Airship propeller static balance debugging device and debugging method

Abstract

The application relates to the field of aerospace manufacturing technology and provides a floating airship propeller static balance debugging device and a debugging method.The device comprises a supporting base (100), an unbalance amount collecting module (200) and a positioning module (300), the unbalance amount collecting module (200) comprises a propeller mounting base (210) and a plurality of weighing sensors (220), the positioning module (300) comprises a main positioning assembly (310) and an auxiliary positioning assembly (320), the main positioning assembly (310) comprises a motor (311) and a first linear laser emitter (312), and the auxiliary positioning assembly (320) comprises a distance measuring track (321), a second linear laser emitter (322), a third linear laser emitter (323) and a distance measuring laser emitter (324). The application solves the defects that the unbalance amount cannot be quantified, the debugging efficiency and precision are low due to repeated trial and error depending on manual experience in the prior art.

Description

Technical Field

[0001] This invention relates to the field of aerospace manufacturing technology, and in particular to a static balancing device and method for airship propellers. Background Technology

[0002] For large propellers, especially those used in airships, static balancing is commonly performed using the gravity method. This method involves fixing the propeller to a shaft placed on a horizontal guide rail or low-friction bearing to minimize frictional resistance. In this state, the propeller is only subject to gravity; the heavier blade naturally droops downwards, driving the entire propeller to rotate. Operators observe the rotation trend and add or remove weight to the lighter blade, repeating this process until the propeller remains stationary in any circumferential position and no longer rotates due to its own weight.

[0003] However, the aforementioned traditional static balancing methods have significant technical drawbacks in practical applications. First, this method relies entirely on the operator's visual observation and subjective experience to determine the location and degree of imbalance, making it impossible to accurately and quantitatively measure and provide data feedback on static imbalance. Second, the selection of the counterweight location and the determination of its weight lack scientific calculation basis, relying mainly on repeated trial-and-error adjustments, resulting in low efficiency during the balancing process. For airship propellers requiring high-precision balancing, this experience-based and non-quantifiable balancing method is ill-suited to meet the stringent requirements of modern aerospace equipment for uniform mass distribution and operational stability of rotating components. Summary of the Invention

[0004] This invention provides a static balancing device and method for airship propellers, which solves the defects of existing technologies that cannot quantify the imbalance and rely on repeated trial and error based on human experience, resulting in low debugging efficiency and accuracy.

[0005] This invention provides a static balancing device for an airship propeller, comprising: Support base; The unbalance acquisition module includes a propeller mounting base and multiple weighing sensors. The propeller mounting base is located on the support base and is used to mount the propeller to be tested. The multiple weighing sensors are circumferentially spaced between the propeller mounting base and the support base and are used to collect the gravity distribution data of the propeller to be tested. The positioning module includes a main positioning component and an auxiliary positioning component; The main positioning component includes a motor and a first linear laser emitter. The motor is mounted on the support base. The first linear laser emitter is connected to the output shaft of the motor. The projection optical path of the first linear laser emitter passes through the central axis of the propeller mounting base and is used to rotate under the drive of the motor to project an unbalanced torque direction line onto the surface of the propeller to be tested. The auxiliary positioning component includes a ranging track, a second linear laser emitter, a third linear laser emitter, and a ranging laser emitter. The ranging track is slidably engaged with the support base along its length. The second linear laser emitter is located at the first end of the ranging track along its length and is used to project a first positioning line onto the surface of the propeller under test. The third linear laser emitter is located at the second end of the ranging track along its length and is used to project a second positioning line onto the surface of the propeller under test. The ranging laser emitter is located at the second end of the ranging track along its length and is used to measure the distance along its length from the intersection of the first or second positioning line and the unbalanced torque direction line to the axis of the propeller under test.

[0006] According to the static balancing device for airship propellers provided by the present invention, the propeller mounting base has a centrally symmetrical geometric shape, and the bottom of the propeller mounting base is uniformly provided with multiple corners along the circumference, each of which is provided with the weighing sensor, and the top center of the propeller mounting base is provided with a mounting part for mounting the propeller to be tested.

[0007] According to the static balancing device for airship propellers provided by the present invention, the propeller mounting base has a rectangular centrally symmetrical structure, and the four weighing sensors are respectively disposed at the four corners of the bottom of the propeller mounting base, and are centrally symmetrically distributed about the center of the propeller mounting base.

[0008] According to the static balancing device for an airship propeller provided by the present invention, the first linear laser emitter is located directly above the propeller mounting base.

[0009] According to the static balancing device for an airship propeller provided by the present invention, the support base includes a base body and a base bracket, the propeller mounting seat is disposed on the base body, the base bracket includes a vertically connected vertical rod and a horizontal rod, the first end of the vertical rod is connected to the base body, the second end of the vertical rod is connected to the first end of the horizontal rod, the second end of the horizontal rod is located above the base body, and the motor is disposed at the second end of the horizontal rod.

[0010] According to the static balancing device for airship propellers provided by the present invention, the main positioning component further includes a transfer bracket, the first end of the transfer bracket along the height direction is connected to the output shaft of the motor, and the first linear laser emitter is disposed at the second end of the transfer bracket along the height direction.

