A double-sided grinding device for grinding large marine propeller blades

Abstract

This invention provides a double-sided grinding device for grinding large marine propeller blades, belonging to the technical field of grinding devices. It includes a rotary worktable for supporting and rotating the propeller blade to be processed; a lifting and sliding platform disposed on one side of the rotary worktable; a dual-arm assembly comprising two independently controlled robotic arms, both mounted on the lifting and sliding platform; and double-sided grinding execution units respectively assembled at the ends of the two robotic arms. Each double-sided grinding execution unit includes: a drive motor mounted on the end effector of the robotic arm; a transmission mechanism whose input end is connected to the output shaft of the drive motor; multiple sets of flexible bonding components connected to the output end of the transmission mechanism for adapting to the curved surface of the blade; and multiple grinding disc arrays distributedly mounted on the flexible bonding components for grinding the blade surface. This device can achieve adaptive bonding to the curved surface of the propeller blade.

Description

Technical Field

[0001] This invention relates to the field of grinding equipment technology, and more specifically, to a double-sided grinding device for grinding large marine propeller blades. Background Technology

[0002] In the field of shipbuilding and repair, large marine propeller blades are typically surface-processed using double-sided grinding devices to ensure the precision and smoothness of the blades. However, existing traditional double-sided grinding devices generally have a prominent problem: the two grinding mechanisms mostly adopt a rigid linkage structure, which cannot adaptively and flexibly fit the complex curved surface of the propeller blade. This easily leads to local over-grinding or under-grinding, resulting in inconsistent processing precision on both sides of the blade, which seriously affects the forming quality and performance of the propeller. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a double-sided grinding device for grinding large marine propeller blades, thereby solving the technical problems in the prior art where the double-sided grinding mechanism cannot adapt to the curved surface of the blade and the processing accuracy of the two sides is inconsistent.

[0004] The purpose and effectiveness of the double-sided grinding device for grinding large marine propeller blades of the present invention are achieved by the following specific technical means:

[0005] This invention provides a double-sided grinding device for grinding large marine propeller blades.

[0006] A double-sided grinding device for grinding large marine propeller blades, comprising:

[0007] A rotary table is used to hold and rotate the propeller blades to be processed.

[0008] A lifting and sliding platform is located on one side of the rotary table;

[0009] The dual robotic arm assembly includes two independently controlled robotic arms, both of which are mounted on the lifting and sliding platform.

[0010] The double-sided grinding execution unit is respectively assembled at the end of the two sets of robotic arms;

[0011] The double-sided polishing execution unit includes:

[0012] A drive motor is mounted on the end effector of the robotic arm;

[0013] A transmission mechanism, the input end of which is connected to the output shaft of the drive motor;

[0014] Multiple sets of flexible bonding components are connected to the output end of the transmission mechanism to adapt to the curved surface of the blade;

[0015] Multiple grinding disc arrays are distributed and installed on the flexible bonding component for grinding the blade surface.

[0016] As a preferred embodiment, the transmission mechanism includes:

[0017] The housing is mounted on the drive motor;

[0018] A drive shaft, one end of which is connected to the output shaft of the drive motor, and the other end passes through and extends out of the housing;

[0019] Multiple driven shafts are rotatably mounted inside the housing, with their output ends extending out of the housing;

[0020] An active ring is mounted on the active shaft, and magnetic coupling grooves are formed on its sidewalls;

[0021] A driven ring is mounted on the driven shaft, and a portion of the driven ring extends into the magnetic coupling groove of the driving ring.

[0022] As a preferred embodiment, the housing is provided with a magnetic isolation seat, which includes two sets of magnetic isolation rings. One set of magnetic isolation rings has multiple sets of feet integrally formed on it, and the other set of magnetic isolation rings is mounted on the feet. The two sets of magnetic isolation rings are respectively located on both sides of the driven ring, and the two sets of magnetic isolation rings are coaxially arranged with the drive shaft.

[0023] Both sets of magnetic isolation rings are provided with multiple sets of magnetic guide posts. The top and bottom of the magnetic coupling groove and the top and bottom of the driven ring are provided with multiple sets of magnetic sheets. The polarities of adjacent magnetic sheets in the same plane are alternately distributed, and the polarities of magnetic sheets corresponding to each other on opposite surfaces are opposite.

[0024] As a preferred embodiment, the magnetic shielding base has multiple sets of magnetic shielding grooves, which are distributed along the circumferential direction of the magnetic guide post.

