Aircraft component surface self-adaptive grinding device

Abstract

The invention is suitable for the field of aircraft assembling and machining, and provides an aircraft component surface self-adaptive grinding device which comprises a base, a rack and a regulation and control mechanism. The adjusting mechanism is connected with the mechanical arm, and the mechanical arm is provided with a grinding mechanism. A driving assembly and a matching assembly are installed in the grinding mechanism. A grinding disc is arranged at the output end of the driving assembly. The driving assembly is used for providing torque for rotation of the grinding disc and serves as a power source of the matching assembly. The grinding disc can be driven by the matching assembly to do reciprocating motion. And the grinding disc and the grinding mechanism are matched through a torque sensor and a regulation and control mechanism, the operation states of the mechanical arm and the regulation and control mechanism are regulated and controlled according to the return value of the torque sensor, and the surface of the aircraft component is subjected to self-adaptive grinding. Therefore, the device can automatically adjust the grinding force and the grinding mode, precise grinding of the surface of the aircraft component is achieved, and meanwhile the circumferential portion of the aircraft component can be rapidly adjusted to the direction where the grinding disc can conveniently touch.

Description

TECHNICAL FIELD

[0001] The application is suitable for the field of aircraft assembly processing, and provides a self-adaptive polishing device for an aircraft part surface. BACKGROUND

[0002] Aircraft manufacturing is a highly precise and systematic engineering, and its core is to gradually transform various raw materials into a complete aircraft with flight capability according to the pre-set design blueprint and performance parameters. From a broad perspective, aircraft manufacturing covers the whole process from project planning, design and development to final delivery for use; and the commonly said aircraft manufacturing mainly focuses on the manufacturing of aircraft body components, the precise assembly of components and the integration of the whole machine and other key links.

[0003] The manufacturing process of an aircraft body needs to go through multiple rigorous and meticulous steps. First, the process preparation stage, which is like careful planning before the battle, technical personnel need to study the design drawings in depth, develop a scientific and reasonable processing route, determine the specific operation method and requirement of each process, and lay a solid foundation for subsequent manufacturing work. Then the manufacturing of process equipment, process equipment is like a skilled tool in the hands of craftsmen, including various molds, fixtures, measuring tools, etc., their precision and quality directly affect the machining precision of aircraft parts. The preparation of the blank is the starting point of manufacturing, according to the shape and size requirements of the parts, the appropriate material and preparation method is selected, and the raw material is processed into the initial blank shape.

[0004] The machining of parts is the core link in the manufacturing process, which needs to use various advanced machine tools and machining technologies such as numerical control milling, turning, grinding, etc., to finely process the blank to meet the design requirements of size accuracy and surface quality. The assembly link is to combine the processed parts according to certain order and process requirements to form components or whole machines. In this process, the assembly accuracy needs to be strictly controlled to ensure the accurate clearance and relative position between parts. Finally, the assembled aircraft body needs to be comprehensively detected by using various detection equipment and methods such as non-destructive testing, size measurement, etc., to check whether the performance indicators of the aircraft meet the design requirements. In the process of aircraft manufacturing and maintenance, aircraft part polishing is a crucial process link, its main purpose is to improve the smoothness and flatness of the part surface. Smooth surface can reduce air resistance and reduce the energy consumption of the aircraft; at the same time, it can also improve the corrosion resistance and wear resistance of the parts, prolonging their service life.

[0005] For example, Chinese patent CN116572092A, filed on January 7, 2015, describes a dual-station grinding table for automated processing of aircraft parts. It includes a base frame with two opposing placement racks arranged inside. This invention allows for the placement of aircraft parts of different diameters within the placement slots of the two racks by adjusting the relative distance between the bottom surface of the placement racks and the top surface of the limiting frame. The bottom surfaces of the grinding plates of the two grinding structures are aligned at the same horizontal plane. The placement racks and grinding plates of the two stations work together to grind aircraft parts of different diameters. By adjusting the relative distance between the placement racks and the top surface of the limiting frame, identical aircraft parts can be placed in the two placement slots. The downward movement of the grinding structures ensures that the grinding pressure on the grinding plates at the top of the two aircraft parts is different, allowing for different degrees of grinding on the same aircraft parts according to different grinding requirements, thus improving the efficiency of batch grinding of aircraft parts.

