Crankshaft grinding force measuring device for aviation unmanned aerial vehicle based on variable damping-variable rigidity

Abstract

The invention relates to a variable damping-variable rigidity-based crankshaft grinding force measuring device for an aviation unmanned aerial vehicle, which comprises a base and an upper computer used for processing a grinding force detection signal and calculating and outputting a damping-rigidity adjusting parameter, and is characterized in that an aviation unmanned aerial vehicle crankshaft is arranged on the base; a vertical force measuring device used for detecting the grinding force of the grinding wheel in the vertical direction and a horizontal force measuring device used for detecting the grinding force of the grinding wheel in the horizontal direction are arranged on the side portion of the aviation unmanned aerial vehicle crankshaft, and the arrangement direction of the vertical force measuring device is perpendicular to the horizontal force measuring device. The magneto-rheological damping unit and the electromagnetic rigidity unit are integrated in the vertical force measuring device and the horizontal force measuring device, the coil current is adjusted in real time through the upper computer to achieve self-adaptive adjustment of damping and rigidity, the inherent frequency of the measuring device can be changed according to the high-speed dynamic change of grinding force, resonance with a grinding system is avoided, and the measuring precision is improved. Dynamic characteristics of the device are effectively improved and response time is shortened.

Description

Technical Field

[0001] This invention relates to the field of precision machining and testing technology for aircraft and unmanned aerial vehicle (UAV) components, specifically to a crankshaft grinding force measuring device for aircraft and unmanned aerial vehicles based on variable damping and variable stiffness, which is particularly suitable for dynamic high-precision measurement of the grinding force of crankshafts for aircraft and unmanned aerial vehicles under high-speed grinding conditions. Background Technology

[0002] As a core component of the UAV power system, the crankshaft's machining accuracy directly determines the operational stability and service life of the UAV power system. Grinding is a key process in the precision forming of UAV crankshafts, and the magnitude and dynamic variation of the grinding force directly affect the surface roughness, geometric tolerances, and surface integrity of the crankshaft. In high-speed grinding operations of UAV crankshafts, the crankshaft is a typical weakly rigid shaft part, and the grinding force exhibits high-speed dynamic variation characteristics during the grinding process. This vibration is directly transmitted to the grinding force measuring device, leading to deterioration of the device's dynamic characteristics, prolonged response time, and reduced detection accuracy. Currently, traditional crankshaft grinding force measuring devices mostly adopt force measuring structures with fixed stiffness and damping. Their natural frequency is fixed and cannot adapt to the high-speed dynamic changes of grinding force, resulting in distorted measurement signals and large errors. At the same time, traditional measuring devices have low axial movement accuracy, which cannot meet the high-precision, multi-position grinding force measurement requirements of UAV crankshafts, and the device structure is loose, with low integration and poor energy efficiency. Therefore, there is an urgent need for a crankshaft grinding force measuring device for aviation unmanned aerial vehicles (UAVs) with variable stiffness-variable damping characteristics, fast dynamic response, high detection accuracy, and compact structure to overcome the shortcomings of existing technologies. Summary of the Invention

[0003] Technical Problem: The purpose of this invention is to overcome the shortcomings of the prior art and provide a crankshaft grinding force measuring device for aviation unmanned aerial vehicles (UAVs) based on variable damping and variable stiffness. This device solves the problems of poor dynamic characteristics, long response time, and low detection accuracy in the current measurement of crankshaft grinding force for aviation UAVs under high-speed dynamic changes. At the same time, it realizes high-precision continuous measurement of the entire axial stroke of the crankshaft. The device has the advantages of compact structure, large damping-stiffness adjustment range, high energy efficiency, and strong adaptability. Technical solution

[0004] A crankshaft grinding force measuring device for aerial unmanned aerial vehicles (UAVs) based on variable damping and variable stiffness is characterized in that the device includes a base and a host computer for processing grinding force detection signals, calculating and outputting damping-stiffness adjustment parameters. The base is equipped with a crankshaft for an aircraft drone. The side of the crankshaft is equipped with a vertical force measuring device for detecting the vertical grinding force of the grinding wheel and a horizontal force measuring device for detecting the horizontal grinding force of the grinding wheel. The vertical force measuring device is perpendicular to the horizontal force measuring device. The base is provided with a ball screw, and the ball screw is provided with a movable first support frame and a second support frame. The vertical force measuring device is installed on the first support frame, and the horizontal force measuring device is installed on the second support frame.