[0011] According to the static balance adjustment device for airship propellers provided by the present invention, the auxiliary positioning component further includes a laser positioning plate, which is connected to the support base and is used to receive the laser emitted by the ranging laser transmitter to perform positioning calibration of the ranging laser transmitter.

[0012] According to the static balancing device for airship propellers provided by the present invention, a plurality of track supports are provided at intervals along the length direction on the support base, and the track supports are provided with sliding grooves extending along the length direction, and the ranging track slides in cooperation with the sliding grooves.

[0013] According to the static balancing device for airship propellers provided by the present invention, the ranging track is provided with moving wheels at both the first and second ends along the length direction.

[0014] Another aspect of the present invention provides a debugging method based on an airship propeller static balance debugging device, comprising: The propeller to be tested is installed on the propeller mounting base, and the gravity distribution data of the propeller to be tested is collected by multiple weighing sensors. Based on the gravity distribution data, the magnitude and direction of the unbalanced torque of the propeller under test are calculated, and the blades that need to be counterweighted are determined. The direction of the unbalanced torque is fed back to the motor, driving the motor to rotate, which in turn drives the first linear laser emitter to rotate, so that the first linear laser emitter projects the direction line of the unbalanced torque onto the surface of the propeller under test. Based on the blades of the propeller that require counterweight in the test propeller, select the second linear laser emitter or the third linear laser emitter, and slide the ranging track so that the positioning line projected by the selected linear laser emitter intersects with the unbalanced torque direction line. The intersection of the positioning line and the unbalanced torque direction line is determined as the counterweight position. The distance from the counterweight position to the center of the propeller shaft is measured using the ranging laser emitter. Calculate the required weight of the counterweight based on the magnitude of the unbalanced torque and the distance from the counterweight position to the axis. Based on the calculated counterweight position and weight, add counterweights at the corresponding positions on the propeller to be tested.

[0015] The static balance adjustment device for airship propellers provided by this invention uses multiple weighing sensors spaced circumferentially between the propeller mounting base and the support base to collect real-time gravity distribution data of the propeller under test. A motor in the main positioning component drives a first linear laser emitter to rotate, projecting an unbalanced torque direction line onto the surface of the propeller. Second and third linear laser emitters in the auxiliary positioning component project a first positioning line and a second positioning line onto the propeller surface, respectively. A distance-measuring laser emitter measures the distance from the first or second positioning line to the propeller shaft center. This enables precise quantification and visual feedback of the propeller's static imbalance, transforming traditional imbalance judgments based on visual observation and subjective experience into scientific measurements based on sensor data. Furthermore, it can automatically calculate the counterweight position and weight based on measured data, converting the trial-and-error adjustment process into standardized operating instructions. This solves the problems of low adjustment efficiency and accuracy caused by the inability to quantify imbalance and reliance on repeated trial and error in existing technologies.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0018] Figure 1 This is a schematic diagram of the static balancing device for an airship propeller provided in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the support base in the static balance adjustment device for airship propellers provided in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the unbalance acquisition module in the static balance debugging device for airship propellers provided in this embodiment of the invention.

[0021] Figure 4 This is a schematic diagram of the main positioning component in the static balancing device for an airship propeller provided in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the auxiliary positioning component in the static balance adjustment device for airship propellers provided in an embodiment of the present invention.

[0023] Figure 6This is a schematic flowchart of the debugging method based on the static balance debugging device for airship propellers provided in an embodiment of the present invention.

[0024] Figure label: 100. Support base; 110. Base body; 120. Base bracket; 121. Vertical rod; 122. Horizontal rod; 130. Track bracket; 131. Slide groove; 200. Unbalance acquisition module; 210. Propeller mounting base; 211. Mounting part; 220. Weighing sensor; 300. Positioning module; 310. Main positioning component; 311. Motor; 312. First linear laser emitter; 313. Adapter bracket; 320. Auxiliary positioning component; 321. Distance measuring track; 322. Second linear laser emitter; 323. Third linear laser emitter; 324. Distance measuring laser emitter; 325. Laser positioning plate; 330. Moving wheel; 400. Propeller to be tested. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] The following is combined Figures 1 to 6 This invention describes the static balancing device and method for airship propellers provided by the present invention.

[0027] It should be noted that, in the embodiments of the present invention, the length direction, width direction, and height direction can all be referred to as Figure 1 The arrows in the diagram indicate the directions. The directions described above are defined for the convenience of describing the technical solutions of the present invention and are not intended to limit the absolute directions of the device in actual use or manufacturing. When the placement of the device changes, the relative relationships indicated by each direction should be interpreted accordingly.

[0028] See Figures 1 to 5 As shown, the static balance adjustment device for airship propellers provided in this embodiment of the invention includes: a support base 100, an imbalance acquisition module 200, and a positioning module 300.

