drive system module includes:

[0023] The robotic arm assembly, consisting of a base, joints, links, and end effectors, is used to achieve various movements;

[0024] A drive system that provides power to the joints of the robotic arm assembly to enable it to achieve various movements;

[0025] The controller and motion control unit are used to control the movement of the robotic arm assembly to ensure the continuity and accuracy of the marking path.

[0026] The robotic arm assembly adopts a multi-degree-of-freedom design, and the joint module adopts a closed-loop control solution to improve flexibility; the end effector is equipped with a force / torque sensor to achieve adaptive control of contact force.

[0027] In one embodiment, the marking execution module includes:

[0028] A liquid storage chamber, used for sealing and storing the marking paint;

[0029] A nozzle assembly, comprising a micro-optical probe and a nozzle. The micro-optical probe is used to achieve visual scanning and distance measurement of fine parts of the blade, and the nozzle is used to spray marking paint on the surface of the blade;

[0030] The drive control module is used to control the start and stop of spraying as well as the flow rate and speed of spraying.

[0031] In the nozzle assembly, there are multiple nozzles, which are arranged around the circumference of the micro-optical probe, and the multiple nozzles are inclined toward the center, so that the spraying points are sufficiently concentrated.

[0032] In one embodiment, the feedback and adjustment module includes:

[0033] A sensor monitoring unit is used to monitor the position, angle, line path coordinates, motor operation status and robot arm pressure of the drawing device in real time;

[0034] Feedback system construction unit, building a multi-level monitoring system, including position feedback, spatial position calibration and spray quality online detection to ensure the accuracy and reliability of the drawing process;

[0035] The exception handling mechanism unit contains a variety of preset response strategies for quickly adjusting drawing parameters or replanning paths when an abnormal situation is detected.

[0036] In one embodiment, a user-defined parameter adjustment module is further included to support the user in adjusting the marking parameters according to actual needs to meet the marking requirements of different blade models.

[0037] The beneficial effects of the present invention are as follows:

[0038] The present invention has a compact and reasonable structure and is easy to operate. By comprehensively using a 3D scanning camera, a computer-aided drawing system, a robotic arm drive system, and a high-quality marking execution module, it achieves high-precision, high-efficiency, high-flexibility, and high-quality marking of propeller blades. Through automated scanning and data processing, the system significantly reduces errors caused by human factors and improves the accuracy and efficiency of marking. At the same time, the system supports customized parameter adjustment and can adapt to propeller blades of different shapes and sizes, thereby enhancing the flexibility and adaptability of marking. In addition, the use of high-quality oil-based fluorescent paint and a micro-optical probe design makes the marking effect more lasting, uniform, and easy to observe, thereby improving the visibility and durability of the marking. These beneficial effects together make the propeller blade automatic marking system in this embodiment have important application value in propeller-related testing and production, and can significantly improve production efficiency, reduce labor costs, and improve product quality.

[0039] At the same time, the present invention also has the following advantages:

[0040] Improve marking accuracy and efficiency

[0041] This embodiment achieves high-precision three-dimensional scanning and data processing of propeller blades by introducing a 3D scanning camera and an advanced computer-aided drawing system. Compared with the traditional manual marking method, this automated scanning method significantly reduces the errors caused by human factors and improves the accuracy of marking. At the same time, the computer-aided drawing system can automatically generate drawing motion paths and parameters based on the scanning data, greatly accelerating the drawing speed and improving the marking efficiency. In addition, the robotic arm drive system can accurately perform marking tasks, ensure the accuracy and continuity of the marking path, and further improve the marking accuracy and efficiency. This high-precision and high-efficiency marking method makes the marking task of propeller blades more reliable and efficient, and provides a strong guarantee for subsequent experimental observations and production processing.

[0042] Enhanced marking flexibility and adaptability

[0043] The marking system in this embodiment supports custom parameter adjustment. Users can adjust marking parameters such as chord length correction coefficient and angle of attack compensation value according to actual needs to meet the marking requirements of different blade models. This flexibility enables the marking system to adapt to propeller blades of various complex shapes and sizes, improving the adaptability of marking. In addition, the system is equipped with a custom module that supports users to adjust parameters according to actual needs, further enhancing the flexibility and accuracy of marking. This flexibility and adaptability enable the marking system to be widely used in marking tasks for various propeller blades, meeting the needs of different tests and production.