[0006] In summary, the existing technology has the following technical problems: During use, the surface flatness of different parts of the aircraft components varies, which makes the grinding work very difficult. The grinding equipment uses fixed-point grinding force and method, which is difficult to automatically adapt to these changes on the surface of the aircraft components. During the grinding process, over-grinding or under-grinding is likely to occur, resulting in substandard surface quality of the parts and even damage to the parts. Therefore, we propose an adaptive grinding device for aircraft component surfaces. Summary of the Invention

[0007] To address the aforementioned deficiencies, the present invention aims to provide an adaptive grinding device for aircraft component surfaces, which is intended to solve the problems mentioned in the background art. The device includes a base, a frame fixed on top of the base, and a control mechanism. A robotic arm is mounted on the top of the frame via an adjustment mechanism, and a grinding mechanism is assembled at the output end of the robotic arm; a drive assembly and a mating assembly are installed inside the grinding mechanism, and a grinding disc is installed at the output end of the drive assembly; The drive component is used to provide the torque for rotating the grinding disc, and at the same time serves as the power source for the cooperating component, which enables the grinding disc to reciprocate under the drive of the cooperating component. A torque sensor is provided between the grinding disc and the grinding mechanism. The control mechanism is electrically connected to the power source in the drive assembly. The control mechanism can adjust the operation of the robotic arm and the adjustment mechanism according to the feedback value of the torque sensor to perform adaptive grinding on the surface of the aircraft parts.

[0008] Furthermore, the adjustment mechanism includes a hydraulic cylinder and a mounting plate; The hydraulic cylinder is fixed to the top of the frame, and a mounting plate is fixed to the output end of the hydraulic cylinder. Multiple robotic arms are evenly distributed and fixed on the bottom edge of the mounting plate.

[0009] Furthermore, the output end of the robotic arm is fixed with a device housing, and the drive assembly and the mating assembly are both assembled inside the device housing; The drive assembly includes a first shaft driven to rotate by a motor, on which a first worm is mounted; a worm wheel is meshed with one side of the first worm, and a second shaft is fixed to the axis of the worm wheel; both ends of the second shaft are fixed with a rotating wheel forming an eccentric wheel structure; a transmission rod is hinged to the outer side of the rotating wheel. The mating assembly includes a Y-shaped frame with one end hinged to the inside of the equipment housing, a sliding sleeve that can slide on the first shaft is installed at the other end of the Y-shaped frame, the end of the transmission rod away from the rotating wheel is hinged to the Y-shaped frame, and a grinding disc is installed at the bottom of the sliding sleeve; The first shaft can drive the sliding sleeve to rotate, and at the same time the Y-shaped frame can drive the sliding sleeve to reciprocate along the axis of the first shaft.

[0010] Furthermore, the two inner sides of the Y-shaped frame with the forked structure are rotatably connected to each other, and the outer side of the sliding sleeve is provided with an annular groove, and the mating blocks are slidably engaged with the inner side of the annular groove.

[0011] Furthermore, a raised strip is provided on the bottom surface of the first shaft, and the raised strip is slidably connected to the inner side of the sliding sleeve.

[0012] Furthermore, the control mechanism also includes a sub-controller and a main controller; The torque sensor is located between the sliding sleeve and the grinding disc. The sub-controller is electrically connected to the torque sensor and the motor in the drive assembly. The main controller is electrically connected to the hydraulic cylinder, the robotic arm, and the sub-controller.