[0005] In a preferred embodiment of the present invention, the vertical force measuring device includes a housing, a magnetorheological damping unit, an electromagnetic stiffness unit, a force measuring execution component, a support component, and a sealing component. The magnetorheological damping unit includes a magnetorheological fluid cylinder, a magnetorheological fluid magnetic field coil, and a magnetorheological fluid. The electromagnetic stiffness unit includes silicon steel sheets and variable magnetic stiffness electromagnetic coils. The force measuring and actuation component includes a piston rod, a pressure sensor, a coupling, and a force measuring center; The support assembly includes a first thrust bearing, a second thrust bearing, a third thrust bearing, and a fixing plate; The sealing assembly includes a first sealing ring and a second sealing ring; in, The magnetorheological fluid magnetic field coil is wound on the outside of the magnetorheological fluid cylinder. The magnetorheological fluid fills the inner cavity of the magnetorheological fluid cylinder. One end of the piston rod extends into the magnetorheological fluid cylinder and contacts the magnetorheological fluid. The other end passes through the third thrust bearing and the electromagnetic stiffness unit in sequence and is connected to the coupling. The force measuring tip is fixed at the end of the coupling away from the piston rod and abuts against the crankshaft of the UAV. The variable magnetic stiffness electromagnetic coil is wound on a silicon steel sheet. The silicon steel sheet is fixed between the outer shell and the fixing plate and is sleeved on the outside of the piston rod. The pressure sensor is embedded at the connection end between the piston rod and the coupling, and collects the pressure signal generated by the grinding force in real time. The magnetorheological fluid magnetic field coil, the variable magnetic stiffness electromagnetic coil, and the pressure sensor are all electrically connected to the host computer via transmission lines. The ball screw is signal-connected to the host computer, and its axial movement is controlled by the host computer.

[0006] In a preferred embodiment of the present invention, a direct current is passed through the magnetorheological fluid magnetic field coil, and the magnitude of the current is adjusted in real time by the host computer. The magnetic field generated by the magnetorheological fluid magnetic field coil acts on the magnetorheological fluid and changes the viscosity of the magnetorheological fluid, thereby realizing the continuous and adjustable damping of the measuring device.

[0007] In a preferred embodiment of the present invention, the variable magnetic stiffness electromagnetic coil is energized with direct current, the magnitude of which is adjusted in real time by the host computer. The variable magnetic stiffness electromagnetic coil, in conjunction with the silicon steel sheet, generates a variable magnetic field, forming an electromagnetic spring effect, and exerts a magnetic force on the piston rod, thereby realizing the linear adjustment of the stiffness of the measuring device.

[0008] In a preferred embodiment of the present invention, the first thrust bearing and the second thrust bearing are respectively disposed between the magnetorheological fluid cylinder, the electromagnetic stiffness unit and the piston rod, and provide rolling support for the axial movement of the piston rod, thereby reducing mechanical friction.

[0009] In a preferred embodiment of the present invention, the first sealing ring is disposed at the fitting gap between the magnetorheological fluid cylinder and the piston rod, and the second sealing ring is disposed at the fitting gap between the fixed plate and the piston rod, to prevent leakage of the magnetorheological fluid and the entry of external impurities into the device.