[0029] The imbalance acquisition module 200 includes a propeller mounting base 210 and multiple weighing sensors 220. The propeller mounting base 210 is located on the support base 100 and is used to mount the propeller 400 to be tested. The multiple weighing sensors 220 are circumferentially spaced between the propeller mounting base 210 and the support base 100 to collect the gravity distribution data of the propeller 400 to be tested. The positioning module 300 includes a main positioning component 310 and an auxiliary positioning component 320. The main positioning component 310 includes a motor 311 and a first linear laser emitter 312. The motor 311 is located on the support base 100. The first linear laser emitter 312 is driven by the output shaft of the motor 311, and the projection optical path of the first linear laser emitter 312 passes through the central axis of the propeller mounting base 210, so as to rotate under the drive of the motor 311 to position the propeller 400 to be tested. The surface of the propeller 400 projects an unbalanced torque direction line; the auxiliary positioning component 320 includes a ranging track 321, a second linear laser emitter 322, a third linear laser emitter 323, and a ranging laser emitter 324. The ranging track 321 is slidably engaged with the support base 100 along its length. The second linear laser emitter 322 is located at the first end of the ranging track 321 along its length and is used to project a first positioning line onto the surface of the propeller 400 under test. The third linear laser emitter 323 is located at the second end of the ranging track 321 along its length and is used to project a second positioning line onto the surface of the propeller 400 under test. The ranging laser emitter 324 is located at the second end of the ranging track 321 along its length and is used to measure the distance from the intersection of the first or second positioning line and the unbalanced torque direction line to the axis of the propeller 400 under test.

[0030] The static balancing device for an airship propeller provided by this invention uses multiple weighing sensors 220 spaced circumferentially between the propeller mounting base 210 and the support base 100 to collect real-time gravity distribution data of the propeller 400 under test. The motor 311 of the main positioning component 310 drives the first linear laser emitter 312 to rotate, projecting an unbalanced torque direction line onto the surface of the propeller 400. The second linear laser emitter 322 and the third linear laser emitter 323 of the auxiliary positioning component 320 then project the first positioning line onto the surface of the propeller 400. The first or second positioning line, together with the ranging laser emitter 324, measures the distance from the first or second positioning line to the shaft center of the propeller 400 under test. This enables precise quantification and visual feedback of the propeller's static imbalance, transforming the traditional imbalance judgment that relies on visual observation and subjective experience into a scientific measurement based on sensor data. Furthermore, it can automatically calculate the counterweight position and weight based on the measured data, transforming the trial-and-error debugging mode into standardized operating instructions. This solves the problems of low debugging efficiency and accuracy caused by the inability to quantify imbalance and reliance on repeated trial and error based on human experience in existing technologies.

[0031] Specifically, the support base 100 provides a stable mounting foundation for the entire debugging device, supports the components of the unbalance acquisition module 200 and the positioning module 300, and ensures that the modules maintain a precise relative positional relationship.

[0032] The imbalance acquisition module 200 is used to acquire gravity distribution data of the propeller 400 under test due to its uneven mass distribution. The propeller mounting base 210 is located on the support base 100 and is used to mount the propeller 400 under test. Multiple load cells 220 are circumferentially spaced between the propeller mounting base 210 and the support base 100. The lower end of each load cell 220 is connected to the support base 100, and the upper end is connected to the propeller mounting base 210, thus supporting the propeller mounting base 210 on the support base 100 through the multiple load cells 220. When the propeller 400 under test is mounted on the propeller mounting base 210, the propeller's gravity is transmitted to each load cell 220 through the propeller mounting base 210. Due to the uneven mass distribution of the propeller, its center of gravity is not located on the axis, therefore the pressure values ​​borne by each load cell 220 differ. These differential pressure data constitute the gravity distribution data. By processing the gravity distribution data collected by multiple weighing sensors 220, the magnitude and direction of the unbalanced torque of the propeller 400 under test can be deduced.

[0033] Understandably, the number of load cells 220 can be selected based on the required detection accuracy and structural dimensions.

[0034] The positioning module 300 is used to visually mark the counterweight position on the surface of the propeller 400 under test based on the unbalance torque direction obtained by the unbalance acquisition module 200, and to provide positional parameters for calculating the counterweight weight. The positioning module 300 includes a main positioning component 310 and an auxiliary positioning component 320. The main positioning component 310 projects a straight line through the axis (i.e., the unbalance torque direction line) in the unbalance torque direction, and the auxiliary positioning component 320 selects a specific counterweight position on this line and measures the distance from that position to the axis.

[0035] The main positioning component 310 includes a motor 311 and a first linear laser emitter 312. The motor 311 is fixedly mounted on the support base 100. The first linear laser emitter 312 is drivenly connected to the output shaft of the motor 311, and the projection optical path of the first linear laser emitter 312 passes through the central axis of the propeller mounting base 210. When the computer calculates the direction of the unbalanced torque based on the gravity distribution data collected by multiple weighing sensors 220, it feeds back the angle value of the direction to the motor 311, driving the output shaft of the motor 311 to rotate to the corresponding angle, thereby driving the first linear laser emitter 312 to rotate synchronously, so that the first linear laser emitter 312 projects a straight line passing through the axis and extending along the direction of the unbalanced torque on the surface of the propeller 400 to be tested, i.e., the unbalanced torque direction line.

[0036] The motor 311 is a stepper motor 311, which utilizes its precise angle control characteristics to convert the unbalanced torque direction angle value calculated by the computer into the corresponding number of rotation steps. This allows the output shaft of the motor 311 to rotate accurately to the target angle, thus ensuring a precise one-to-one mapping between the unbalanced torque direction line projected by the first linear laser emitter and the actual unbalanced direction. The stepper motor 311 has the advantage of achieving precise positioning through open-loop control, eliminating the need for an additional angle feedback sensor, simplifying the system structure and reducing costs.

