CN102749041B - Propeller type surface contour error measurement instrument and method - Google Patents
Propeller type surface contour error measurement instrument and method Download PDFInfo
- Publication number
- CN102749041B CN102749041B CN201210243295.6A CN201210243295A CN102749041B CN 102749041 B CN102749041 B CN 102749041B CN 201210243295 A CN201210243295 A CN 201210243295A CN 102749041 B CN102749041 B CN 102749041B
- Authority
- CN
- China
- Prior art keywords
- main shaft
- worktable
- displacement sensor
- rotary main
- propeller blade
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005259 measurement Methods 0.000 title claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 55
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000001815 facial effect Effects 0.000 claims description 13
- 238000011156 evaluation Methods 0.000 claims description 9
- 238000007514 turning Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 210000004907 gland Anatomy 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 239000004606 Fillers/Extenders Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 244000144983 clutch Species 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 239000000306 component Substances 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229910001374 Invar Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005305 interferometry Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses propeller type surface contour error measurement instrument and method. The propeller type surface contour error measurement instrument is characterized in that a gantry structure is adopted, a left upright, a right upright and a top cross beam are arranged on a base, and a revolving spindle is arranged on a cross beam; the lower end of the revolving spindle is horizontally and fixedly connected with a measuring arm; a linear guiderail is arranged on the bottom surface of the measuring arm along the radial direction of the revolving plane of the measuring arm, a working platform capable of doing linear movement along the linear guiderail is arranged on the linear guiderail, and a displacement sensor is arranged on the working platform; and a Y-direction working platform and an X-direction working platform are arranged on the base in an overlapping, and the blade of a detected propeller is arranged in a positioning groove at the top surface of the X-direction working platform. The measuring device and the measuring method are established by adopting a cylindrical coordinate system according to the axial symmetry structure characteristics of the propeller blade. The measuring device and the measuring method are fast in data acquisition, have no objective errors of an operator, and are simple in follow-up error processing and analysis, and can be used for precision measurement on size parameters and geometric error parameters of large revolving parts.
Description
Technical field
The present invention relates to a kind of propeller-type facial contour error meter and measuring method, be particularly useful for the detection of the unilateral type error of screw blade of large ship and submarine navigation device, also can be used for the precision measurement of the large scale revolution type components such as turbine blade, turbine blade, airscrew.
Background technology
Screw propeller is as a kind of widely used thruster, it is the core component of boats and ships and submarine navigation device power system, its blade face is spiral camber shape, and blade is thin, thickness ununiformity, and the geometric features of blade becomes the complex-curved big machinery part of having of typicalness.The machining precision of its face type is the key factor that affects screw propeller serviceable life, mechanical efficiency and noise height.But because it is shaped as complicated free form surface, volume and weight is larger,, in the process of manufacturing and processing, to the measurement of blade profile and relative dimensions and parameter, be therefore a difficult problem in the industry always.
Conventional detection method comprises at present: template method, three coordinate measuring machine method, laser tracker method, electro-optic theodolite method and machine vision camera method etc.The model that template method is used is all that manual manufacture, surface precision are difficult to guarantee, poor rigidity is yielding; Although three coordinate measuring machine measuring accuracy is high, high to environmental requirement, measurement range is little; Full-fledged laser tracker method, electro-optic theodolite method can realize the high precision of blade is detected gradually in recent years, all by the angle and distance of single-point in apparatus measures space, the three-dimensional coordinate of Real-time Obtaining impact point, obtains the space geometry information of blade face type by software administration and deal with data.These methods need artificial participation, such as adjusting target mirror, point-to-point measurement is realized in running target mirror position at intervals, measures efficiency on the low side, cannot reach productions, detect needed point of density cloud collection requirement.At present popular employing flexible joint coordinate measuring machine and the measurement pattern of scanning feeler are day by day subject to market and watch attentively and welcome, it can obtain the tri-dimensional facial type data of point of density cloud fast, but still need manual operation, and measure efficiency lower, measuring accuracy also awaits further raising.