[0010] A grinding force measurement method using the variable damping-variable stiffness crankshaft grinding force measuring device for aerial unmanned aerial vehicles as described in any one of the preceding claims, characterized by comprising the following steps: S1. Device initialization: The crankshaft of the UAV is clamped and fixed. The ball screw is controlled by the host computer. The ball screw drives the vertical force measuring device and the horizontal force measuring device to move along the crankshaft axis to the position to be measured. The force measuring tip is adjusted to be in close contact with the crankshaft surface. The host computer passes the initial current to the magnetorheological fluid magnetic field coil and the variable magnetic stiffness electromagnetic coil, and sets the initial damping and stiffness parameters of the measuring device. S2. Grinding force signal acquisition: After the crankshaft grinding operation begins, the grinding force between the grinding wheel and the crankshaft surface is transmitted to the piston rod through the force measuring center and coupling. The pressure sensor collects the pressure signals in the vertical and horizontal directions in real time, and transmits the analog signals to the host computer after A / D conversion. S3. Damping-stiffness parameter optimization: The optimal adjustment range of the damping coefficient and stiffness coefficient of the variable damping-variable stiffness grinding force measuring device is determined by the host computer. Combined with the dynamic change characteristics of the grinding force signal, the optimal combination of damping-stiffness parameters that maximizes the grinding force detection accuracy and minimizes the response time is calculated. S4. Real-time Damping-Stiffness Adjustment: Based on the optimal combination of damping-stiffness parameters, the host computer adjusts the input current of the magnetorheological fluid magnetic field coil and the variable stiffness electromagnetic coil in real time through the current control program, thereby changing the viscosity of the magnetorheological fluid and the magnetic field strength of the electromagnetic spring, realizing the adaptive adjustment of the damping and stiffness of the measuring device, improving the natural frequency of the device, and shortening the response time. S5. Multi-position grinding force measurement: After the grinding force measurement at a certain position of the crankshaft is completed, the host computer controls the ball screw to drive the measuring device to move along the crankshaft axis to the next position to be measured, and repeats steps S2-S4 to realize continuous measurement of grinding force throughout the entire axial stroke of the crankshaft. S6. Data Processing and Output: The host computer filters, reduces noise, and analyzes the grinding force signals from all collected locations to generate crankshaft grinding force distribution curves and measurement reports, enabling the visualization output and storage of grinding force data.

[0011] Compared with the prior art, the present invention has the following advantages: This invention integrates a magnetorheological damping unit and an electromagnetic stiffness unit into a grinding force measuring device. The damping and stiffness are adaptively adjusted in real time by a host computer adjusting the coil current. This allows the measuring device's natural frequency to change according to the high-speed dynamic changes in grinding force, avoiding resonance with the grinding system, effectively improving the device's dynamic characteristics, shortening response time, and solving the problem of low detection accuracy in traditional fixed-damping-stiffness measuring devices. Furthermore, this invention integrates the magnetorheological damping unit, electromagnetic stiffness unit, and force measurement actuator into a single housing, resulting in a compact and highly integrated device. Both magnetorheological damping and electromagnetic stiffness adjustments are controlled by electrical signals, resulting in high energy efficiency, fast adjustment response, and eliminating the wear problems associated with mechanical contact adjustments, thus extending the device's service life. Attached Figure Description

[0012] To more clearly illustrate the solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 This is a three-dimensional structural diagram of the crankshaft grinding force measuring device of the present invention; Figure 2 This is a schematic diagram of the vertical force measuring device of the present invention; Figure 3 This is a schematic diagram of the horizontal force measuring device of the present invention; Figure 4 This is a schematic diagram of the magnetic field of the electromagnetic variable damping structure of the crankshaft grinding force measuring device of the present invention; Figure 5 This is a schematic diagram of the magnetic field of the magnetorheological stiffness structure of the crankshaft grinding force measuring device of the present invention. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0015] like Figures 1 to 3 As shown, the crankshaft grinding force measuring device for unmanned aerial vehicles based on variable damping and variable stiffness includes a base S and a host computer 2 for processing grinding force detection signals, calculating and outputting damping-stiffness adjustment parameters.

[0016] The base S is equipped with an aviation drone crankshaft 1. The side of the aviation drone crankshaft 1 is equipped with a vertical force measuring device 4 for detecting the vertical grinding force of the grinding wheel 3 and a horizontal force measuring device 5 for detecting the horizontal grinding force of the grinding wheel 3. The vertical force measuring device 4 is set in a direction perpendicular to the horizontal force measuring device 5.