[0013] Furthermore, a grinding table is mounted on the top of the base and located inside the frame, and multiple tooling fixtures are evenly distributed and fixed on the top edge of the grinding table. A second motor and a third motor are fixed at two opposite corners of the top of the base, respectively. A second worm is fixed at the output end of both the second motor and the third motor. A toothed plate is meshed with the top of the second worm. Y-shaped guide rails are fixed on all four sides of the top of the base. The toothed plates are slidably connected to the Y-shaped guide rails. An arc-shaped guide rail is fixed on one side of each toothed plate. A transmission plate is fixed at one end of each arc-shaped guide rail. The transmission plate is slidably connected to the Y-shaped guide rails. Two arc-shaped guide rails are arranged in a cross shape vertically and are in close contact. The inner side of the lower arc-shaped guide rail is slidably connected to a first arc-shaped slider, and the inner side of the upper arc-shaped guide rail is slidably connected to a second arc-shaped slider. The first and second arc-shaped sliders are fixed to the grinding table by screws.

[0014] Furthermore, the control mechanism also includes a panoramic camera, which is fixed at the center of the bottom of the mounting plate; the panoramic camera is electrically connected to the main controller.

[0015] The present invention has the following beneficial effects: 1. Through the structural design of the adjustment mechanism, grinding mechanism, and control mechanism, this invention enables the device to reflect the degree of contact between the grinding disc and the surface of the aircraft component based on the torque value feedback from the torque sensor to the controller. This allows the robotic arm and the first motor to automatically adjust the grinding force and grinding method according to the actual surface conditions of the aircraft component, thereby achieving precise grinding of the aircraft component surface, improving grinding efficiency and quality, and providing a more reliable guarantee for aircraft manufacturing and maintenance.

[0016] 2. Through the structural design of the auxiliary mechanism, this invention enables the device to quickly adjust the circumferential parts of aircraft components to a position that is easy for the grinding disc to reach, which helps to increase the grinding range and improve work efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the connection structure between the mounting plate and the robotic arm of the present invention; Figure 3 This is a cross-sectional structural diagram of the device housing of the present invention; Figure 4 This is a schematic diagram of the connection structure between the first shaft and the first worm gear of the present invention; Figure 5 This is a schematic diagram of the connection structure between the first shaft and the sliding sleeve of the present invention; Figure 6 This is a schematic diagram of the connection structure between the base and the Y-shaped guide rail frame of the present invention; Figure 7 This is a schematic diagram of the connection structure between the second worm and the toothed plate of the present invention; Figure 8 This is a schematic diagram of the connection structure of the first arc-shaped slider and the second arc-shaped slider of the present invention; Figure 9 This is a schematic diagram of the bottom structure of the polishing table of the present invention.

[0018] In the diagram: 1-Base; 2-Frame; 3-Hydraulic cylinder; 4-Mounting plate; 5-Mechanical arm; 6-Grinding table; 7-First motor; 8-First shaft; 9-Equipment housing; 10-First worm gear; 11-Worm wheel; 12-Second shaft; 13-Rotating wheel; 14-Transmission rod; 15-Third shaft; 16-Y-shaped frame; 17-Matching block; 18-Sliding sleeve; 19-Annular groove; 20-Grinding disc; 21-Torque sensor; 22-Sub-controller; 23-Main controller; 24-Second motor; 25-Third motor; 26-Second worm gear; 27-Toothed plate; 28-Y-shaped guide rail frame; 29-Arc-shaped guide rail; 30-Transmission plate; 31-First arc-shaped slider; 32-Second arc-shaped slider; 33-Panoramic camera. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] It should be noted that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] Furthermore, in the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Example

[0023] Reference Figures 1-5An adaptive grinding device for aircraft component surfaces includes a base 1 and a frame 2 fixed to the top of the base 1. A grinding table 6 is mounted on the top of the base 1 and located inside the frame 2. An adjustment mechanism is mounted on the top of the frame 2, which includes a hydraulic cylinder 3, a mounting plate 4, and robotic arms 5. Specifically, the hydraulic cylinder 3 is fixed to the top of the frame 2, the output end of the hydraulic cylinder 3 is fixed to the mounting plate 4, and multiple robotic arms 5 are evenly distributed and fixed to the bottom edge of the mounting plate 4.