Summary of the invention
Face type test problems for propeller blade in process, how to guarantee under the prerequisite of precision, improve measuring speed, reduce costs, how to realize Site Detection and reduce the stress deformation of large-scale instrument and be subject to the interference of warm deformation to measuring accuracy, for this reason, the invention provides a kind of propeller-type facial contour error meter and measuring method, to realize propeller blade profile error parameter, measure efficiently, automatically and accurately.
Technical solution problem of the present invention adopts following technical scheme:
The design feature of propeller-type facial contour error meter of the present invention is:
Adopt planer type structure, contour left column and right column are set on base, and set up crossbeam at the top of described left column and right column, middle part at described crossbeam arranges rotary main shaft along Z-direction by supporting structure, and the first stepper motor drives described rotary main shaft to turn round by the first flexible clutch; On described rotary main shaft, be provided for measuring the round grating of rotary main shaft angle of revolution;
In the lower end of described rotary main shaft, be level and connect firmly a gage beam, gage beam and main shaft turn round around Z axis jointly; In the bottom surface of described gage beam along gage beam plane of rotation one line slideway is radially set, on described line slideway, arrange and can make along line slideway the worktable of traveling priority, described worktable be the second stepper motor being arranged on gage beam be actuator, take the second ball screw as driving member; On described worktable, be fixedly installed respectively laser displacement sensor and inductance displacement sensor; The optical axis of described laser displacement sensor is parallel with Z-direction, the measurement axis of described inductance displacement sensor and the axis of rotation quadrature of main shaft;
On described base, stack arranges Y-direction worktable and X-direction worktable, described Y-direction worktable is to take base as support platform, can as Y-direction, move along the Y-direction rolling guide being arranged in the upper plane of described base, described Y-direction worktable be the 3rd stepper motor being arranged on base be actuator, the 3rd ball screw of take is driving member; Described X-direction worktable is to take Y-direction worktable as support platform, can as X-direction, move along the X-direction guide rail being arranged in the upper plane of Y-direction worktable, X-direction worktable be the 4th stepper motor being arranged on Y-direction worktable be actuator, take short leading screw as driving member; Pallet on tested propeller blade is arranged on the end face of described X-direction worktable in detent, and tested propeller blade is clamped on described pallet.
The design feature of propeller-type facial contour error meter of the present invention is also:
Described pallet is the mandrel that can rise, the top of the described mandrel that rises is fixedly installed as hole for hoist, can rising, the Wei Di footpath, stage casing of mandrel is large, the little outer conical surface in footpath, top, tested propeller blade is contained on circular conical surface with its inner hole sleeve, between the endoporus of described tested propeller blade and outer conical surface, be incorporated with elastic opening tapered sleeve, with gland nut, by pressing plate, be pressed on the end face of described elastic opening tapered sleeve, make tested propeller blade and the mandrel wringing fit that can rise, and the dead in line of the interior axially bored line of tested propeller blade and the mandrel that can rise.
The supporting structure that described rotary main shaft is set is: 2 cover top corner contact ball bearings configure in the same way on rotary main shaft top, and 1 cover bottom corner contact ball bearing becomes with described top corner contact ball bearing in the bottom of described rotary main shaft back-to-back to arrange; Between described top corner contact ball bearing and bottom corner contact ball bearing, arrange and be sleeved on inner spacing collar and the outer separator on rotary main shaft respectively, with described inner spacing collar, be against on the inner ring of described top corner contact ball bearing and bottom corner contact ball bearing, with described outer separator, be against on the outer ring of described top corner contact ball bearing and bottom corner contact ball bearing, and the height of described inner spacing collar is less than the height of outer separator;
Multichannel conducting slip ring is set on described main shaft, and the detection signal of described the second stepper motor, inductance displacement sensor and laser displacement sensor and driving signal transmit by multichannel conducting slip ring respectively.