[0017] The base S is provided with a ball screw 7, and the ball screw 7 is provided with a movable first support frame 6 and a second support frame 8. The vertical force measuring device 4 is installed on the first support frame 6, and the horizontal force measuring device 5 is installed on the second support frame 8.

[0018] like Figure 2 As shown, the vertical force measuring device 4 includes a housing 4-1, a magnetorheological damping unit, an electromagnetic stiffness unit, a force measuring execution assembly, a support assembly, and a sealing assembly. The magnetorheological damping unit includes a magnetorheological fluid cylinder 4-2, a magnetorheological fluid magnetic field coil 4-3, and a magnetorheological fluid 4-4. The electromagnetic stiffness unit includes a silicon steel sheet 4-7 and a variable magnetic stiffness electromagnetic coil 4-8. The force measuring execution assembly includes a piston rod 4-10, a pressure sensor 4-11, a coupling 4-14, and a force measuring tip 4-15. The support assembly includes a first thrust bearing 4-5, a second thrust bearing 4-9, a third thrust bearing 4-16, and a fixing plate 4-12. The sealing assembly includes a first sealing ring 4-6 and a second sealing ring 4-13.

[0019] The magnetorheological fluid magnetic field coil 4-3 is wound around the outside of the magnetorheological fluid cylinder 4-2. The magnetorheological fluid 4-4 fills the inner cavity of the magnetorheological fluid cylinder 4-2. One end of the piston rod 4-10 extends into the magnetorheological fluid cylinder 4-2 and contacts the magnetorheological fluid 4-4. The other end passes through the third thrust bearing 4-16 and the electromagnetic stiffness unit in sequence and is connected to the coupling 4-14. The force measuring tip 4-15 is fixed at the end of the coupling 4-14 away from the piston rod 4-10 and abuts against the crankshaft 1 of the UAV. The variable magnetic stiffness electromagnetic coil 4-8 is wound on the silicon steel sheet 4-7. The silicon steel sheet 4-7 is fixed between the outer shell 4-1 and the fixing plate 4-12 and is sleeved on the outside of the piston rod 4-10. It should be noted that the force measuring tip 4-15 is made of cemented carbide and is fixed to the end of the coupling 4-14 away from the piston rod 4-10. It is in close contact with the surface of the crankshaft 1 of the aircraft and drone to realize the force transmission of grinding force.

[0020] It should be noted that the vertical force measuring device 4 has the same orientation and structure as the horizontal force measuring device 5, which will not be repeated here.

[0021] The pressure sensor 4-11 is embedded at the connection end between the piston rod 4-10 and the coupling 4-14, and collects the pressure signal generated by the grinding force in real time. The magnetorheological fluid magnetic field coil 4-3, the variable magnetic stiffness electromagnetic coil 4-8, and the pressure sensor 4-11 are all electrically connected to the host computer 2 via transmission lines. The ball screw 7 is signal-connected to the host computer 2, and its axial movement stroke is controlled by the host computer 2.

[0022] A direct current is passed through the magnetorheological fluid magnetic field coil 4-3, and the magnitude of the current is adjusted in real time by the host computer 2. The magnetic field generated by the magnetorheological fluid magnetic field coil 4-3 acts on the magnetorheological fluid 4-4 and changes the viscosity of the magnetorheological fluid 4-4, thereby realizing the continuous and adjustable damping of the measuring device.

[0023] The variable magnetic stiffness electromagnetic coil 4-8 is energized with direct current, and the magnitude of the current is adjusted in real time by the host computer 2. The variable magnetic stiffness electromagnetic coil 4-8, together with the silicon steel sheet 4-7, generates a variable magnetic field, forming an electromagnetic spring effect, and generates a magnetic force with the piston rod 4-10, thereby realizing the linear adjustment of the stiffness of the measuring device.