[0025] The driven ring is provided with multiple sets of magnetic shielding sheets, which are distributed along the circumference of the driven ring, and the magnetic shielding sheets are disposed between two adjacent sets of magnetic sheets on the driven ring;

[0026] The magnetic shielding ring is equipped with a heat-spreading plate, and multiple sets of the foot bases are equipped with heat-conducting plates, which are connected to the heat-spreading plate.

[0027] As a preferred embodiment, the flexible bonding component includes:

[0028] A connecting shaft, which is connected to the driven shaft of the transmission mechanism;

[0029] A sliding shaft is threaded onto the connecting shaft, and the sliding shaft and the connecting shaft are connected by a spline sliding connection;

[0030] A limiting sleeve, installed on the sliding shaft, is used to limit the axial sliding stroke of the sliding shaft;

[0031] A return spring is sleeved on the slide shaft, with its two ends respectively abutting against the connecting shaft and the slide shaft.

[0032] As a preferred embodiment, the grinding disc array includes multiple composite split grinding discs, each of which includes a base layer, an elastic layer, and a grinding layer arranged sequentially from bottom to top;

[0033] The grinding layer is composed of multiple independently arranged grinding blocks spliced ​​together.

[0034] As a preferred embodiment, the grinding block is in the form of a spiral fan ring, and the grinding block is arranged to extend radially along the spiral direction with the rotation center of the grinding unit as the reference.

[0035] Chip removal grooves are formed between adjacent grinding blocks.

[0036] In a preferred embodiment, the chip removal groove includes a main groove and a secondary groove;

[0037] The main groove is a main chip removal channel extending along the spiral radial direction, penetrating the grinding layer from the inside out, and the bottom of the groove extends to the elastic layer, forming a spiral divergent chip removal path;

[0038] The secondary groove is an arc-shaped groove formed in the side wall of the main groove, and is distributed in a wave-like shape along the spiral direction of the main groove. The depth of the secondary groove is less than the depth of the main groove.

[0039] As a preferred embodiment, the periphery of the base layer is integrally formed with a protective ring;

[0040] The elastic layer includes a flexible circular plate and a flexible protective layer, the flexible protective layer being attached to the flexible circular plate and facing one side of the grinding layer;

[0041] An annular chip removal gap is formed between the inner wall of the protective ring and the outer edge of the grinding layer, and a guide port is provided on the protective ring, which is connected to the chip removal groove.

[0042] As a preferred embodiment, the rotary worktable is provided with a support assembly, which includes an adjustable support base, an arc-shaped fitting pad, and a clamping component;

[0043] The adjustable support base is slidably connected to the surface of the rotary worktable along the radial direction of the rotary worktable.

[0044] The clamping member is located on the inner side of the adjustable support base, and the arc-shaped fitting pad is installed on the top of the clamping member.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. This invention, through the specific structural design of a dual-robotic arm assembly, a flexible fitting assembly, a connecting shaft, a sliding shaft, a limiting cylinder, and a return spring, enables the device to adaptively fit the complex curved surfaces of propeller blades, thus improving its grinding adaptability. The device can adjust the double-sided grinding execution units on both sides through two independently controlled robotic arms. Utilizing the spline sliding fit between the sliding shaft and the connecting shaft, the grinding disc array achieves adaptive axial displacement to match the curved surface contours at different positions of the blade. This allows the device to completely fit the irregular curved surfaces of large propeller blades, avoiding over-grinding or under-grinding in certain areas, and improving the device's high-precision grinding capability for complex curved workpieces.

[0047] 2. When using this device, the independently driven double-sided grinding execution unit, magnetic coupling transmission mechanism, and flexible bonding components work together to ensure consistent grinding posture and processing accuracy on both sides of the blade, resulting in stronger processing stability and improved forming quality. Furthermore, the independently adjustable dual-arm structure allows the device to overcome the limitations of traditional rigid linkages, solving the technical problem of inconsistent processing accuracy on both sides. This ensures that the surface finish and dimensional accuracy of the propeller blades meet standards, enhancing the applicability and reliability of the device in the processing of large marine propellers. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the assembly structure of the invention;

[0049] Figure 2 This is a schematic diagram of the drive motor assembly structure of the invention;

[0050] Figure 3 This is a partial structural breakdown diagram of the invention;

[0051] Figure 4 This is a schematic diagram of the drive shaft of the invention;

[0052] Figure 5 This is a schematic diagram of the driven ring of the invention;

[0053] Figure 6 This is a schematic diagram of the connecting shaft of the invention;

[0054] Figure 7 yes Figure 6 Enlarged view of region a in the middle;

[0055] Figure 8This is a schematic diagram of the heat spreader of the invention;

[0056] Figure 9 This is a schematic diagram of the sliding shaft of the invention;

[0057] Figure 10 This is a schematic diagram of the structure of the grinding disc of the invention;

[0058] Figure 11 This is a schematic diagram of the support component of the invention;

[0059] Figure 12 This is a schematic diagram of the annular chip removal gap of the invention.