The feature of the measuring method of propeller-type facial contour error meter of the present invention is to carry out as follows:
A, tested propeller blade is placed in the detent on worktable together with pallet, make worktable be positioned at rotary main shaft under;
The position of b, adjustment inductance displacement sensor, makes the gauge head of inductance displacement sensor be butted on pallet as initial position, and the initial position reading of adjusting inductance displacement sensor is zero; Start the first stepper motor, by gage beam, drive inductance displacement sensor to rotate a circle, for the axis of the tested propeller blade being recorded by described inductance displacement sensor and the offset between main shaft, move respectively described Y-direction worktable and X-direction worktable, tested propeller blade is positioned on the position with the dead in line of main shaft, and keeps the position location of tested propeller blade constant;
C, the axis of rotation of main shaft of take are starting point, after the direction that the second stepping driven by motor worktable expands toward radius according to the step pitch of setting moves a step pitch, stop, and obtain the turning radius r of the laser displacement sensor under relevant position
1, then the first stepping electric motor starting, drives main shaft, gage beam equal angles interval together with laser displacement sensor to carry out stepping rotation; Round grating catches the information φ of Spindle rotation angle degree simultaneously
1i, interval angle of every rotation, laser displacement sensor obtains the Z-direction coordinate Z of a point on tested propeller blade
1i, computing machine synchronously latchs (the r of every
1, z
li, φ
1i), main shaft gyration one week, obtains array:
(r
1,z
11,φ
11)、(r
1,z
12,φ
12)……(r
1,z
1m,φ
1m)；
D, the second stepper motor (20) drive worktable (23) continue the movement of next step pitch, obtain the turning radius r of the laser displacement sensor (13) under relevant position
2, the mode identical according to step c obtains array:
(r
2,z
21,φ
21)，(r
2,z
22,φ
22)……(r
2,z
2m,φ
2m)；
The turning radius that e, continuation change and increase laser displacement sensor (13) is respectively r
3r
n, the mode identical by step c obtains array altogether:
(r
1,z
11,φ
11)、(r
1,z
2,φ
12)…(r
1,z
1m,φ
1m)；
(r
2,z
21,φ
21)，(r
2,z
22,φ
22)…(r
2,z
2m,φ
2m)；
(r
n,Z
n1,φ
21)，(r
n,z
n2,φ
n2)…(r
n,z
nm,φ
nm)；
Wherein: r
1for the least radius at the blade root place of tested propeller blade, r
nmaximum radius for the blade tip place of tested propeller blade.
E, according to image data, tested propeller blade face type is carried out to Surface profile tolerance error evaluation, and provide evaluation result, provide each structural parameters that comprise the locator value of each data point relative datum point on the blade angle of pitch, pitch, rake angle and developed surface simultaneously.
The present invention utilizes laser displacement sensor, with the motion of precise rotary shaft system and one dimension worktable, coordinate to build cylindrical-coordinate system, under cylindrical-coordinate system, obtain the raw measurement data of propeller blade face type, then draw propeller blade machined surface profile degree error information and provide error evaluation result through corresponding data processing and coordinate transform.Compared with the prior art, beneficial effect of the present invention is embodied in:
1, adopt circular cylindrical coordinate to build measuring system, be convenient to obtain the tri-dimensional facial type data of point of density cloud, and gather and count and can adjust according to the accuracy requirement of measured piece is different, be easy to realize the three-dimensionalreconstruction of blade profile.
2, the present invention adopts the direct automatic reading of laser displacement sensor, has avoided the Probe-radius Compensation in Reserve problem in three coordinate measuring engine measurement, does not also need that the additional devices such as target mirror are manually set and is conducive to improve measuring accuracy.
3, the present invention adopts three cover angular contact ball bearings to combine to design rotary axis system, has rotating accuracy high, and the feature of good rigidly, has eliminated the impact of spindle motion error on measuring accuracy well.
4, measurement mechanism involved in the present invention, motion is simple, and is easy to realize accurate control, has improved measurement efficiency.