[0024] The first thrust bearing 4-5 and the second thrust bearing 4-9 are respectively disposed between the magnetorheological fluid cylinder 4-2, the electromagnetic stiffness unit and the piston rod 4-10, and provide rolling support for the axial movement of the piston rod 4-10, thereby reducing mechanical friction.

[0025] The first sealing ring 4-6 is installed at the mating gap between the magnetorheological fluid cylinder 4-2 and the piston rod 4-10, and the second sealing ring 4-13 is installed at the mating gap between the fixed plate 4-12 and the piston rod 4-10 to prevent the magnetorheological fluid 4-4 from leaking and external impurities from entering the device.

[0026] The following describes the working principle of the crankshaft grinding force measuring device for aerial unmanned aerial vehicles based on variable damping and variable stiffness, including the following steps: S1. Device initialization: The crankshaft 1 of the UAV is clamped and fixed. The ball screw 7 is controlled by the host computer 2. The ball screw 7 drives the vertical force measuring device 4 and the horizontal force measuring device 5 to move along the crankshaft axis to the position to be measured. The force measuring tip 4-15 is adjusted to be in close contact with the crankshaft surface. The host computer 2 passes the initial current to the magnetorheological fluid magnetic field coil 4-3 and the variable magnetic stiffness electromagnetic coil 4-8, and sets the initial damping and stiffness parameters of the measuring device. S2. Grinding force signal acquisition: After the crankshaft grinding operation begins, the grinding force between the grinding wheel 3 and the crankshaft surface is transmitted to the piston rod 4-10 through the force measuring center 4-15 and the coupling 4-14. The pressure sensor 4-11 collects the pressure signals in the vertical and horizontal directions in real time, and transmits the analog signals to the host computer 2 after A / D conversion. S3. Damping-stiffness parameter optimization: such as Figure 4 As shown, the optimal adjustment range of the damping coefficient and stiffness coefficient of the variable damping-variable stiffness grinding force measuring device is determined by the host computer 2. Combined with the dynamic change characteristics of the grinding force signal, the optimal damping-stiffness parameter combination that maximizes the grinding force detection accuracy and minimizes the response time is calculated. S4. Real-time adjustment of damping and stiffness: such as Figure 5 As shown, the host computer 2 adjusts the input current of the magnetorheological fluid magnetic field coil 4-3 and the variable magnetic stiffness electromagnetic coil 4-8 in real time through the current control program based on the optimal damping-stiffness parameter combination, thereby changing the viscosity of the magnetorheological fluid 4-4 and the magnetic field strength of the electromagnetic spring, realizing the adaptive adjustment of the damping and stiffness of the measuring device, improving the natural frequency of the device, and shortening the response time. S5. Multi-position grinding force measurement: After the grinding force measurement of a certain position of the crankshaft is completed, the host computer 2 controls the ball screw 7 to drive the measuring device to move along the crankshaft axis to the next position to be measured, and repeats steps S2-S4 to realize continuous measurement of grinding force throughout the entire axial stroke of the crankshaft. S6. Data Processing and Output: The host computer 2 filters, reduces noise, and analyzes the grinding force signals from all collected locations to generate crankshaft grinding force distribution curves and measurement reports, enabling the visualization output and storage of grinding force data.

[0027] This invention integrates a magnetorheological damping unit and an electromagnetic stiffness unit into a grinding force measuring device. The damping and stiffness are adaptively adjusted in real time by a host computer adjusting the coil current. This allows the measuring device's natural frequency to change according to the high-speed dynamic changes in grinding force, avoiding resonance with the grinding system, effectively improving the device's dynamic characteristics, shortening response time, and solving the problem of low detection accuracy in traditional fixed-damping-stiffness measuring devices. Furthermore, this invention integrates the magnetorheological damping unit, electromagnetic stiffness unit, and force measurement actuator into a single housing, resulting in a compact and highly integrated device. Both magnetorheological damping and electromagnetic stiffness adjustments are controlled by electrical signals, resulting in high energy efficiency, fast adjustment response, and eliminating the wear problems associated with mechanical contact adjustments, thus extending the device's service life.