[0060] In the diagram, the correspondence between component names and their corresponding reference numerals is as follows:

[0061] 11. Rotary worktable; 12. Lifting and sliding platform; 13. Robotic arm; 14. Drive motor; 21. Housing; 22. Drive shaft; 23. Driven shaft; 24. Driven ring; 25. Driven ring; 31. Magnetic shielding ring; 32. Foot; 33. Magnetic guide column; 34. Magnetic sheet; 41. Magnetic shielding groove; 42. Magnetic shielding sheet; 43. Heat dissipation plate; 44. Heat conduction plate; 51. Connecting shaft; 52. Sliding shaft; 53. Limiting cylinder; 54. Return spring; 61. Base layer; 611. Protective ring; 612. Annular chip removal gap; 613. Guide port; 621. Flexible circular plate; 622. Flexible protective layer; 63. Grinding layer; 631. Grinding block; 632. Main groove; 633. Secondary groove; 71. Adjustable support base; 72. Arc-shaped fitting pad; 73. Tightening component. Detailed Implementation

[0062] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but should not be used to limit the scope of protection of the present invention.

[0063] Example: Figures 1 to 12 As shown, the present invention provides a double-sided grinding device for grinding large marine propeller blades, comprising:

[0064] The rotary table 11 is used to support and rotate the propeller blades to be processed;

[0065] The lifting and sliding platform 12 is located on one side of the rotary table 11;

[0066] The dual robotic arm assembly includes two independently controlled robotic arms 13, both of which are mounted on the lifting and sliding platform 12.

[0067] The double-sided grinding execution unit is respectively assembled at the end of the two sets of robotic arms 13;

[0068] The double-sided polishing execution unit includes:

[0069] The drive motor 14 is mounted on the end effector of the robotic arm 13;

[0070] The transmission mechanism has its input end connected to the output shaft of the drive motor 14;

[0071] Multiple sets of flexible bonding components are connected to the output end of the transmission mechanism to adapt to the curved surface of the blade;

[0072] Multiple grinding disc arrays are distributed and mounted on the flexible bonding component for grinding the blade surface.

[0073] Specifically, the rotary table 11 is used to position and drive the propeller blades to rotate, and works with the lifting and sliding platform 12 to achieve overall adjustment of the grinding position; two independently controlled robotic arms 13 drive the corresponding double-sided grinding execution units to work synchronously from both sides of the blade; the drive motor 14 transmits power to each set of flexible bonding components through the transmission mechanism, driving the grinding disk array to rotate and grind; the flexible bonding components automatically adjust the bonding state according to the blade surface, so that the grinding disk array always maintains stable contact with the blade surface, thereby achieving double-sided adaptive high-precision grinding of large marine propeller blades.

[0074] It should be noted that the rotary table 11 can be a CNC indexing rotary table, used to achieve blade positioning, uniform rotation and angle fine adjustment, to ensure a uniform and stable grinding path.

[0075] The lifting and sliding platform 12 includes a base and a support frame. The base is provided with an electric linear guide rail, and the support frame is slidably mounted on the electric linear guide rail. An electric push rod is provided on the top of the support frame, and the movable end of the electric push rod is provided with a mounting block. The mounting block is slidably connected to the support frame. Two sets of robotic arms 13 are mounted on the top and bottom of the mounting block. This is one embodiment of the device. As long as it can adjust the height, horizontal position, and spacing of the robotic arms 13, it is acceptable.

[0076] The robotic arm 13 can be a six-axis industrial robotic arm, used to realize multi-angle and multi-posture adjustment of the double-sided grinding execution unit, so that the grinding disk array can conform to the complex curved surface of the blade to complete the grinding operation.