5, measurement mechanism involved in the present invention adopts thermal tracking structural design, and the thermal deformation of crossbeam does not cause main shaft heat to depart from.Column and base adopt grouan material, and pivot arm adopts invar material can further reduce the impact of variation of ambient temperature on measuring accuracy, and this instrument can directly be placed in workshop and use.
6, the present invention adopts X-Y bidirectional-movement table positions workpiece, and instrument possesses the function of automatic aligning, is convenient to realize workpiece and accurately locates fast, is conducive to improve measurement efficiency.
7, the present invention also can be used for morpheme error-detecting and the error evaluation of the slewing parts with complex three-dimensional pattern of other types, detect reproducible, precision is high, detection efficiency is high.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is the main TV structure schematic diagram of the present invention;
Fig. 3 is plan structure schematic diagram of the present invention;
Fig. 4 is side-looking structural representation of the present invention;
Fig. 5 is wheel measuring arm configuration schematic diagram in the present invention;
Fig. 6 is that the A of Fig. 5 is to view;
Fig. 7 is frock clamp figure in the present invention;
Fig. 8 is main axle structure schematic diagram in the present invention;
Fig. 9 is X-Y Working table structure schematic diagram in the present invention;
Figure 10 is measuring principle figure of the present invention;
Figure 11 is measurand lifting coarse positioning schematic diagram of the present invention;
Number in the figure: 1 the 3rd stepper motor; 2 is Y-direction rolling guide; 3 right columns; 4 is Y-direction worktable; 5 is X-direction worktable; 6 pallets; 7 tested propeller blades; 8 crossbeams; 9 reducing sleeves; 10 first stepper motors; 11 slip rings; 12 gage beams; 13 laser displacement sensors; 14 inductance displacement sensors; 15 the 4th stepper motors; 16 left columns; 17 bases; 18 adjustable feets; 20 second stepper motors; 21 circle gratings; 22 first flexible clutchs; 23 worktable; 24 inductance seats; 25X is to worktable transmission nut; 26 short leading screws; 27 spring couplings; 28 leading screw front-end bearing pedestals; 29 the 3rd card extenders; 30 leading screw rear bearing blocks; 31 the 3rd ball-screws; 32 the 3rd flexible clutchs; 33Y is to worktable slide block; 34 is Y-direction worktable transmission nut; 35 main shafts; 36 rear bearing blocks; 37 second flexible clutchs; 38 front-end bearing pedestals; 39 second ball-screws; 40 fromer rails; 41 slide blocks; 42 bottom bolts; 43 bottom platen; 45 inductance mounting clamps; 46 lock-screws; 47 inductance clamp screws; 48 second card extenders; 49 rear rails; 50 upper end covers; 51 pretension jam nuts; 52 bottom end covers; 53a top corner contact ball bearing; 53b bottom corner contact ball bearing; 54a outer separator; 54b inner spacing collar; 55 bearing (ball) covers; 56 angular contact ball bearings; 57 bearing nuts; 58 elastic opening tapered sleeves; 59 pressing plates; 60 tapered sleeve gland nuts.