[0044] Improve marking quality and visibility

[0045] The marking execution module in this embodiment uses high-quality oil-based fluorescent paint. This material not only has excellent adhesion, which can ensure a long-lasting and uniform spraying effect, but also has the characteristic of being insoluble in water, thereby greatly enhancing the stability and durability of the spray layer in various environments. At the same time, the design of the nozzle assembly takes into account the complexity of the blade surface to ensure uniform spraying at different curvatures. This high-quality fluorescent spraying makes the marking easier to observe during the test and is not easily disturbed by fluid particles, thereby improving the visibility and durability of the marking. In addition, the introduction of the micro-optical probe enables the marking mechanism to more accurately locate the fine parts of the blade, further improving the quality of the marking. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a structural schematic diagram of the present invention.

[0047] Figure 2 It is a structural schematic diagram of the present invention (with the outer shell removed).

[0048] Figure 3 Schematic diagram of the structure of the end effector in the present invention.

[0049] Figure 4 Schematic diagram of the structure of the nozzle assembly of the present invention.

[0050] in:

[0051] 1. Housing; 101. 3D scanning camera;

[0052] 2. Impeller;

[0053] 3. Impeller fixing seat;

[0054] 4. Robotic arm assembly; 401. End effector; 402. Connecting rod; 403. Joint; 404. Base; 4011. Liquid storage chamber; 4012. Nozzle assembly; 4013. Drive control module; 40121. Micro-optical probe; 40122. Nozzle. DETAILED DESCRIPTION

[0055] like Figures 1-4As shown, the propeller blade automatic marking system proposed in the present invention is designed to achieve precise marking of the impeller 2 for subsequent experimental observation or production processing. The method comprehensively utilizes a 3D scanning camera 101, a computer-aided drawing system, a robotic arm drive system module device, and a feedback adjustment mechanism to ensure the accuracy and efficiency of the marking process. It includes the following modules: a detection and data processing module, an automatic drawing module, a robotic arm drive system module, a marking execution module, and a feedback and adjustment module. The propeller blade automatic marking system in this embodiment achieves precise marking of the impeller 2 by comprehensively utilizing a 3D scanning camera 101, a computer-aided drawing system, a robotic arm drive system module device, and a feedback adjustment mechanism. The method has the advantages of high marking accuracy, high efficiency, strong flexibility, and good adaptability, and is suitable for drawing the profile lines of various model impeller blades and their specialized line shapes. In subsequent experimental observation or production processing, this method will play an important role in improving production efficiency and product quality.

[0056] Specifically, the detection and data processing module in this embodiment includes:

[0057] like Figure 1 As shown, the 3D scanning camera 101 layout and data acquisition are shown. This embodiment uses four 3D scanning cameras 101 on each side, arranged symmetrically in the upper and lower parts of the system, to achieve comprehensive scanning of the impeller 2. These four 3D scanning cameras 101 on each side are arranged in a regular tetrahedron configuration, with each sensor covering a 120° field of view and achieving a resolution of 0.01mm. This layout effectively solves the problem of overlapping blades in complex propellers, ensuring comprehensive and accurate inspection data.

[0058] In this embodiment, multiple 3D scanning cameras 101 are mounted within a sealed housing 1, providing a sealed environment to prevent external factors from affecting the scanning results and subsequent marking process. Meanwhile, the impeller 2 is detachably mounted on an impeller mount 3. The impeller mount 3 also includes a rotation drive device that drives the impeller 2 to rotate at a constant speed, reducing the range of movement of the subsequent robotic arm assembly 4 and facilitating subsequent marking.

[0059] Data fusion and 3D modeling utilize a spatial coordinate system conversion algorithm to align and fuse the point cloud data from each sensor. Furthermore, an overlapping leaf recognition algorithm utilizes a convolutional neural network to extract features from the point cloud in overlapping areas, effectively distinguishing the boundaries between adjacent blades. During data processing, a model adaptively generates impeller 2 profiles and a 0-degree design centerline based on the measured data. The model adaptation module utilizes parametric modeling technology to generate optimized profiles that conform to fluid dynamics characteristics in real time based on input parameters.

[0060] The system supports custom parameter adjustment, providing parameter options such as chord length correction factor, angle of attack compensation value, and caster angle adjustment. Users can use the custom parameter adjustment interface to import test data packages in CSV format for reverse modeling to meet the marking requirements of different impeller models.