[0077] The transmission mechanism includes:

[0078] Housing 21 is mounted on drive motor 14;

[0079] The drive shaft 22 has one end connected to the output shaft of the drive motor 14, and the other end passes through and extends out of the housing 21;

[0080] Multiple driven shafts 23 are rotatably mounted inside the housing 21, with their output ends extending out of the housing 21;

[0081] The active ring 24 is mounted on the active shaft 22, and a magnetic coupling groove is formed on its side wall;

[0082] The driven ring 25 is mounted on the driven shaft 23, and a part of the driven ring 25 extends into the magnetic coupling groove of the driving ring 24.

[0083] Specifically, the drive motor 14 drives the drive shaft 22 to rotate, and the drive ring 24 on the drive shaft 22 rotates together. Through the magnetic coupling between the magnetic coupling groove and the driven ring 25, the power is transmitted to each group of driven shafts 23 without contact. The driven shafts 23 then output the power to the flexible bonding component and the grinding disc array, realizing synchronous grinding of multiple groups of grinding discs. This magnetic coupling transmission method can avoid rigid contact, making the power transmission more stable, ensuring stable speed and uniform force during double-sided grinding, and further improving the double-sided grinding accuracy of the blade.

[0084] It should be noted that the magnetic coupling groove of the active ring 24 is formed by the space between two rings on it. One ring is detachably connected to the body of the active ring 24, and the other ring is integrally formed with the body of the active ring 24, which facilitates the subsequent installation, replacement and maintenance of the magnetic sheet 34. The part of the driven ring 25 that extends into the magnetic coupling groove leaves a gap with the inner wall of the magnetic coupling groove to ensure that there is no mechanical contact during magnetic coupling transmission, reduce transmission wear, and avoid vibration caused by rigid collision that affects the grinding accuracy. Multiple sets of driven shafts 23 are evenly distributed around the circumference of the active shaft 22 to ensure uniform power transmission and make the rotation speed of each set of flexible bonding components and grinding disc array consistent, further ensuring the synchronicity and consistency of double-sided grinding of the blade. The housing 21 is provided with a magnetic isolation seat, which includes two sets of magnetic isolation rings 31. One set of magnetic isolation rings 31 has multiple sets of feet 32 ​​integrally formed on it, and the other set of magnetic isolation rings 31 is installed on the feet 32. The two sets of magnetic isolation rings 31 are located on both sides of the driven ring 25, and the two sets of magnetic isolation rings 31 are coaxially arranged with the drive shaft 22.

[0085] Both sets of magnetic isolation rings 31 are provided with multiple sets of magnetic guide posts 33. The top and bottom of the magnetic coupling groove and the top and bottom of the driven ring 25 are provided with multiple sets of magnetic sheets 34. The polarities of adjacent magnetic sheets 34 in the same plane are alternately distributed, and the polarities of corresponding magnetic sheets 34 on opposite surfaces are opposite.

[0086] Specifically, multiple sets of magnetically conductive posts 33 on the two sets of magnetically shielding rings 31 are evenly distributed around the circumference of the magnetically shielding rings 31 to concentrate the magnetic field and enhance the magnetic coupling strength. At the same time, they work with the magnetically shielding rings 31 to achieve magnetic field isolation and prevent magnetic field leakage from interfering with the normal operation of other components of the device. Multiple sets of magnetic plates 34 are installed on the top and bottom of the magnetic coupling groove and the top and bottom of the driven ring 25. Adjacent magnetic plates 34 in the same plane are arranged with alternating N and S poles. Magnetic plates 34 in the coaxial position on opposite surfaces (the surfaces corresponding to the magnetic coupling groove and the driven ring 25) are set with opposite polarities. When the driving ring 24 rotates, the adjacent magnetic plates 34 generate alternating magnetic field forces, forming a stable magnetic coupling driving force, which drives the driven ring 25 to rotate synchronously, thereby achieving smooth power transmission and ensuring uniform rotation speed of the grinding disc array.

[0087] Understandably, this magnetic sheet 34 distribution method can maximize the stability and efficiency of magnetic coupling transmission, avoiding problems such as magnetic field disorder, power transmission jamming, or speed fluctuation caused by unreasonable magnetic sheet 34 polarity settings. The cooperation between the magnetic guide post 33 and the magnetic isolation ring 31 can not only enhance the magnetic coupling effect and ensure power transmission, but also isolate the magnetic field from the influence of other components inside the transmission mechanism, reduce magnetic field loss, and, together with the overall structure of the magnetic isolation seat, further improve the reliability of magnetic coupling transmission, providing a guarantee for the accuracy and stability of double-sided blade grinding.