[0024] The output end of the robotic arm 5 is equipped with a grinding mechanism, which is used to grind the surface of aircraft parts. The grinding mechanism includes a drive assembly and a mating assembly. Specifically, the output end of the robotic arm 5 is fixed with a device housing 9, the drive assembly is mounted inside the device housing 9, and the mating assembly is mounted between the drive assembly and the device housing 9.

[0025] Preferably, the equipment housing 9 and the output end of the robotic arm 5 are detachably connected, which facilitates disassembly, maintenance or replacement in the later stage.

[0026] See appendix Figure 3 Appendix Figure 4 As shown, the drive assembly includes a first motor 7, a first shaft 8, a first worm gear 10, a worm wheel 11, a second shaft 12, a rotating wheel 13, and a transmission rod 14.

[0027] A first motor 7 is fixed to one end of the inner side of the equipment housing 9. A first shaft 8 is fixed to the output end of the first motor 7. A first worm gear 10 is fixed to the outer side of the first shaft 8. The first motor 7 can drive the first shaft 8 to rotate, and then the first worm gear 10 will rotate.

[0028] A worm gear 11 is meshed with one side of the first worm 10. The worm gear 11 is mounted inside the equipment housing 9 via a mounting bracket and can rotate freely. A second shaft 12 is fixed to the axis of the worm gear 11, and two wheels 13 are fixed to both ends of the second shaft 12. That is, the worm gear 11 is mounted on the mounting bracket via the second shaft 12, and the second shaft 12 rotates with the worm gear 11. The connection between the wheel 13 and the second shaft 12 is located off-center from the center of the wheel 13, i.e., the second shaft 12 and the wheel 13 form an eccentric wheel structure. A transmission rod 14 is rotatably connected to the outer side of the wheel 13. Thus, when the worm gear 11 rotates, the second shaft 12 drives the wheel 13 to rotate eccentrically, causing the wheel 13 to drive the transmission rod 14 to oscillate vertically.

[0029] Preferably, two rotating wheels 13 are provided on the second shaft 12, and the two rotating wheels 13 are symmetrically arranged on the second shaft 12, and each of the two rotating wheels 13 is provided with a rotating transmission rod 14.

[0030] The mating components include a third shaft 15, a mating block 17, a sliding sleeve 18, an annular groove 19, a grinding disc 20, and a Y-shaped frame 16 that is hinged inside the equipment housing 9.

[0031] One end of the Y-shaped frame 16 has a forked structure, and the end away from the forked structure is hinged to the inner side of the equipment housing 9. That is, both ends of the Y-shaped frame 16 have a forked portion and a hinged portion. The hinged portion of the Y-shaped frame 16 is hinged to the inner side of the equipment housing 9. A sliding sleeve 18 is connected to the forked portion, and the sliding sleeve 18 is slidably fitted onto the first shaft 8, and is slidably connected to the bottom of the inner side of the equipment housing 9; simultaneously, the sliding sleeve 18 can rotate synchronously with the first shaft 8. The bottoms of the two transmission rods 14 are hinged to the Y-shaped frame 16. Specifically, a third shaft 15 is fixedly connected to the middle of the Y-shaped frame 16, and the ends of the two transmission rods 14 away from the rotating wheel 13 are rotatably connected to the third shaft 15. A grinding disc 20 is fixed to the bottom of the sliding sleeve 18.

[0032] See appendix Figure 5 Regarding the fit between the Y-shaped frame 16 and the sliding sleeve 18, both sides of the inner side of the forked structure of the Y-shaped frame 16 are rotatably connected to the mating blocks 17, and the outer side of the sliding sleeve 18 is provided with an annular groove 19, and the mating blocks 17 are all slidably connected to the inner side of the annular groove 19.

[0033] Preferably, the bottom surface of the first shaft 8 is provided with a protrusion, which is slidably connected to the inner side of the sliding sleeve 18, so that the first shaft 8 can stably transmit power when rotating.