[0028] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application.

Claims

1. A crankshaft grinding force measuring device for aerial unmanned aerial vehicles based on variable damping-variable stiffness, characterized in that, The aforementioned variable damping-variable stiffness crankshaft grinding force measuring device for aviation unmanned aerial vehicles includes a base (S) and a host computer (2) for processing grinding force detection signals, calculating and outputting damping-stiffness adjustment parameters. The base (S) is provided with an aviation unmanned aerial vehicle crankshaft (1). The side of the aviation unmanned aerial vehicle crankshaft (1) is provided with a vertical force measuring device (4) for detecting the vertical grinding force of the grinding wheel (3) and a horizontal force measuring device (5) for detecting the horizontal grinding force of the grinding wheel (3). The vertical force measuring device (4) is set perpendicular to the horizontal force measuring device (5). The base (S) is provided with a ball screw (7), and the ball screw (7) is provided with a movable first support frame (6) and a second support frame (8). The vertical force measuring device (4) is installed on the first support frame (6), and the horizontal force measuring device (5) is installed on the second support frame (8).

2. The crankshaft grinding force measuring device for unmanned aerial vehicles based on variable damping and variable stiffness according to claim 1, characterized in that, The vertical force measuring device (4) includes an outer shell (4-1), a magnetorheological damping unit, an electromagnetic stiffness unit, a force measuring and execution component, a support component, and a sealing component; The magnetorheological damping unit includes a magnetorheological fluid cylinder (4-2), a magnetorheological fluid magnetic field coil (4-3), and a magnetorheological fluid (4-4). The electromagnetic stiffness unit includes silicon steel sheets (4-7) and variable magnetic stiffness electromagnetic coils (4-8). The force measuring and actuation assembly includes a piston rod (4-10), a pressure sensor (4-11), a coupling (4-14), and a force measuring center (4-15). The support assembly includes a first thrust bearing (4-5), a second thrust bearing (4-9), a third thrust bearing (4-16), and a fixing plate (4-12). The sealing assembly includes a first sealing ring (4-6) and a second sealing ring (4-13). in, The magnetorheological fluid magnetic field coil (4-3) is wound around the outside of the magnetorheological fluid cylinder (4-2). The magnetorheological fluid (4-4) fills the inner cavity of the magnetorheological fluid cylinder (4-2). One end of the piston rod (4-10) extends into the magnetorheological fluid cylinder (4-2) and contacts the magnetorheological fluid (4-4). The other end passes through the third thrust bearing (4-16) and the electromagnetic stiffness unit in sequence and is connected to the coupling (4-14). The force measuring tip (4-15) is fixed at the end of the coupling (4-14) away from the piston rod (4-10) and abuts against the crankshaft (1) of the unmanned aerial vehicle. The variable magnetic stiffness electromagnetic coil (4-8) is wound on the silicon steel sheet (4-7). The silicon steel sheet (4-7) is fixed between the outer shell (4-1) and the fixing plate (4-12) and sleeved on the outside of the piston rod (4-10). The pressure sensor (4-11) is embedded at the connection end between the piston rod (4-10) and the coupling (4-14) and collects the pressure signal generated by the grinding force in real time; The magnetorheological fluid magnetic field coil (4-3), the variable magnetic stiffness electromagnetic coil (4-8), and the pressure sensor (4-11) are all electrically connected to the host computer (2) via transmission lines. The ball screw (7) is signal-connected to the host computer (2), and its axial movement stroke is controlled by the host computer (2).

3. The crankshaft grinding force measuring device for aerial unmanned aerial vehicles based on variable damping-variable stiffness according to claim 2, characterized in that, The magnetorheological fluid magnetic field coil (4-3) is energized with direct current, and the magnitude of the current is adjusted in real time by the host computer (2). The magnetic field generated by the magnetorheological fluid magnetic field coil (4-3) acts on the magnetorheological fluid (4-4) and changes the viscosity of the magnetorheological fluid (4-4), thereby realizing the continuous adjustment of the damping of the measuring device.