[0088] Multiple sets of magnetic isolation grooves 41 are provided on the magnetic isolation base, and the multiple sets of magnetic isolation grooves 41 are distributed along the circumferential direction of the magnetic guide post 33.

[0089] Multiple sets of magnetic shielding sheets 42 are provided on the driven ring 25. The multiple sets of magnetic shielding sheets 42 are distributed along the circumferential direction of the driven ring 25. The magnetic shielding sheets 42 are disposed between two adjacent sets of magnetic sheets 34 on the driven ring 25.

[0090] A heat-spreading plate 43 is provided on the magnetic shielding ring 31, and a heat-conducting plate 44 is provided on each of the multiple sets of feet 32. The heat-conducting plate 44 is connected to the heat-spreading plate 43.

[0091] Specifically, multiple sets of magnetic isolation grooves 41 on the magnetic isolation base are evenly distributed along the circumference of the magnetic guide post 33 and are spaced apart from each other. Their core function is to block the lateral diffusion of the magnetic field, avoid mutual interference between the magnetic fields of adjacent magnetic guide posts 33, further optimize the magnetic field distribution, ensure the stability of magnetic coupling transmission, reduce magnetic field loss, and improve power transmission efficiency. Multiple sets of magnetic isolation plates 42 on the driven ring 25 are evenly arranged along its circumference and are set between two adjacent sets of magnetic plates 34. They can separate the magnetic fields generated by adjacent magnetic plates 34, prevent magnetic field superposition and disorder, avoid speed fluctuations and unstable power transmission during magnetic coupling, and ensure that the driven ring 25 rotates synchronously and smoothly.

[0092] Meanwhile, the prominently positioned magnetic shielding plate 42 forms an axial airflow channel when the driven ring 25 rotates at high speed, generating a forced air cooling effect that can quickly remove the heat generated during magnetic coupling. Together with the heat dissipation plate 43 on the magnetic shielding ring 31 and the heat conduction plate 44 on the foot 32, a complete heat dissipation path is formed. The heat is quickly absorbed by the heat dissipation plate 43 and conducted outward by the heat conduction plate 44, realizing the discharge of internal heat and preventing the magnetic plate 34 from magnetic decay due to high temperature. This ensures the long-term stability and reliability of the magnetic coupling transmission and provides a guarantee for the accuracy and continuity of double-sided grinding.

[0093] The heat dissipation plate 43 installed on the magnetic isolation ring 31 is used to quickly absorb the heat generated during the magnetic coupling transmission process. The heat conduction plates 44 on the multiple sets of feet 32 ​​are connected to the heat dissipation plate 43 to form a complete heat dissipation structure. The heat collected by the heat dissipation plate 43 can be quickly conducted to the feet 32 ​​and dissipated to the outside, realizing the heat dissipation of the transmission mechanism. This avoids the accumulation of heat caused by long-term high-speed transmission and magnetic field action, and prevents the magnetic sheet 34, magnetic isolation ring 31 and other components from being damaged by overheating or the magnetic performance from decaying. At the same time, it ensures the operational stability of the transmission components, provides support for the stable grinding of the grinding disc array, and indirectly improves the accuracy of double-sided grinding of the blades.

[0094] Flexible bonding components include:

[0095] The connecting shaft 51 is connected to the driven shaft 23 of the transmission mechanism;

[0096] The sliding shaft 52 is mounted on the connecting shaft 51, and the sliding shaft 52 and the connecting shaft 51 are connected by a spline sliding connection;

[0097] The limiting sleeve 53 is installed on the sliding shaft 52 and is used to limit the axial sliding stroke of the sliding shaft 52;

[0098] The return spring 54 is sleeved on the slide shaft 52, and its two ends abut against the connecting shaft 51 and the slide shaft 52 respectively.

[0099] Specifically, the connecting shaft 51 is fixedly connected to the driven shaft 23 of the transmission mechanism. When the driven shaft 23 rotates, it drives the connecting shaft 51 to rotate synchronously, thereby driving the entire flexible bonding assembly and the grinding disc array above to rotate together, providing power for the grinding operation. The sliding shaft 52 is slidably connected to the connecting shaft 51 through a spline. It can rotate synchronously with the connecting shaft 51 and slide freely along the axial direction of the connecting shaft 51, realizing the axial displacement adjustment of the grinding disc array to adapt to the surface undulations of different areas of the blade.