[0034] Therefore, when the rotating wheel 13 drives the transmission rod 14 to swing vertically back and forth, the Y-shaped frame 16 rotates back and forth along the connection with the equipment housing 9, thereby driving the sliding sleeve 18 to reciprocate on the first shaft 8.

[0035] A control mechanism is installed between the frame 2 and the equipment housing 9. The control mechanism is used to control the adjustment mechanism and the grinding mechanism. The control mechanism includes a torque sensor 21, a sub-controller 22, a main controller 23, and a panoramic camera 33.

[0036] A torque sensor 21 is installed on the outer side of the sliding sleeve 18 and below the equipment housing 9. A sub-controller 22 is fixed on the top of the inner side of the equipment housing 9. The sub-controller 22 is electrically connected to the torque sensor 21 and the first motor 7. A main controller 23 is fixed at one end of the frame 2. A panoramic camera 33 is fixed at the center of the bottom of the mounting plate 4. The main controller 23 is electrically connected to the hydraulic cylinder 3, the robotic arm 5, the panoramic camera 33 and the sub-controller 22.

[0037] Therefore, when the torque sensor 21 detects that the torque of the sliding sleeve 18 is too large or too small, it can promptly feed back to the sub-controller 22 to control the output torque of the first motor 7 or adjust the action of the output end of the robotic arm 5 in a timely manner through the main controller 23, so as to realize adaptive grinding operation.

[0038] Specifically, the main controller 23 is the core command center of the entire control mechanism, and the panoramic camera 33 can capture a complete picture of the aircraft component polishing area and surrounding environmental information in real time. Through the panoramic camera 33, operators can remotely and clearly observe the actual situation at the polishing site, including the polishing progress, polishing effect, and whether there are any abnormalities. At the same time, the image information acquired by the panoramic camera 33 is also transmitted to the main controller 23. The main controller 23 combines this visual information with the data fed back by the torque sensor 21 to adjust the action of the output end of the robotic arm 5 in a timely manner, such as adjusting the posture and movement trajectory of the robotic arm 5, thereby realizing adaptive polishing operation of aircraft components, ensuring that the polishing quality meets high standards, and improving the intelligence level and reliability of the entire polishing operation.

[0039] In addition, the main controller 23 is electrically connected to the hydraulic cylinder 3, the panoramic camera 33 and the sub-controller 22 to realize the coordinated control and unified scheduling of various components in the entire device. Example

[0040] Further optimizations to Example 1, specifically as shown in the attached document. Figure 6 -Appendix Figure 9 As shown, an auxiliary mechanism is assembled between the base 1 and the grinding table 6. The auxiliary mechanism is used to assist the grinding disc 20 in grinding the surface of the aircraft parts. Multiple tooling fixtures are evenly distributed and fixed on the top edge of the grinding table 6 to facilitate the positioning of the aircraft parts. These are all conventional methods or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0041] The auxiliary mechanism includes a second motor 24, a third motor 25, a second worm gear 26, a toothed plate 27, a Y-shaped guide rail frame 28, an arc-shaped guide rail 29, a transmission plate 30, a first arc-shaped slider 31, and a second arc-shaped slider 32.

[0042] A second motor 24 and a third motor 25 are fixed to the two opposite ends of the top of the base 1, respectively. A second worm gear 26 is fixed to the output end of both the second motor 24 and the third motor 25. A toothed plate 27 is meshed with the top of the second worm gear 26. Y-shaped guide rails 28 are fixed to the four sides of the top of the base 1. The toothed plates 27 are slidably connected to the Y-shaped guide rails 28. An arc-shaped guide rail 29 is fixed to one side of the toothed plate 27. A transmission plate 30 is fixed to one end of the arc-shaped guide rail 29. The transmission plate 30 is slidably connected to the Y-shaped guide rails 28. The two arc-shaped guide rails 29 are arranged in a cross shape vertically and are in close contact. A first arc-shaped slider 31 is slidably connected to the inner side of the lower arc-shaped guide rail 29, and a second arc-shaped slider 32 is slidably connected to the inner side of the upper arc-shaped guide rail 29. The first arc-shaped slider 31 and the second arc-shaped slider 32 are fixed to the grinding table 6 by screws.