[0037] The auxiliary positioning component 320 includes a ranging track 321, a second linear laser emitter 322, a third linear laser emitter 323, and a ranging laser emitter 324. The ranging track 321 is slidably engaged with the support base 100 along the length direction and can move back and forth along the length direction to adjust its position. The second linear laser emitter 322 is located at the first end of the ranging track 321 along the length direction and is used to project a first positioning line onto the surface of the propeller 400 to be measured. The third linear laser emitter 323 is located at the second end of the ranging track 321 along the length direction and is used to project a second positioning line onto the surface of the propeller 400 to be measured. The ranging laser emitter 324 is also located at the second end of the ranging track 321 and is used to measure the distance from the first or second positioning line to the axis of the propeller 400 to be measured.

[0038] In actual operation, the operator can select to use the second linear laser emitter 322 or the third linear laser emitter 323 based on the computer's processing results of the ballast sensor data. By sliding the ranging rail 321, the positioning line projected by the selected linear laser emitter intersects with the unbalanced torque direction line projected by the first linear laser emitter 312. By moving the sliding position of the ranging rail 321, the intersection point can be controlled at a position on the propeller blade of the propeller 400 under test where it is easy to add counterweight (such as a part where adding counterweight will not affect the structure). Then, the distance from the counterweight position to the shaft center is measured by the ranging laser emitter 324. The computer can then calculate the required weight of the counterweight based on the magnitude of the unbalanced torque and the distance.

[0039] It should be noted that the purpose of setting up two linear laser emitters is to adapt to the distribution of different blade center of gravity positions. Based on the computer processing of the balancing sensor data, the blade that needs to be counterweighted is determined, and then the linear laser emitter closest to that blade is selected for positioning.

[0040] See Figure 3 As shown, according to some embodiments of the present invention, the propeller mounting base 210 has a centrally symmetrical geometry. The bottom of the propeller mounting base 210 is uniformly provided with multiple corners along the circumference, and each corner is provided with a weighing sensor 220. The top center of the propeller mounting base 210 is provided with a mounting part 211 for mounting the propeller 400 to be tested.

[0041] By setting the propeller mounting base 210 to a centrally symmetrical geometry and installing load cells 220 at multiple corners evenly distributed circumferentially at its bottom, while providing a mounting part 211 at the top center for mounting the propeller 400 under test, it is ensured that the center of gravity projection of the propeller 400 under test falls on the geometric center of the area enclosed by the multiple load cells 220. This ensures that each load cell 220 has a consistent initial reading when the propeller mass distribution is uniform, simplifying the calculation model of the unbalanced torque.

[0042] When the propeller 400 under test has an uneven mass distribution, the torque generated by the shift in the center of gravity will be proportionally distributed to each weighing sensor 220. Through a centrally symmetrical layout, the distance between each sensor and the shaft center is equal, so that the direction calculation of the unbalanced torque depends only on the proportion of the difference in the readings of each sensor, without the need for complex coordinate transformations, reducing the difficulty of data processing and improving the detection accuracy. In addition, the mounting part 211 located at the top center can realize the rapid positioning and centering of the propeller 400 under test, ensuring that the propeller shaft centerline and the center of the sensor layout are precisely coincident after each installation, reducing the measurement error caused by installation position deviation.

[0043] See Figure 3As shown, according to some embodiments of the present invention, the propeller mounting base 210 has a rectangular centrally symmetrical structure, and four weighing sensors 220 are respectively disposed at the four corners of the bottom of the propeller mounting base 210, and are centrally symmetrically distributed about the center of the propeller mounting base 210.

[0044] By setting the propeller mounting base 210 as a rectangular centrally symmetrical structure and placing the four load cells 220 at the four corners of the bottom of the propeller mounting base 210 respectively, and making the four load cells 220 centrally symmetrical about the center of the propeller mounting base 210, a uniform and symmetrical layout of each load cell 220 in the horizontal plane can be achieved.

[0045] Specifically, when the propeller 400 to be tested is installed at the top center of the propeller mounting base 210, if the propeller mass distribution is uniform, the forces on the four weighing sensors 220 are completely equal; if the propeller has a static imbalance, the force on the sensor in the direction of the center of gravity offset increases, and the force on the sensor in the opposite direction decreases. The direction and magnitude of the unbalanced torque can be directly calculated from the difference in the readings of the four sensors. The rectangular structure has the advantages of mature processing technology and easy precision machining of sensor mounting planes at the four corners. At the same time, the four sides of the rectangle provide a clear reference benchmark for the installation of auxiliary components such as the ranging track 321.

[0046] It is understandable that the preferred implementation is to distribute the four load cells 220 in a rectangular arrangement at the four corners. The calculation model is simple, and the vector information of the unbalanced torque can be obtained by simply adding and subtracting the four readings. There is no need for complex coordinate transformation, which reduces the data processing burden of the computer and improves the debugging response speed.

[0047] See Figure 1 As shown, according to some embodiments of the present invention, the first linear laser emitter 312 is located directly above the propeller mount 210.