Embodiment
Referring to Fig. 1, Fig. 2, instrument adopts planer type structure generally, and grouan base 17 is supported on ground with eight adjustable feets 18.On grouan base 17, contour left column 16 and right column 3 are set, above two columns, set up crossbeam 8, at crossbeam 8 middle parts, along Z direction, configure a precision rotating main shaft 35, the first stepper motor 10 is connected on crossbeam 8 by reducing sleeve 9, the main shaft of motor, by the first flexible clutch 22 drive shaft 35 revolutions, is provided for measuring the round grating 21 of rotary main shaft angle of revolution on rotary main shaft;
Referring to Fig. 2, Fig. 5 and Fig. 6, in main shaft 35 lower ends, connect firmly gage beam 12, gage beam 12 and axis of rotation arranged perpendicular, the two turns round around axis Z jointly.On 12 times baseplanes of gage beam, a line slideway is set, worktable 23 is connected with fromer rail 40 and rear rail 49 respectively by two slim slide blocks 41, and fromer rail 40 and rear rail 49 connect firmly on gage beam 12 bottom surfaces.The second ball-screw 39 connects firmly on the bottom surface of gage beam 12 by front-end bearing pedestal 38 and rear bearing block 36, guide rail and leading screw keeping parallelism.The second stepper motor 20 is fixed on the tail end of gage beam 12 by the second card extender 48, it drives the second ball-screw 39 revolutions by the second flexible clutch 37, drive worktable 23 to move along guide rail, on worktable 23, be fixedly installed laser displacement sensor 13 laser displacement sensors, 13 optical axis is parallel with Z direction; In the horizontal hole being inserted on inductance mounting clamp 45 of inductance displacement sensor 14, and by 47 lockings of inductance clamp screws.Inductance mounting clamp 45 is a bit of circular shaft in essence, be arranged in the slotted hole of inductance seat 24, and can adjust along Z-direction is flexible, so that inductance displacement sensor 14 is against on the face of cylinder b on pallet 6, locking is realized by its lock-screw 46 after adjusting in position, by above-mentioned setting, has guaranteed the measurement axis of inductance displacement sensor 14 and the axis of rotation quadrature of main shaft 35.Referring to Fig. 3, Fig. 4 and Fig. 9, the X-Y travelling table being arranged on base 17 is located with accurate for the installation of tested propeller blade 7.Two accurate rolling guides 2 are set on base 17, Y-direction worktable 4 is assemblied on rolling guide 2 by two Y-direction worktable slide blocks 33, the 3rd ball-screw 31 connects firmly on base 17 by leading screw front-end bearing pedestal 28 and leading screw rear bearing block 30, guide rail and leading screw keeping parallelism.The 3rd stepper motor 1 is fixed by bolts on base 17 by the 3rd card extender 29, and can drive the 3rd ball-screw 31 revolutions by the 3rd flexible clutch 32, the 3rd ball-screw 31 screws with Y-direction worktable transmission nut 34, Y-direction worktable transmission nut 34 is connected in the below of Y-direction worktable 4, when the 3rd ball-screw 31 rotation, can drive Y-direction worktable 4 to move.On worktable 4, stack arranges X-direction worktable 5, and during instrument work, the very little accurate location that is used for realizing measured piece of this directional run, therefore adopts simple rectangle rail plate.The 4th stepper motor 15 connects firmly on the left gusset of worktable 4, it drives short leading screw 26, short leading screw 26 to screw with X-direction worktable transmission nut 25 by spring coupling 27, X-direction worktable transmission nut 25 is connected on X-direction worktable 5, thereby drive 5 fine motions of X-direction worktable, short leading screw 26 is realized and is supported revolution by two angular contact ball bearings 56, and two angular contact ball bearings 56 are sleeved on face-to-face on the front end axle of short leading screw 26 and realize pretension by bearing nut 57.Two angular contact ball bearings 56 are assemblied in together with short leading screw 26 in the endoporus arranging on Y-direction worktable 4, by bearing (ball) cover 55, are realized and are compressed location.A diameter is set on worktable 5 is
detent, this groove is the coarse positioning on instrument for related its pallet 6 of tested propeller blade 7.
Referring to Fig. 7, pallet 6 is the mandrel that can rise, can the rise top of mandrel is fixedly installed as hole for hoist (a), can rising, the Wei Di footpath, stage casing of mandrel is large, the top little outer conical surface c in footpath, tested propeller blade 7 is contained on circular conical surface c with its inner hole sleeve, between the endoporus of tested propeller blade 7 and outer conical surface, pack elastic opening tapered sleeve 58 into, with gland nut 60, by pressing plate 59, be pressed on the end face of elastic opening tapered sleeve 58, make tested propeller blade 7 and the mandrel wringing fit that can rise, thereby guarantee the dead in line of interior axially bored line with the mandrel that can rise of tested propeller blade 7.Above gland nut 60, have an annular to proofread and correct face of cylinder b, the axis of face of cylinder b is strictly concentric with cone mandrel.Face of cylinder b use during for the accurate location of tested propeller blade 7.Rising, mandrel 6 lower ends arrange a diameter
thin disk, when lifting driving, this thin disk can snap on the end face of X-direction worktable 5 in detent, realizes coarse positioning.