[0043] When rapid adjustment of the circumferential parts of an aircraft component is required, the second motor 24 is activated. The output of the second motor 24 drives the corresponding second worm gear 26 to mesh with the toothed plate 27 and rotate along the inner side of the Y-shaped guide rail frame 28. This causes the toothed plate 27 to drive the lower arc-shaped guide rail 29 to rotate. Guided by the upper arc-shaped guide rail 29, the second arc-shaped slider 32 drives the grinding table 6 to rotate so that one side of the aircraft component faces upward and the other side faces downward. After one side is ground, the output of the second motor 24 is controlled to rotate in the opposite direction to grind the other side. After the other side is ground, the third motor 25 is activated. The output of the second motor 24 drives the second worm gear 26 to mesh with the toothed plate 27 and rotate along the inner side of the Y-shaped guide rail frame 28. This causes the toothed plate 27 to drive the upper arc-shaped guide rail 29 to rotate so that one side of the aircraft component faces upward and the other side faces downward. After one side is ground, the output of the second motor 24 is controlled to rotate in the opposite direction to grind the other side. When the other side is finished grinding, the third motor 25 is started. The output end of the third motor 25 drives the corresponding second worm gear 26 to mesh with the toothed plate 27 and rotate along the inner side of the Y-shaped guide rail frame 28. This causes the toothed plate 27 to drive the upper arc-shaped guide rail 29 to rotate. Under the guidance of the lower arc-shaped guide rail 29, the first arc-shaped slider 31 can drive the grinding table 6 to rotate so that one end of the aircraft part faces upward and the other end faces downward. After one end is finished grinding, the output end of the third motor 25 is controlled to rotate in the opposite direction to grind the other end.

[0044] In summary: This invention addresses the technical problem of existing technologies where varying surface flatness across different parts of aircraft components poses significant challenges to polishing. Existing polishing equipment, employing fixed-point polishing force and methods, struggles to automatically adapt to these surface variations, leading to over- or under-polishing, resulting in substandard surface quality and potentially damaging the components. The invention addresses this problem by employing the technical solutions described in the aforementioned embodiments. Furthermore, the implementation process of these technical solutions is as follows: During use, the aircraft part is positioned on the grinding table 6. Then, the robotic arm 5 and the first motor 7 are activated, causing the output end of the robotic arm 5 to move the grinding disc 20 closer to the surface of the aircraft part. Simultaneously, the output end of the first motor 7 drives the first shaft 8 to rotate, causing the first shaft 8 to drive the first worm gear 10 to mesh with the worm wheel 11. Because the worm wheel 11 is fixed to the second shaft 12, and the second shaft 12 and the rotating wheel 13 form a cam structure, the rotating wheel 13 can drive the transmission rod 14 to move vertically back and forth, thereby causing the transmission rod 14 to... The third shaft 15 pushes or pulls the Y-shaped frame 16 to rotate, causing the mating block 17 to drag the sliding sleeve 18 vertically along the outside of the first shaft 8 through the annular groove 19. This allows the grinding disc 20 to finely adjust the contact degree between the grinding disc 20 and the aircraft parts while rotating. When the torque sensor 21 detects that the torque of the sliding sleeve 18 is too large or too small, it can promptly provide feedback to the sub-controller 22. The sub-controller 22 is further processed by the main controller 23 to adjust the action of the output end of the robotic arm 5 in a timely manner, thereby realizing adaptive grinding operation.

[0045] In other embodiments, during actual grinding operations, torque threshold ranges are pre-set in the main controller 23 and sub-controllers 22 for different types of aircraft parts and different grinding process requirements. For example, for grinding aircraft skin made of aluminum alloy, considering its material characteristics and surface quality requirements, the normal torque range is set to 5-15 N·m. When the torque sensor 21 detects that the torque of the sliding sleeve 18 is less than 5 N·m, it indicates that the contact pressure between the grinding disc 20 and the aircraft part is too small, which may not effectively remove surface material, resulting in insufficient grinding; while when the torque is greater than 15 N·m, it means that the contact pressure is too large, which may cause excessive wear or even damage to the surface of the aircraft part, affecting the structural strength and appearance quality of the part.