[0048] By positioning the first linear laser emitter 312 directly above the propeller mount 210, it is ensured that the projection path of the first linear laser emitter 312 is perpendicular to the plane of the propeller mount 210 in the vertical direction, and that the projection path passes precisely through the central axis of the propeller mount 210. When the motor 311 drives the first linear laser emitter 312 to rotate, the projected laser line always passes through the axis and extends radially outward. No offset error due to the tilted projection angle occurs on the unbalanced torque direction line, thus simplifying the geometric model of laser projection. No additional coordinate transformation or angle compensation is required for the laser line's position. The computer directly assigns the calculated unbalanced direction angle to the motor 311, which drives the laser to rotate by the same angle, ensuring that the laser line accurately falls on the actual unbalanced direction line.

[0049] Arranging it directly above is a preferred implementation method, whose main advantages are its simple structure and intuitive mapping relationship.

[0050] In some embodiments, if a strictly direct overhead arrangement cannot be achieved due to structural space limitations, the function of accurately projecting the unbalanced direction line onto the blade surface can also be achieved by pre-calibrating the installation position and angle deviation of the laser emitter and introducing corresponding algorithm compensation.

[0051] See Figure 1 and Figure 2 As shown, according to some embodiments of the present invention, the support base 100 includes a base body 110 and a base bracket 120. The propeller mounting base 210 is disposed on the base body 110. The base bracket 120 includes a vertically connected vertical rod 121 and a horizontal rod 122. The first end of the vertical rod 121 is connected to the base body 110, and the second end of the vertical rod 121 is connected to the first end of the horizontal rod 122. The second end of the horizontal rod 122 is located above the base body 110, and the motor 311 is disposed at the second end of the horizontal rod 122.

[0052] By configuring the support base 100 into a structure including the base body 110 and the base bracket 120, a stable and precise suspension support can be provided for the motor 311 and the first linear laser emitter 312. This ensures that the motor 311 and the first linear laser emitter 312 it drives are located directly above the propeller mounting base 210, guaranteeing that the projection optical path of the first linear laser emitter 312 can pass perpendicularly through the central axis of the propeller mounting base 210. At the same time, it avoids the weight of the motor 311 and the laser emitter from generating additional load on the unbalance acquisition module 200. This is because the motor 311 and the laser emitter are supported on the base body 110 by the independent base bracket 120, forming a structural decoupling from the propeller mounting base 210 and the weighing sensor 220 below it. The weighing sensor 220 only bears the weight of the propeller 400 under test and the propeller mounting base 210, and will not be affected by the vibration of the motor 311 or the weight of the laser emitter, thereby improving the accuracy of the unbalance torque measurement.

[0053] In some embodiments, the connection between the vertical rod 121 and the horizontal rod 122 can be achieved through welding, bolting, or integral molding, as long as sufficient rigidity and stability are ensured to prevent additional vibration or displacement of the motor 311 during rotation. No special limitations are imposed in this regard. Furthermore, the specific shape and dimensions of the base bracket 120 can be adaptively adjusted according to the size of the propeller. The extension length of the second end of the horizontal rod 122 should ensure that the first linear laser emitter 312 can cover the entire radial range of the propeller 400 under test.

[0054] See Figure 4As shown, according to some embodiments of the present invention, the main positioning component 310 further includes an adapter bracket 313, the first end of the adapter bracket 313 along the height direction is connected to the output shaft of the motor 311, and the first linear laser emitter 312 is disposed at the second end of the adapter bracket 313 along the height direction.

[0055] By setting an adapter bracket 313 in the main positioning assembly 310 and connecting the first end of the adapter bracket 313 along the height direction to the output shaft of the motor 311, and setting the first linear laser emitter 312 at the second end of the adapter bracket 313 along the height direction, a reliable transmission connection between the output shaft of the motor 311 and the first linear laser emitter 312 can be realized, while providing appropriate height position adjustment for the first linear laser emitter 312.

[0056] Specifically, the output shaft of motor 311 is typically short and located near the end face of motor 311. If the first linear laser emitter 312 is directly mounted on the output shaft of motor 311 without an adapter bracket 313, the installation position of the laser emitter will be limited by the space of the motor 311 body, making it difficult to ensure that the laser emitter is at a suitable height directly above the propeller mounting base 210, and also inconvenient for disassembly and maintenance. By introducing the adapter bracket 313, the arm length of the adapter bracket 313 can be designed according to the size of the propeller and the requirements of the laser projection coverage, so that the first linear laser emitter 312 hangs directly above the propeller mounting base 210 and maintains an appropriate working distance from the propeller surface. This ensures both the clarity and positioning accuracy of the laser line and avoids interference between the laser emitter and the propeller 400 under test.

[0057] In some embodiments, the adapter bracket 313 and the output shaft of the motor 311 can be fixed by various methods such as clamping screws, key connections or set screws. Similarly, the adapter bracket 313 and the first linear laser emitter 312 can be detachably connected by clamping screws to facilitate the replacement or calibration of the laser emitter.

[0058] See Figure 1 and Figure 2 As shown, according to some embodiments of the present invention, the auxiliary positioning component 320 further includes a laser positioning plate 325, which is connected to the support base 100 and is used to receive the laser emitted by the ranging laser emitter 324 to perform positioning and calibration of the ranging laser emitter 324.

[0059] By setting up a laser positioning plate 325 and connecting it to the support base 100, it can receive the laser emitted by the ranging laser emitter 324 to position and calibrate the ranging laser emitter 324, thereby determining the distance from the intersection of the positioning line emitted by the second linear laser emitter 322 or the third linear laser emitter 323 and the unbalanced torque direction line to the shaft center of the propeller 400 under test.