[0100] The limiting sleeve 53 is fixedly installed on the sliding shaft 52 to limit the axial sliding stroke of the sliding shaft 52, preventing excessive sliding of the sliding shaft 52 from causing excessive compression between the grinding disc array and the blade, or insufficient sliding from affecting the bonding effect, thus ensuring the safety and stability of flexible adjustment. The return spring 54 is sleeved on the outside of the sliding shaft 52, with its two ends abutting against the connecting shaft 51 and the sliding shaft 52 respectively. When the grinding disc array contacts the curved surface of the blade and generates axial pressure, the sliding shaft 52 slides axially along the connecting shaft 51 and compresses the return spring 54. The spring generates a reverse elastic force, pushing the sliding shaft 52 to drive the grinding disc array to fit against the blade surface. At the same time, when the curved surface of the blade changes, the return spring 54 can adaptively extend and retract, driving the sliding shaft 52 to adjust its position, so that the grinding disc array always maintains a stable fit with the curved surface of the blade. This solves the problem that traditional rigid grinding mechanisms cannot adapt to the complex curved surface of blades, ensuring consistent grinding accuracy on both sides of the blade.

[0101] The grinding disc array includes multiple composite split grinding discs, each of which includes a base layer 61, an elastic layer, and a grinding layer 63 arranged sequentially from bottom to top;

[0102] The grinding layer 63 is composed of multiple independently set grinding blocks 631 spliced ​​together.

[0103] Understandably, the composite split grinding disc can be made of suitable materials according to the blade material and precision requirements: the base layer 61 can be made of cemented carbide or aluminum alloy support structure to ensure overall strength and installation stability; the elastic layer can be made of polyurethane, rubber or elastic composite material to give the grinding layer 63 a certain deformation capacity to better fit the blade surface; the grinding blocks 631 of the grinding layer 63 can be made of wear-resistant materials such as diamond abrasive, silicon carbide or alumina. Multiple grinding blocks 631 are independently spliced ​​and set up to adapt to the small undulations on the blade surface, which can not only ensure the grinding effect, but also reduce local stress concentration, reduce scratches on the blade surface, and further improve the smoothness and consistency of double-sided grinding.

[0104] The grinding block 631 is in the shape of a spiral fan ring, and the grinding block 631 is arranged to extend along the spiral radial direction with the rotation center of the grinding unit as the reference.

[0105] Chip removal grooves are formed between adjacent grinding blocks 631.

[0106] The chip removal groove includes a main groove 632 and a secondary groove 633;

[0107] The main groove 632 is the main chip removal channel extending along the spiral radial direction, penetrating the grinding layer 63 from the inside to the outside, and extending to the elastic layer at the bottom of the groove, forming a spiral divergent chip removal path;

[0108] The secondary groove 633 is an arc-shaped groove opened in the side wall of the main groove 632, and is distributed in a wave shape along the spiral direction of the main groove 632. The depth of the secondary groove 633 is less than the depth of the main groove 632.

[0109] Understandably, the grinding block 631 adopts a spiral fan-shaped annular arrangement radially along the center of rotation, which generates outward centrifugal thrust during rotational grinding, facilitating chip removal. The main groove 632, as the main spiral radial chip removal channel, can quickly throw the metal chips generated during grinding from the inside out, preventing chips from accumulating between the grinding layer 63 and the blade and causing secondary scraping. The secondary groove 633 is a wavy, arc-shaped shallow groove, which can further increase the chip removal area and guide fine chips without compromising the strength of the main groove 632, while also guiding airflow and enhancing air cooling and chip removal effects. This spiral divergent structure with main and secondary grooves can improve chip removal efficiency and heat dissipation during grinding, which helps to ensure the surface finish of the blades and grinding precision, and extends the service life of the grinding block 631.

[0110] The base layer 61 has a protective ring 611 integrally formed around its periphery;

[0111] The elastic layer includes a flexible circular plate 621 and a flexible protective layer 622. The flexible protective layer 622 is attached to the flexible circular plate 621 and faces one side of the grinding layer 63.

[0112] An annular chip removal gap 612 is formed between the inner sidewall of the protective ring 611 and the outer edge of the grinding layer 63, and a guide port 613 is provided on the protective ring 611, which is connected to the chip removal groove.