[0046] During the polishing process, the torque sensor 21 continuously monitors the torque of the sliding sleeve 18 in real time. Suppose that at a certain moment, the torque sensor 21 detects a torque value of 3 N·m, which is lower than the preset threshold of 5 N·m. At this time, the torque sensor 21 immediately feeds this torque data back to the sub-controller 22. After analysis, the sub-controller 22 sends a command to the first motor 7 to increase the output power of the first motor 7 by 20%, thereby increasing the rotational torque of the first shaft 8. After this adjustment, the torque sensor 21 detects that the torque value has risen to 8 N·m, which is within the normal range, indicating that the contact pressure between the polishing disc 20 and the aircraft components has been adjusted to a suitable level.

[0047] As the grinding process progressed, when grinding a complex curved area of ​​the aircraft component, although the torque value remained within the normal range, the image captured by the panoramic camera 33 showed uneven grinding in that area. The sub-controller 22 transmitted the torque data and preliminary processing results to the main controller 23. The main controller 23, after combining the image information from the panoramic camera 33, made a comprehensive judgment and controlled the robotic arm 5 to adjust the posture of its output end, allowing the grinding disc 20 to better conform to the complex curved surface. Simultaneously, it fine-tuned the output power of the first motor 7, stabilizing the torque value at approximately 10 N·m. Through this series of adaptive adjustments, high-quality grinding of the aircraft component was finally achieved. The surface roughness of the ground component met the requirement of Ra0.8, with no excessive wear or damage, fully verifying the effectiveness and reliability of the control mechanism in aircraft component grinding operations.

[0048] With the above-mentioned settings, this application will certainly solve the above-mentioned technical problems, and at the same time achieve the following technical effects: 1. Through the structural design of the adjustment mechanism, grinding mechanism, and control mechanism, this invention enables the device to reflect the degree of contact between the grinding disc 20 and the surface of the aircraft component based on the torque value feedback from the torque sensor 21 to the controller 22. This allows the robotic arm 5 and the first motor 7 to automatically adjust the grinding force and grinding method according to the actual condition of the aircraft component surface, thereby achieving precise grinding of the aircraft component surface, improving grinding efficiency and quality, and providing a more reliable guarantee for aircraft manufacturing and maintenance.

[0049] 2. Through the structural design of the auxiliary mechanism, this invention enables the device to quickly adjust the circumferential part of the aircraft component to a position that is easy for the grinding disc 20 to reach, which helps to increase the grinding range and improve work efficiency.

[0050] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. An adaptive grinding device for aircraft component surfaces, characterized in that, Includes a base (1), a frame (2) fixed to the top of the base (1), and a control mechanism; A robotic arm (5) is installed on the top of the frame (2) via an adjustment mechanism. A grinding mechanism is installed at the output end of the robotic arm (5). A drive assembly and a mating assembly are installed inside the grinding mechanism. A grinding disc (20) is installed at the output end of the drive assembly. The drive component is used to provide the torque for the rotation of the grinding disc (20) and at the same time serves as the power source for the cooperating component. The grinding disc (20) can reciprocate under the drive of the cooperating component. A torque sensor (21) is provided between the grinding disc (20) and the grinding mechanism. The control mechanism is electrically connected to the power source in the drive assembly. The control mechanism can control the operation of the robotic arm (5) and the adjustment mechanism according to the feedback value of the torque sensor (21) to perform adaptive grinding on the surface of the aircraft parts.