[0061] Specifically, the automatic drawing module in this embodiment includes:

[0062] The drawing motion path and parameter generation unit uses a computer-aided drawing system (CAD) algorithm to generate the drawing motion path and drawing parameters. The system automatically draws the section lines of impeller 2 based on the input impeller model parameters. For specialized impeller models, custom modules can be used for editing, ensuring complete line drawing and eliminating blind spots.

[0063] The motion planning algorithm unit in this embodiment uses path planning technology and a constrained space optimization algorithm developed based on the curved surface characteristics of impeller 2. For ultra-large impellers 2 (diameter > 5m), a segmented path splicing technology was developed to ensure the continuity and accuracy of the drawing path. The parameter generation module includes a standard parameter library that automatically matches the corresponding parameter system, improving drawing efficiency.

[0064] Custom modules utilize a graphical programming interface and support drag-and-drop operations to build parameter logic, allowing users to adjust parameters based on actual needs. For unconventional impellers (such as podded propulsors and counter-rotating impellers), an intelligent matching system based on case-based reasoning (CBR) has been developed to improve the flexibility and accuracy of line marking.

[0065] like Figure 4 As shown, specifically, the marking execution module in this embodiment is driven by the robot arm driving system module.

[0066] like Figures 1-4 As shown, specifically, the robot arm drive system module in this embodiment includes:

[0067] The robotic arm assembly 4 primarily consists of a base 404, joints 403, connecting rods 402, and an end effector 401. The base 404 supports the entire robotic arm assembly 4. The joints 403 connect the various parts of the robotic arm assembly 4 to achieve rotation and movement, including both rotating and moving joints. The connecting rods 402 transmit power, and the end effector 401 houses the marking mechanism.

[0068] The drive system uses stepper motors to power joints 403 of robotic arm assembly 4, enabling various movements. Robotic arm assembly 4 utilizes a multi-degree-of-freedom design for enhanced flexibility. Joint 403 utilizes a closed-loop control scheme combining a harmonic reducer and an absolute encoder. The rotary joints can achieve a maximum torque of 35 Nm, while the linear speed of the moving joints can reach 2 m / s. End effector 401 is equipped with a six-dimensional force / torque sensor, enabling adaptive contact force control.

[0069] The controller and motion control unit utilize a distributed control architecture for the drive system. Each joint 403 is equipped with an independent servo driver, with a bus communication cycle of ≤1ms. The controller integrates an advanced feedforward compensation algorithm to compensate for flexible deformation errors of the robotic arm assembly 4 in real time. For applications on surfaces with large curvature, a speed look-ahead control algorithm based on curvature prediction has been developed to ensure dynamic matching of spraying speed and surface curvature.

[0070] Safety protection mechanism: In terms of safety protection, a three-level emergency stop mechanism is set up, including electronic limit, mechanical limit and physical collision detection system to ensure the safety of the robotic arm assembly 4 during operation.

[0071] Specifically, the marking mechanism is executed by the end effector 401, and the end effector 401 is mainly composed of a liquid storage chamber 4011, a nozzle assembly 4012, and a drive control module 4013. The liquid storage chamber 4011 is a sealed container for storing oil-based fluorescent paint, and its sealed design prevents the paint from leaking. The nozzle assembly 4012 also includes a micro-optical probe 40121 and a nozzle 40122. The micro-optical probe 40121 is located at the end of the end effector 401, that is, the side of the end effector 401 close to the impeller 2. The micro-optical probe 40121 can realize visual scanning and ranging of the fine parts of the impeller 2, avoiding the 3D scanning camera 101 from being too far away and affecting the scanning accuracy. The ranging effect of the micro-optical probe 40121 can provide a reference for the subsequent nozzle 401. To facilitate spraying, nozzle 40122 is positioned a certain distance from impeller 2 to prevent paint from splashing onto the surface of micro-optical probe 40121. Nozzle 40122 is a key component for spraying. Multiple nozzles 40122 surround the micro-optical probe 40121 and are tilted toward the center, ensuring a sufficiently concentrated spraying point. Furthermore, nozzles 40122, through their tiny nozzles, evenly apply the oil-based fluorescent paint to the surface of impeller 2. The drive unit uses electricity to propel the oil-based fluorescent paint from the storage chamber through nozzle 40122. The control module controls the start and stop of spraying, as well as the flow rate and speed of the spraying.