[0060] See Figure 1 and Figure 2 As shown, according to some embodiments of the present invention, a plurality of track supports 130 are provided on the support base 100 at intervals along the length direction, and the track supports 130 are provided with sliding grooves 131 extending along the length direction, and the ranging track 321 slides in cooperation with the sliding grooves 131.

[0061] By arranging multiple track supports 130 at intervals along the length direction on the support base 100, and providing a sliding groove 131 extending along the length direction on the track support 130, the ranging track 321 slides in cooperation with the sliding groove 131, which can provide stable and accurate linear motion guidance for the ranging track 321, restricting it to move only along the length direction, and ensuring the accurate position of the laser projection point.

[0062] The number of track supports 130 and the specific form of the slide groove 131 can be selected according to actual needs, as long as the smooth linear sliding of the ranging track 321 can be achieved.

[0063] See Figure 2 As shown, as an example, the support base 100 is provided with two track supports 130 spaced apart along the length direction. The two track supports 130 together provide two-point support for the ranging track 321, which simplifies the structure and reduces manufacturing costs while ensuring guiding accuracy.

[0064] See Figure 1 and Figure 5 As shown, according to some embodiments of the present invention, the ranging track 321 is provided with a moving wheel 330 at both the first and second ends along the length direction.

[0065] By setting movable wheels 330 at both the first and second ends of the ranging track 321 along its length, the frictional resistance between the ranging track 321 and the track support 130 or the support base 100 during sliding can be significantly reduced. This allows the operator to easily and smoothly push the ranging track 321 to adjust its position, ensuring that the positioning line projected by the second linear laser emitter 322 or the third linear laser emitter 323 can be accurately aligned with the target position on the line of unbalanced torque.

[0066] In some embodiments, the moving wheel 330 may be a one-way wheel or a universal wheel structure. When used in conjunction with the groove 131 on the track support 130, the one-way wheel can further restrict the movement direction of the ranging track 321, ensuring that it moves strictly in a straight line along the length direction without lateral deviation.

[0067] In some embodiments, the components of the support base 100, the imbalance acquisition module 200, and the positioning module 300 can be configured to be detachably connected by bolts, so as to facilitate the transportation and storage of the device and modular replacement or maintenance according to different specifications of the propeller 400 under test.

[0068] The debugging method based on the static balance debugging device for airship propellers provided by the present invention is described below. The debugging method based on the static balance debugging device for airship propellers described below can be referred to in correspondence with the static balance debugging device for airship propellers described above.

[0069] See Figure 6 As shown, the debugging method based on the static balance debugging device for airship propellers provided in this embodiment of the invention includes: S610. The propeller 400 to be tested is installed on the propeller mounting base 210, and the gravity distribution data of the propeller 400 to be tested is collected by multiple weighing sensors 220. S620. Based on gravity distribution data, calculate the magnitude and direction of the unbalanced torque of the propeller 400 under test, and determine the blades that need to be counterweighted. S630: Feedback the direction of the unbalanced torque to the motor 311, drive the motor 311 to rotate, drive the first linear laser emitter 312 to rotate, and make the first linear laser emitter 312 project the unbalanced torque direction line on the surface of the propeller 400 to be tested. S640. Based on the blades of the propeller 400 that require counterweight, select the second linear laser emitter 322 or the third linear laser emitter 323, and slide the ranging track 321 so that the positioning line projected by the selected linear laser emitter intersects with the unbalanced torque direction line. The intersection of the positioning line and the unbalanced torque direction line is determined as the counterweight position. S650, the distance from the counterweight position to the shaft center of the propeller 400 under test is measured by the ranging laser emitter 324; S660. Calculate the required weight of the counterweight based on the magnitude of the unbalanced torque and the distance from the counterweight position to the axis. S670. Based on the calculated counterweight position and weight, add counterweight to the corresponding position of the propeller 400 to be tested.

[0070] The static balancing method for airship propellers provided by this invention, through the aforementioned steps, transforms the traditional static balancing process, which relies on manual experience and repeated trial and error, into a standardized operating procedure based on sensor data acquisition, computer algorithm calculation, and laser-based intuitive positioning. This achieves precise quantification of imbalance, scientific selection of counterweight positions, and accurate calculation of counterweight weights, significantly improving the efficiency and accuracy of static balancing and reducing the reliance on operator experience. It is understood that the data processing and calculations in each of the above steps are all automatically completed by the computer; the operator only needs to add counterweights according to the laser-indicated positions and the counterweight weights output by the computer.

[0071] Specifically, in step S610, the hub of the propeller 400 to be tested is fitted with the mounting portion 211 at the top center of the propeller mounting base 210 with a clearance fit, ensuring that the axis of the propeller 400 to be tested coincides with the central axis of the propeller mounting base 210. After installation, the gravity of the propeller 400 to be tested is transmitted to each load cell 220 through the propeller mounting base 210. Since multiple load cells 220 are circumferentially distributed between the propeller mounting base 210 and the support base 100, each load cell 220 independently collects the pressure value it bears, and these pressure values ​​together constitute the gravity distribution data of the propeller 400 to be tested.