Referring to Fig. 1, Fig. 8, rotary main shaft 35 is motion benchmark of precision rotating, configuration three cover precision corner contact ball bearings on it, two cover top corner contact ball bearing 53a configure in the same way on rotary main shaft top, to improve axle system, bear the ability of axially downward load, a set of bottom corner contact ball bearing 53b becomes with top corner contact ball bearing 53a in the bottom of rotary main shaft back-to-back to arrange, and being convenient to axle is pretension and raising rigidity and running accuracy.Three cover bearings are arranged in the bearing saddle bore on the crossbeam 8 that boring in advance processes jointly together with main shaft 35.Upper end cover 50 and bottom end cover 52 are pressed in respectively on the outer ring of top corner contact ball bearing and bottom corner contact ball bearing, and upper end cover and bottom end cover connect firmly on crossbeam 8 by bolt respectively.Between top corner contact ball bearing and bottom corner contact ball bearing, arrange and be sleeved on inner spacing collar 54b and the outer separator 54a on rotary main shaft respectively, with inner spacing collar, be against on the inner ring of top corner contact ball bearing and bottom corner contact ball bearing, with outer separator, be against on the outer ring of described top corner contact ball bearing and bottom corner contact ball bearing, and the height of inner spacing collar 54b is slightly less than the height of outer separator 54a, difference in height operated by rotary motion is at 50-100 micron, and concrete numerical value should be determined according to the stiffness index of bearing used.After spindle mounted, compress upper end cover and bottom end cover, together with the cycle surface of top corner contact ball bearing and bottom corner contact ball bearing is pressed in outer separator 54a.Still gapped between inner spacing collar and top corner contact ball bearing and the inner ring end face of bottom corner contact ball bearing, rotation pretension jam nut 51 compresses the inner ring of top corner contact ball bearing 53a, thereby this axle of pretension is gradually, until the inner ring end face of top corner contact ball bearing and bottom corner contact ball bearing and inner spacing collar 54b compress completely, now axle system is in good Pre strained state, therefore the difference in height of inner spacing collar and outer separator is exactly the pretension amount of axle system in essence, in actual use, should rationally determine the difference in height of inner spacing collar and outer separator according to bearing rigidity, and then realize best pretension effect.The quill shaft of circle grating 21 is passed in the upper end of main shaft 35, both concentric fits, and circle grating 21 shells are arranged on upper end cover 50 with one heart, and round like this grating will be realized the detection to main shaft gyration angle.Main shaft 35 upper ends continue to extend upward and connect firmly with the first flexible clutch 22 after passing circle grating 21, and the first stepper motor 10 is connected with the other end of shaft coupling 22, and then realize driving.
Referring to Fig. 1, Fig. 2 and Fig. 5, at gage beam 12, the second stepper motor 20, inductance displacement sensor 14 and laser displacement sensor 13 have been arranged altogether, each device all needs patch cables, but the rotation of gage beam can cause cable to be wound around even to be damaged, Given this adopt slip ring to solve, slip ring principle is similar to multichannel brush.Main shaft 35 lower ends are through the inner ring of slip ring 11, both concentric fits, synchronous revolving, and the cable that all needs patch is connected on the binding post of inner ring, and the multichannel brush by slip ring inside transfers signals on the binding post of slip ring 11 outer rings and exports.Slip ring 11 outer ring transfixions, connect firmly on the outer face of bottom end cover 52 with one heart.