[0072] During the spraying process, a detection device precisely locates every detail of the impeller 2. Following a pre-set marking trajectory, the robotic arm assembly 4 drives the marking pen to initiate the spraying process. High-quality, oil-based fluorescent spray paint is used. This material not only possesses excellent adhesion, ensuring a long-lasting and uniform spray effect, but is also water-insoluble, significantly enhancing the stability and durability of the spray coating in various environments.

[0073] Regarding spray pen performance, the spray pen carried by the end effector 401 of the robotic arm assembly 4 can precisely move across a diverse range of areas, creating complex and detailed profiles of the impeller 2. The design of the spray pen takes into account the complexity of the impeller 2's curved surface, ensuring uniform spraying across varying curvatures.

[0074] Specifically, the feedback and adjustment module in this embodiment includes:

[0075] Sensor monitoring uses position and angle sensors to monitor the position and angle of the plotter in real time. Status sensors monitor the coordinates of the marking path, the motor's operating status, and the pressure of the multi-axis linkage robot arm assembly. Any abnormality detected is promptly fed back to the control system, triggering the appropriate processing mechanism.

[0076] The feedback system in this embodiment utilizes a multi-level monitoring system: a 17-bit absolute encoder for position feedback is used at the primary level, a laser tracker for spatial position calibration is configured at the secondary level, and a visual measurement system is used for online inspection of spray quality at the advanced level. This multi-level monitoring system ensures the accuracy and reliability of the painting process.

[0077] The exception handling mechanism includes a variety of preset response strategies, such as thermal compensation mode, vibration suppression mode, and path replanning mode. Once an abnormal situation is detected, the system can quickly adjust the drawing parameters or replan the path to ensure the smooth progress of the marking process.

[0078] The specific workflow steps are as follows:

[0079] The impeller 2 is installed and fixed. The impeller 2 is installed on the central positioning shaft of the marking device and fixed and locked. The positioning shaft has a positioning rotation function to ensure the stability of the impeller 2 during the marking process.

[0080] Parameter identification and generation: Multiple 3D scanning cameras 101 automatically identify various parameters of the impeller 2 and generate profile parameters. Calculation methods include diameter × 0.9 = 0.9R profile, and centerline calculation methods include 0.7 chord length / 2. These parameters provide a basis for subsequent line drawing program generation.

[0081] Custom parameter modification: users can modify specific parameters through the software to meet the marking requirements of different impeller models. This function improves the flexibility and adaptability of marking.

[0082] After setting the above parameters, the system automatically generates a marking program. The marking program includes the drawing motion path, drawing parameters and the specific process of spraying operation.

[0083] The marking program is executed and the nozzle 40122 system of the marking mechanism is started. The robot arm assembly 4 carries the marking mechanism along a preset path to perform marking operations on the surface of the impeller 2.

[0084] Single blade spraying and circulation operation

[0085] When spraying a single blade, the marking mechanism begins spraying when it reaches the preset radius. During the spraying process, the positioning shaft rotates the chord length, and a pressure sensor ensures that the spraying distance perfectly matches the curved surface, ensuring the marking effect. Once all radius lines and center lines for a single blade are completed, the positioning shaft rotates according to the blade number angle to the next blade, and the cycle continues. This cycle repeats until all blades of impeller 2 are marked.

[0086] The following benefits can be achieved by adopting the above-mentioned marking method:

[0087] Marking accuracy and efficiency

[0088] The 3D scanning camera 101 scans and the feedback mechanism iteratively calculates the trajectory, ensuring the accuracy of the drawing. The line from the computer-calculated cross-section to the actual surface is more accurate, improving the accuracy and efficiency of the line drawing.

[0089] Adaptive parameter adjustment

[0090] Based on the existing impeller model, the drawing parameters can be adaptively adjusted to meet the marking position requirements of different tests. This function improves the flexibility and adaptability of marking.

[0091] Real-time drawing and efficiency improvement The automatic drawing module system can draw the impeller 2 cross-section line in real time according to the parameters of the impeller 2, improving the drawing efficiency and accuracy. At the same time, it reduces the time and labor cost of manual drawing and marking.

[0092] Multi-axis linkage and complex blade marking

[0093] It has a multi-axis linkage function, which ensures accuracy while being able to mark different positions and blades of the impeller 2, meeting the marking requirements of the impeller 2 with complex blades.

[0094] High-quality fluorescent spraying

[0095] High-quality fluorescent coating provides strong adhesion and durability, making it easier to observe during testing and less susceptible to interference from fluid particles. This feature improves the visibility and durability of the markings.