2. The adaptive grinding device for aircraft component surfaces according to claim 1, characterized in that, The adjustment mechanism includes a hydraulic cylinder (3) and a mounting plate (4); The hydraulic cylinder (3) is fixed on the top of the frame (2), and the output end of the hydraulic cylinder (3) is fixed with a mounting plate (4). Multiple robotic arms (5) are evenly distributed and fixed on the bottom edge of the mounting plate (4).

3. The adaptive grinding device for aircraft component surfaces according to claim 1, characterized in that, The output end of the robotic arm (5) is fixed with a device housing (9), and the drive assembly and the mating assembly are both assembled inside the device housing (9); The drive assembly includes a first shaft (8) driven to rotate by a motor, on which a first worm (10) is provided; a worm wheel (11) is meshed with one side of the first worm (10), and a second shaft (12) is fixed at the axis of the worm wheel (11). Both ends of the second shaft (12) are fixed with a rotating wheel (13) that forms an eccentric wheel structure with it; a transmission rod (14) is hinged to the outside of the rotating wheel (13). The fitting assembly includes a Y-shaped frame (16) with one end hinged to the inside of the equipment housing (9), and a sliding sleeve (18) that can slide on the first shaft (8) is installed at the other end of the Y-shaped frame (16). The end of the transmission rod (14) away from the rotating wheel (13) is hinged to the Y-shaped frame (16), and a grinding disc (20) is installed at the bottom of the sliding sleeve (18). The first shaft (8) can drive the sliding sleeve (18) to rotate. While rotating, the Y-shaped frame (16) can drive the sliding sleeve (18) to reciprocate along the axis of the first shaft (8).

4. The adaptive grinding device for aircraft component surfaces according to claim 3, characterized in that, The Y-shaped frame (16) has two inner sides of the bifurcated end with rotatable mating blocks (17), and the outer side of the sliding sleeve (18) is provided with an annular groove (19), and the mating blocks (17) are all slidably mated with the inner side of the annular groove (19).

5. The adaptive grinding device for aircraft component surfaces according to claim 3, characterized in that, The bottom surface of the first shaft (8) is provided with a protrusion, which is slidably connected to the inner side of the sliding sleeve (18).

6. The adaptive grinding device for aircraft component surfaces according to claim 2, characterized in that, The control mechanism also includes a sub-controller (22) and a main controller (23); The torque sensor (21) is located between the sliding sleeve (18) and the grinding disc (20). The sub-controller (22) is electrically connected to the torque sensor (21) and the motor in the drive assembly. The main controller (23) is electrically connected to the hydraulic cylinder (3), the robotic arm (5) and the sub-controller (22).

7. The adaptive grinding device for aircraft component surfaces according to claim 1, characterized in that, A grinding table (6) is mounted on the top of the base (1) and inside the frame (2), and multiple tooling fixtures are evenly distributed and fixed on the top edge of the grinding table (6). The base (1) has a second motor (24) and a third motor (25) fixed at its two opposite ends. The output ends of the second motor (24) and the third motor (25) are each fixed with a second worm gear (26). The top of the second worm gear (26) is connected to a toothed plate (27). The four sides of the base (1) are each fixed with a Y-shaped guide rail frame (28). The toothed plate (27) is slidably connected to the Y-shaped guide rail frame (28). One side of the toothed plate (27) is fixed with an arc-shaped guide rail (29). One end of the arc-shaped guide rail (29) is fixed with a transmission plate (30). The transmission plate (30) is slidably connected to the Y-shaped guide rail frame (28). Two arc-shaped guide rails (29) are arranged in a cross shape vertically and are in close contact. The inner side of the lower arc-shaped guide rail (29) is slidably connected to a first arc-shaped slider (31), and the inner side of the upper arc-shaped guide rail (29) is slidably connected to a second arc-shaped slider (32). The first arc-shaped slider (31) and the second arc-shaped slider (32) are fixed to the grinding table (6) by screws.

8. The adaptive grinding device for aircraft component surfaces according to claim 6, characterized in that, The control mechanism also includes a panoramic camera (33), which is fixed at the center of the bottom of the mounting plate (4); The panoramic camera (33) is electrically connected to the main controller (23).

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