[0072] Understandably, in the ideal case where the propeller 400 under test has a uniform mass distribution, the readings of all weighing sensors 220 are equal. When the propeller 400 under test has a static imbalance, the sensor readings in the direction of the center of gravity offset increase, while the sensor readings in the opposite direction decrease. The degree of difference between the sensor readings is positively correlated with the magnitude of the imbalance. The collected gravity distribution data is transmitted to the computer in real time for subsequent processing. To ensure the accuracy of data acquisition, the steady-state values ​​of each sensor can be read after the propeller 400 under test has stabilized, or multiple sets of data can be collected over a period of time and averaged to eliminate random fluctuation errors.

[0073] In step S620, the computer automatically calculates the magnitude and direction of the unbalanced torque of the propeller 400 under test based on the gravity distribution data collected by multiple weighing sensors 220 and the torque balance principle. Since the installation positions of each weighing sensor 220 below the propeller mounting base 210 are known, the differences in the readings of each sensor directly reflect the direction and distance of the offset of the center of gravity relative to the shaft center. By comprehensively calculating these data, the computer can quantitatively obtain the value of the unbalanced torque and the azimuth angle to which the torque points, providing an accurate theoretical basis for subsequent positioning and counterweight calculations.

[0074] In step S630, the computer sends the calculated unbalanced torque direction angle value to the motor 311 in the form of an electrical signal, driving the output shaft of the motor 311 to rotate precisely to the position corresponding to the angle value. Since the first linear laser emitter 312 is connected to the output shaft of the motor 311 and its projection optical path passes through the central axis of the propeller mounting base 210, when the motor 311 rotates, the first linear laser emitter 312 rotates synchronously. The linear laser it projects forms a bright line extending radially outward from the axis on the blade surface of the propeller 400 under test. The direction of this bright line is the direction of the unbalanced torque, intuitively indicating the location of the propeller's mass imbalance.

[0075] In some embodiments, the correspondence between the rotation angle of the motor 311 and the angle of the unbalanced torque direction can be determined by calibration at the time of device delivery to ensure that there is no deviation between the laser projection direction and the actual unbalanced direction.

[0076] In step S640, the operator observes the relative position of the unbalanced torque direction line projected by the first linear laser emitter 312 and the blades of the propeller 400 under test. Based on the blades requiring counterweight, the operator selects either the second linear laser emitter 322 or the third linear laser emitter 323. After selection, the operator slides the ranging track 321 along its length to adjust the horizontal position of the second linear laser emitter 322 or the third linear laser emitter 323, while simultaneously observing the positioning line it projects. The operator continues until the intersection of this positioning line and the unbalanced torque direction line projected by the first linear laser emitter 312 falls at a location on the propeller 400 under test where counterweight can be easily added (e.g., a location where adding counterweight will not affect the structure). The position of this intersection point on the blade surface is the theoretically optimal counterweight position.

[0077] It is understandable that the counterweight position is located both on the line of action of the unbalanced torque and on the blade surface where it is convenient to add the counterweight in actual operation, thus achieving an effective unification of theoretical calculation and actual operation.

[0078] In step S650, after the counterweight position is determined, the ranging laser emitter 324 emits a laser towards the counterweight position. The distance from the ranging laser emitter 324 to the counterweight position is measured by receiving the reflected signal. The computer, combining the known installation coordinates of the ranging laser emitter 324, automatically calculates the actual distance from the counterweight position to the shaft center of the propeller 400 under test through geometric conversion. This distance is a key parameter for calculating the required counterweight weight, and its measurement accuracy directly affects the accuracy of the counterweight weight calculation.

[0079] In step S660, the computer, based on the principle of torque balance, divides the magnitude of the unbalanced torque calculated in step S620 by the distance from the counterweight position to the shaft center, and, combined with the gravitational acceleration constant, automatically calculates the required counterweight weight. The theoretical basis of this calculation is that the reverse torque generated by the counterweight is equal to the counterweight weight multiplied by the gravitational acceleration and then multiplied by the distance from the counterweight position to the shaft center. When this reverse torque is equal in magnitude and opposite in direction to the unbalanced torque, the propeller reaches static equilibrium. It can be understood that if two counterweight positions are selected simultaneously in step S640 (for example, selecting counterweight points on both blades when the unbalanced torque direction line falls between the two blades), the computer, based on the distances from each counterweight position to the shaft center, solves a system of distribution equations simultaneously, automatically calculating the counterweight weights to be added to the two counterweight points, such that the resultant torque generated by the two counterweights is exactly equal to the unbalanced torque and opposite in direction. The calculated counterweight weight is output to the operator in numerical form as a quantitative basis for adding counterweight.