[0096] Reduce human errors and save costs

[0097] By automating the marking process, human errors are reduced, marking accuracy and consistency are improved, while labor and time costs are reduced and production efficiency is improved.

[0098] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any modifications may be made within the scope of protection of the present invention.

Claims

1. A propeller blade automatic marking system, characterized in that: include: The detection and data processing module is used to collect the three-dimensional data of the propeller blades and process the collected data to generate the blade's profile and design centerline; an automatic drawing module, connected to the detection and data processing module, for generating a drawing motion path and drawing parameters based on the processed data; A robotic arm driving system module, connected to the automatic drawing module, for driving the robotic arm to perform a marking operation according to the generated drawing motion path and drawing parameters; A marking execution module, provided at the end of the robot arm drive system module, for performing a marking operation; The feedback and adjustment module is connected to the robot drive system module and the marking execution module, and is used to monitor the marking process in real time and make adjustments when an abnormality occurs.

2. The propeller blade automatic marking system according to claim 1, characterized in that: The detection and data processing module includes: Multiple sets of 3D scanning cameras are arranged in a closed housing to achieve full-angle scanning of the propeller blades; A parameter adaptive module, connected to the data processing module, for generating an optimized profile in accordance with fluid mechanics characteristics in real time according to input parameters; The data processing module is connected to the multiple groups of 3D scanning cameras and is used to align and fuse the collected point cloud data to generate a three-dimensional model of the blade.

3. The propeller blade automatic marking system according to claim 2, characterized in that: The multiple groups of scanning cameras are arranged in a regular polyhedron layout, each camera covers a certain field of view angle and has high resolution to solve the problem of overlapping blades of complex propellers and ensure the comprehensiveness and accuracy of the detection data.

4. The propeller blade automatic marking system according to claim 1, characterized in that: The automatic drawing module includes: A drawing motion path generation unit, used for automatically drawing the section line of the blade according to the input blade model parameters; Motion planning algorithm unit, used to develop constraint space optimization algorithm based on blade surface characteristics to ensure the continuity and accuracy of the drawing path; The custom module is used to support users to adjust parameters according to actual needs and improve the flexibility and accuracy of line drawing.

5. The propeller blade automatic marking system according to claim 1, characterized in that: The robotic arm drive system module includes: The robotic arm assembly consists of a base, joints, connecting rods and an end effector, and is used to achieve various movements; the drive system provides power to the joints of the robotic arm assembly, enabling it to achieve various movements; the controller and motion control unit are used to control the movement of the robotic arm assembly to ensure the continuity and accuracy of the marking path.

6. The propeller blade automatic marking system according to claim 5, characterized in that: The robotic arm assembly adopts a multi-degree-of-freedom design, and the joint module adopts a closed-loop control solution to improve flexibility; the end effector is equipped with a force / torque sensor to achieve adaptive control of contact force.

7. The propeller blade automatic marking system according to claim 1, characterized in that: The marking execution module includes: A liquid storage chamber, used for sealing and storing the marking paint; A nozzle assembly, comprising a micro-optical probe and a nozzle. The micro-optical probe is used to achieve visual scanning and distance measurement of fine parts of the blade, and the nozzle is used to spray marking paint on the surface of the blade; The drive control module is used to control the start and stop of spraying as well as the flow rate and speed of spraying.

8. The propeller blade automatic marking system according to claim 7, characterized in that: In the nozzle assembly, there are multiple nozzles, which are arranged around the circumference of the micro-optical probe, and the multiple nozzles are inclined toward the center, so that the spraying points are sufficiently concentrated.

9. The propeller blade automatic marking system according to claim 1, characterized in that: The feedback and adjustment module includes: A sensor monitoring unit is used to monitor the position, angle, line path coordinates, motor operation status and robot arm pressure of the drawing device in real time; Feedback system construction unit, building a multi-level monitoring system, including position feedback, spatial position calibration and spray quality online detection to ensure the accuracy and reliability of the drawing process; The exception handling mechanism unit contains a variety of preset response strategies for quickly adjusting drawing parameters or replanning paths when an abnormal situation is detected.

10. The propeller blade automatic marking system according to claim 1, characterized in that: It also includes a user-defined parameter adjustment module to support users in adjusting marking parameters according to actual needs to meet the marking requirements of different blade models.

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