Main shaft 35 extends downwards through the rear continuation of slip ring 11, and with endoporus interference fit reserved on gage beam 12, rotation bottom bolts 42 drives bottom platen 43 to realize the positive connection of main shaft 35 and gage beam 12.In process and assemble, must guarantee that main shaft 35 axis are vertical with the bottom surface of gage beam 12.
Computer processing unit hardware components has data collecting card, motion control card and modulate circuit; Software part comprises Survey Software and interface operation software, and Survey Software realizes data acquisition, changes in coordinates is processed and measurement result evaluation; Operation interface mainly comprises: automatic aligning and motor motion control setting, the parts such as measuring process operation control.
Measuring process:
1, referring to Figure 11, tested propeller blade 7 is contained in the detent on worktable 5 together with pallet 6 use traveling cranes, now the position of tested propeller blade 7 as shown in figure 11, start the 3rd stepper motor 1, X-Y worktable moves to tested station by tested propeller blade 7, be positioned at rotary main shaft 35 under, realize coarse positioning, as Figure 1 and Figure 4;
2, adjust the position of inductance displacement sensor 14, make external cylindrical surface b that the gauge head of inductance displacement sensor 14 is butted on pallet 6 as initial position, the initial position reading of adjusting inductance displacement sensor is zero;
Start the first stepper motor 10, by gage beam 12, drive inductance displacement sensor 14 to rotate a circle, for the axis of the tested propeller blade 7 being recorded by inductance displacement sensor 14 and the offset between main shaft 35, mobile Y-direction worktable 4 and X-direction worktable 5 respectively, tested propeller blade 7 is positioned on the position with the dead in line of main shaft 35, and keep the position location of tested propeller blade 7 constant, realize fine positioning;
3, after tested propeller blade 7 is accurately located, inductance displacement sensor 14 is regained manually, in order to avoid interferometry process.When test starts, as shown in Figure 1, Figure 10 shows, the axis of rotation of main shaft 35 of take is starting point, after the direction that the second stepper motor 20 drives worktable 23 to expand toward radius according to the step pitch of setting moves a step pitch, stops, and obtains the turning radius r of the laser displacement sensor 13 under relevant position
1, then the first stepper motor 10 starts, and drives main shaft 35, gage beam 12 equal angles interval together with laser displacement sensor 13 to carry out stepping rotation.Round grating 21 catches the information φ of Spindle rotation angle degree simultaneously
1i, interval angle of every rotation, laser displacement sensor obtains the Z-direction coordinate Z of a point on blade
1i, computing machine synchronously latchs (the r of every
1, z
li, φ
1i), main shaft gyration one week, obtains array:
(r
1,z
11,φ
11)、(r
1,z
12,φ
12)……(r
1,z
1m,φ
1m)；
4, the second stepper motor 20 drives the movement of the next step pitch of worktable 23 continuation, obtains the turning radius r of the laser displacement sensor 13 under relevant position
2, the mode identical according to step 3 obtains array:
(r
2,z
21,φ
21)，(r
2,z
22,φ
22)……(r
2,z
2m,φ
2m)；
5, the turning radius of continuation change and increase laser displacement sensor 13 is respectively r
3r
n, the mode identical by step 3 obtains array, until the whole profile measurements of tested propeller blade 7 are complete.
(r
1,z
11,φ
11)、(r
1,z
12,φ
12)…(r
1,z
1m,φ
1m)；
(r
2,z
21,φ
21)，(r
2,z
22,φ
22)…(r
2,z
2m,φ
2m)；
(r
n,Z
n1,φ
21)，(r
n,z
n2,φ
n2)…(r
n,z
nm,φ
nm)；
Wherein: r
1for the least radius at the blade root place of propeller blade 7 to be measured, r
nmaximum radius for the blade tip place of propeller blade 7 to be measured.
6, according to image data, tested propeller blade face type is carried out to Surface profile tolerance error evaluation, and provide evaluation result, provide each structural parameters that comprise the locator value of each data point relative datum point on the blade angle of pitch, pitch, rake angle and developed surface simultaneously.