[0080] In step S670, the operator adds the corresponding weight of counterweight material to the corresponding blade surface of the propeller 400 under test, based on the counterweight position determined in step S640 (i.e., the positioning line projected by the second linear laser emitter 322 or the third linear laser emitter 323) and the counterweight weight calculated in step S660. After adding the counterweight, the operator can return to step S610 to re-collect gravity distribution data and verify the static balance adjustment effect. If the readings of the four weighing sensors 220 tend to be consistent, it indicates that the propeller has met the static balance requirements. If there is still a residual imbalance, the above steps are repeated for iterative correction until the preset balance accuracy threshold is reached.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A static balancing device for an airship propeller, characterized in that, include: Support base (100); The unbalance acquisition module (200) includes a propeller mounting base (210) and multiple weighing sensors (220). The propeller mounting base (210) is located on the support base (100) and is used to mount the propeller (400) to be tested. The multiple weighing sensors (220) are circumferentially spaced between the propeller mounting base (210) and the support base (100) and are used to acquire the gravity distribution data of the propeller (400) to be tested. The positioning module (300) includes a main positioning component (310) and an auxiliary positioning component (320). The main positioning component (310) includes a motor (311) and a first linear laser emitter (312). The motor (311) is located on the support base (100). The first linear laser emitter (312) is connected to the output shaft of the motor (311) and the projection optical path of the first linear laser emitter (312) passes through the central axis of the propeller mounting base (210). It is used to rotate under the drive of the motor (311) to project an unbalanced torque direction line onto the surface of the propeller (400) to be tested. The auxiliary positioning component (320) includes a ranging track (321), a second linear laser emitter (322), a third linear laser emitter (323), and a ranging laser emitter (324). The ranging track (321) is slidably engaged with the support base (100) along the length direction. The second linear laser emitter (322) is located at the first end of the ranging track (321) along the length direction and is used to project a first positioning line onto the surface of the propeller (400) to be tested. The third linear laser emitter (323) is located at the second end of the ranging track (321) along the length direction and is used to project a second positioning line onto the surface of the propeller (400) to be tested. The ranging laser emitter (324) is located at the second end of the ranging track (321) along the length direction and is used to measure the distance from the intersection of the first positioning line or the second positioning line and the unbalanced torque direction line to the axis of the propeller (400) to be tested.

2. The airship propeller static balancing device according to claim 1, characterized in that, The propeller mounting base (210) has a centrally symmetrical geometric shape. The bottom of the propeller mounting base (210) is uniformly provided with multiple corners along the circumference. Each corner is provided with the weighing sensor (220). The top center of the propeller mounting base (210) is provided with a mounting part (211) for mounting the propeller (400) to be tested.

3. The airship propeller static balancing device according to claim 2, characterized in that, The propeller mounting base (210) has a rectangular centrally symmetrical structure. The four weighing sensors (220) are respectively disposed at the four corners of the bottom of the propeller mounting base (210) and are centrally symmetrical about the center of the propeller mounting base (210).

4. The airship propeller static balancing device according to claim 1, characterized in that, The first linear laser emitter (312) is located directly above the propeller mount (210).

5. The airship propeller static balancing device according to claim 4, characterized in that, The support base (100) includes a base body (110) and a base bracket (120). The propeller mounting base (210) is located on the base body (110). The base bracket (120) includes a vertically connected vertical rod (121) and a horizontal rod (122). The first end of the vertical rod (121) is connected to the base body (110), and the second end of the vertical rod (121) is connected to the first end of the horizontal rod (122). The second end of the horizontal rod (122) is located above the base body (110), and the motor (311) is located at the second end of the horizontal rod (122).

6. The airship propeller static balancing device according to claim 5, characterized in that, The main positioning component (310) also includes an adapter bracket (313), the first end of the adapter bracket (313) along the height direction is connected to the output shaft of the motor (311), and the first linear laser emitter (312) is located at the second end of the adapter bracket (313) along the height direction.

7. The airship propeller static balancing device according to any one of claims 1 to 6, characterized in that, The auxiliary positioning component (320) also includes a laser positioning plate (325), which is connected to the support base (100) and is used to receive the laser emitted by the ranging laser emitter (324) to perform positioning and calibration of the ranging laser emitter (324).

8. The static balancing device for an airship propeller according to any one of claims 1 to 6, characterized in that, The support base (100) is provided with a plurality of track supports (130) spaced apart along the length direction. The track supports (130) are provided with a sliding groove (131) extending along the length direction. The ranging track (321) slides in cooperation with the sliding groove (131).

9. The airship propeller static balancing device according to any one of claims 1 to 6, characterized in that, The ranging track (321) is equipped with a moving wheel (330) at both the first and second ends along its length.

10. A debugging method for the static balancing debugging device for an airship propeller according to any one of claims 1 to 9, characterized in that, include: The propeller (400) to be tested is installed on the propeller mounting base (210), and the gravity distribution data of the propeller (400) to be tested is collected by multiple weighing sensors (220); Based on the gravity distribution data, the magnitude and direction of the unbalanced torque of the propeller (400) under test are calculated, and the blades that need to be counterweighted are determined. The direction of the unbalanced torque is fed back to the motor (311), driving the motor (311) to rotate, which in turn drives the first linear laser emitter (312) to rotate, so that the first linear laser emitter (312) projects the unbalanced torque direction line on the surface of the propeller (400) to be tested; According to the blades of the propeller (400) that need to be counterweighted, select the second linear laser emitter (322) or the third linear laser emitter (323) and slide the ranging track (321) so that the positioning line projected by the selected linear laser emitter intersects with the unbalanced torque direction line, and determine the intersection of the positioning line and the unbalanced torque direction line as the counterweight position; The distance from the counterweight position to the axis of the propeller (400) under test is measured by the ranging laser emitter (324); Calculate the required weight of the counterweight based on the magnitude of the unbalanced torque and the distance from the counterweight position to the axis. Based on the calculated counterweight position and weight, add counterweights at the corresponding positions on the propeller (400) to be tested.

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