[0113] It is understandable that the protective ring 611, integrally formed around the base layer 61, is similar to the outer cover structure of a cutting disc, which can form a protective enclosure for the grinding area and prevent metal chips from flying outwards. The inner wall of the protective ring 611 and the outer edge of the grinding layer 63 form an annular chip removal gap 612, which can concentrate the chips in the grinding area and guide them to the chip removal groove. The guide port 613 opened on the protective ring 611 does not face the adjacent grinding disc, and can form a smooth guide channel with the spiral chip removal groove. When the grinding disc rotates, the centrifugal force is used to directionally discharge the chips along the guide port 613, preventing the chips from entering the elastic layer or the transmission mechanism. The flexible circular plate 621 and the flexible protective layer 622 are attached to each other, which not only ensures the flexible attachment effect of the grinding layer 63, but also protects the internal structure, further improving the chip removal efficiency and the stability of the device operation.

[0114] The rotary worktable 11 is equipped with a support assembly, which includes an adjustable support base 71, an arc-shaped fitting pad 72, and a clamping member 73.

[0115] The adjustable support base 71 is slidably connected to the surface of the rotary table 11 along the radial direction of the rotary table 11.

[0116] The clamping member 73 is located inside the adjustable support base 71, and the arc-shaped fitting pad 72 is installed on the top of the clamping member 73.

[0117] Understandably, this support assembly is designed to accommodate the clamping and support of large marine propeller blades. Through the cooperation of multiple components, it achieves flexible and stable support for blades of different specifications and curvatures, thus meeting the rotary grinding operation requirements of the rotary worktable 11. The adjustable support base 71 and the rotary table 11 adopt a radial sliding fit, which can adjust the support position according to the size and radial span of the propeller blade, and can adapt to large propeller blades of different diameters, solving the problem of poor adaptability of fixed support structures. The clamping component 73 is built into the inner side of the adjustable support base 71, and the arc-shaped fitting pad 72 is directly installed on the top of the clamping component 73. The clamping component 73 can apply an upward clamping force to the pad, so that the arc-shaped fitting pad 72 can fit the arc-shaped curved surface at the bottom of the blade. At the same time, it can adaptively adjust with the slight undulation of the blade surface, avoiding the blade fitting gap caused by rigid support and preventing micro-displacement of the blade during grinding. The arc-shaped structure of the arc-shaped fitting pad 72 is adapted to the bottom curved surface of the propeller blade, which can increase the contact area with the blade, distribute the force during grinding, reduce the deformation of the blade caused by excessive local force, ensure the structural stability of the blade during grinding, and thus improve the overall grinding accuracy.

[0118] It should be noted that the adjustable support 71 can adopt a metal welded seat structure with a bottom slide rail slider to achieve smooth sliding and positioning locking along the radial direction of the rotary table 11, adapting to the support requirements of propeller blades with different radial dimensions.

[0119] The arc-shaped fitting pad 72 can be a detachable arc-shaped block made of polyurethane composite wear-resistant material to achieve fitting with the bottom curved surface of the propeller blade, while having wear-resistant and anti-slip properties to avoid scratching the blade surface during support.

[0120] The clamping component 73 can adopt a multi-stage adjustable elastic clamping telescopic rod to achieve upward elastic clamping of the arc-shaped fitting pad 72, and can adapt to the slight undulations of the blade surface, continuously maintain the contact between the pad and the blade, and ensure support stability.