4. The crankshaft grinding force measuring device for aerial unmanned aerial vehicles based on variable damping-variable stiffness according to claim 2, characterized in that, The variable magnetic stiffness electromagnetic coil (4-8) is energized with direct current, and the magnitude of the current is adjusted in real time by the host computer (2). The variable magnetic stiffness electromagnetic coil (4-8) and the silicon steel sheet (4-7) work together to generate a variable magnetic field, forming an electromagnetic spring effect, and generating a magnetic force with the piston rod (4-10), thereby realizing the linear adjustment of the stiffness of the measuring device.

5. The crankshaft grinding force measuring device for unmanned aerial vehicles based on variable damping and variable stiffness according to claim 2, characterized in that, The first thrust bearing (4-5) and the second thrust bearing (4-9) are respectively disposed between the magnetorheological fluid cylinder body (4-2), the electromagnetic stiffness unit and the piston rod (4-10), and provide rolling support for the axial movement of the piston rod (4-10) to reduce mechanical friction.

6. The crankshaft grinding force measuring device for unmanned aerial vehicles based on variable damping and variable stiffness according to claim 2, characterized in that, The first sealing ring (4-6) is set at the mating gap between the magnetorheological fluid cylinder body (4-2) and the piston rod (4-10), and the second sealing ring (4-13) is set at the mating gap between the fixed plate (4-12) and the piston rod (4-10) to prevent the magnetorheological fluid (4-4) from leaking and external impurities from entering the device.

7. A grinding force measurement method using the crankshaft grinding force measuring device for aerial unmanned aerial vehicles based on variable damping-variable stiffness as described in any one of claims 2 to 6, characterized in that, Includes the following steps: S1. Device initialization: The crankshaft (1) of the aviation UAV is clamped and fixed. The ball screw (7) is controlled by the host computer (2). The ball screw (7) drives the vertical force measuring device (4) and the horizontal force measuring device (5) to move along the crankshaft axis to the position to be measured. The force measuring tip (4-15) is adjusted to be in close contact with the crankshaft surface. The host computer (2) passes the initial current to the magnetorheological fluid magnetic field coil (4-3) and the variable magnetic stiffness electromagnetic coil (4-8) to set the initial damping and stiffness parameters of the measuring device. S2. Grinding force signal acquisition: After the crankshaft grinding operation begins, the grinding force between the grinding wheel (3) and the crankshaft surface is transmitted to the piston rod (4-10) through the force measuring center (4-15) and the coupling (4-14). The pressure sensor (4-11) collects the pressure signals in the vertical and horizontal directions in real time, and transmits the analog signals to the host computer (2) after A / D conversion. S3. Damping-stiffness parameter optimization: The optimal adjustment range of the damping coefficient and stiffness coefficient of the variable damping-variable stiffness grinding force measuring device is determined by the host computer (2). Combined with the dynamic change characteristics of the grinding force signal, the optimal combination of damping-stiffness parameters that maximizes the grinding force detection accuracy and minimizes the response time is calculated. S4. Damping-stiffness real-time adjustment: The host computer (2) adjusts the input current of the magnetorheological fluid magnetic field coil (4-3) and the variable magnetic stiffness electromagnetic coil (4-8) in real time through the current control program according to the optimal damping-stiffness parameter combination, changes the viscosity of the magnetorheological fluid (4-4) and the magnetic field strength of the electromagnetic spring, realizes the adaptive adjustment of the damping and stiffness of the measuring device, improves the natural frequency of the device, and shortens the response time; S5. Multi-position grinding force measurement: After the grinding force measurement of a certain position of the crankshaft is completed, the host computer (2) controls the ball screw (7) to move the measuring device along the crankshaft axis to the next position to be measured, and repeats steps S2-S4 to realize continuous measurement of grinding force throughout the crankshaft axis. S6. Data processing and output: The host computer (2) filters, reduces noise, and analyzes the grinding force signals from all collected positions to generate crankshaft grinding force distribution curves and measurement reports, thereby realizing the visualization output and storage of grinding force data.

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