[0121] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A double-sided polishing apparatus for polishing a large marine propeller blade, characterized by, include: A rotary table (11) is used to support and rotate the propeller blades to be processed; A lifting sliding platform (12) is disposed on one side of the rotary worktable (11); The dual robotic arm assembly includes two independently controlled robotic arms (13), both of which are mounted on the lifting and sliding platform (12). The double-sided grinding execution unit is respectively assembled at the end of the two sets of robotic arms (13); The double-sided polishing execution unit includes: A drive motor (14) is mounted on the end effector of the robotic arm (13); The transmission mechanism has its input end connected to the output shaft of the drive motor (14); Multiple sets of flexible bonding components are connected to the output end of the transmission mechanism to adapt to the curved surface of the blade; Multiple grinding disc arrays are distributed and installed on the flexible bonding component for grinding the blade surface; The transmission mechanism includes: The housing (21) is mounted on the drive motor (14); The drive shaft (22) has one end connected to the output shaft of the drive motor (14) and the other end passes through and extends out of the housing (21). Multiple driven shafts (23) are rotatably mounted inside the housing (21), with their output ends extending out of the housing (21). An active ring (24) is mounted on the active shaft (22), and a magnetic coupling groove is formed on its sidewall; A driven ring (25) is mounted on the driven shaft (23), and a portion of the driven ring (25) extends into the magnetic coupling groove of the driving ring (24); The housing (21) is provided with a magnetic isolation seat, which includes two sets of magnetic isolation rings (31). One set of magnetic isolation rings (31) has multiple sets of feet (32) integrally formed on it, and the other set of magnetic isolation rings (31) is installed on the feet (32). The two sets of magnetic isolation rings (31) are located on both sides of the driven ring (25), and the two sets of magnetic isolation rings (31) are coaxially arranged with the drive shaft (22). Both sets of magnetic isolation rings (31) are provided with multiple sets of magnetic guide posts (33). The top and bottom of the magnetic coupling groove and the top and bottom of the driven ring (25) are provided with multiple sets of magnetic sheets (34). The polarities of adjacent magnetic sheets (34) in the same plane are alternately distributed, and the polarities of magnetic sheets (34) corresponding to each other on opposite surfaces are opposite. The magnetic isolation base has multiple sets of magnetic isolation grooves (41), which are distributed along the circumferential direction of the magnetic guide post (33). The driven ring (25) is provided with multiple sets of magnetic shielding sheets (42), which are distributed along the circumferential direction of the driven ring (25). The magnetic shielding sheets (42) are disposed between two adjacent sets of magnetic sheets (34) on the driven ring (25). The magnetic shielding ring (31) is provided with a heat-spreading plate (43), and multiple sets of the foot bases (32) are provided with heat-conducting plates (44), which are connected to the heat-spreading plate (43).

2. A double-sided polishing apparatus for polishing a large marine propeller blade according to claim 1, wherein The flexible bonding component includes: A connecting shaft (51) is connected to the driven shaft (23) of the transmission mechanism; A sliding shaft (52) is threaded through the connecting shaft (51), and the sliding shaft (52) and the connecting shaft (51) are connected by a spline sliding connection; A limiting sleeve (53) is installed on the sliding shaft (52) to limit the axial sliding stroke of the sliding shaft (52); A return spring (54) is sleeved on the slide shaft (52), and its two ends abut against the connecting shaft (51) and the slide shaft (52) respectively.

3. A double-sided grinding device for grinding large marine propeller blades according to claim 2, characterized in that: The grinding disc array includes multiple composite split grinding discs, each of which includes a base layer (61), an elastic layer and a grinding layer (63) arranged sequentially from bottom to top. The grinding layer (63) is composed of multiple independently arranged grinding blocks (631) spliced ​​together.

4. A double-sided grinding device for grinding large marine propeller blades according to claim 3, characterized in that: The grinding block (631) is in the shape of a spiral fan ring, and the grinding block (631) is arranged to extend along the spiral radial direction with the rotation center of the grinding unit as the reference. Chip removal grooves are formed between adjacent grinding blocks (631).

5. A double-sided grinding device for grinding large marine propeller blades according to claim 4, characterized in that: The chip removal groove includes a main groove (632) and a secondary groove (633); The main groove (632) is a main chip removal channel extending along the spiral radial direction, penetrating the grinding layer (63) from the inside to the outside, and the bottom of the groove extends to the elastic layer, forming a spiral divergent chip removal path; The secondary groove (633) is an arc-shaped groove opened in the side wall of the main groove (632), which is distributed in a wave shape along the spiral direction of the main groove (632), and the depth of the secondary groove (633) is less than the depth of the main groove (632).

6. A double-sided grinding device for grinding large marine propeller blades according to claim 5, characterized in that: The base layer (61) has a protective ring (611) integrally formed on its periphery. The elastic layer includes a flexible circular plate (621) and a flexible protective layer (622), the flexible protective layer (622) being attached to the flexible circular plate (621) and the flexible protective layer (622) facing one side of the grinding layer (63); An annular chip removal gap (612) is formed between the inner wall of the protective ring (611) and the outer edge of the grinding layer (63), and a guide port (613) is provided on the protective ring (611), which is connected to the chip removal groove.

7. A double-sided grinding device for grinding large marine propeller blades according to claim 1, characterized in that: The rotary worktable (11) is provided with a support assembly, which includes an adjustable support base (71), an arc-shaped fitting pad (72), and a clamping member (73). The adjustable support base (71) is slidably connected to the surface of the rotary worktable (11) along the radial direction of the rotary worktable (11). The clamping member (73) is located on the inner side of the adjustable support base (71), and the arc-shaped fitting pad (72) is installed on the top of the clamping member (73).

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