Claims (4)
1. a propeller-type facial contour error meter, is characterized in that:
Adopt planer type structure, contour left column (16) and right column (3) are set on base (17), and set up crossbeam (8) at the top of described left column (16) and right column (3), middle part at described crossbeam (8) arranges rotary main shaft (35) along Z-direction by supporting structure, and the first stepper motor (10) drives described rotary main shaft (35) revolution by the first flexible clutch (22); On described rotary main shaft (35), be provided for measuring the round grating (21) of rotary main shaft angle of revolution;
In the lower end of described rotary main shaft (35), be level and connect firmly a gage beam (12), gage beam (12) turns round around Z axis jointly with rotary main shaft (35); In the bottom surface of described gage beam (12) along gage beam plane of rotation one line slideway is radially set, on described line slideway, arrange and can make along line slideway the worktable (23) of traveling priority, described worktable (23) be the second stepper motor (20) being arranged on gage beam (12) be actuator, the second ball screw (39) of take is driving member; On described worktable (23), be fixedly installed respectively laser displacement sensor (13) and inductance displacement sensor (14); The optical axis of described laser displacement sensor (13) is parallel with Z-direction, the axis of rotation quadrature of the measurement axis of described inductance displacement sensor (14) and rotary main shaft (35);
In the upper stack of described base (17), Y-direction worktable (4) and X-direction worktable (5) are set, described Y-direction worktable (4) is that to take base (17) be support platform, can as Y-direction, move along the Y-direction rolling guide (2) being arranged in the upper plane of described base (17), described Y-direction worktable (4) be the 3rd stepper motor (1) being arranged on base (17) be actuator, the 3rd ball screw (31) of take is driving member; Described X-direction worktable (5) is that to take Y-direction worktable (4) be support platform, can as X-direction, move along the X-direction guide rail being arranged in the upper plane of Y-direction worktable (4), X-direction worktable (5) be the 4th stepper motor (15) being arranged on Y-direction worktable (4) be actuator, the short leading screw (26) of take is driving member; Pallet (6) on tested propeller blade (7) is arranged on the end face of described X-direction worktable (5) in detent, and tested propeller blade (7) is clamped on described pallet (6);
The measuring method of described propeller-type facial contour error meter is to carry out as follows:
A, tested propeller blade is placed in the detent on X-direction worktable (5) together with pallet (6), make X-direction worktable (5) be positioned at rotary main shaft under;
The position of b, adjustment inductance displacement sensor (14), makes the gauge head of inductance displacement sensor (14) be butted on pallet (6) as initial position, and the initial position reading of adjusting inductance displacement sensor is zero; Start the first stepper motor (10), by gage beam (12), drive inductance displacement sensor (14) to rotate a circle, for the axis of the tested propeller blade (7) being recorded by described inductance displacement sensor (14) and the offset between rotary main shaft (35), move respectively described Y-direction worktable (4) and X-direction worktable (5), tested propeller blade (7) is positioned on the position with the dead in line of rotary main shaft (35), and keeps the position location of tested propeller blade (7) constant;
C, the axis of rotation of rotary main shaft (35) of take are starting point, after the direction that the second stepper motor (20) drives worktable (23) to expand toward radius according to the step pitch of setting moves a step pitch, stop, obtaining the turning radius r of the laser displacement sensor (13) under relevant position
1, then the first stepper motor (10) starts, and drives rotary main shaft (35), gage beam (12) and laser displacement sensor (13) to carry out stepping rotation in equal angles interval together; Round grating (21) catches the information φ of the rotary main shaft anglec of rotation simultaneously
1i, interval angle of every rotation, laser displacement sensor obtains the Z-direction coordinate Z of the upper point of tested propeller blade (7)
1i, computing machine synchronously latchs (the r of every
1, z
1i, φ
1i), rotary main shaft returns and circles, and obtains array:
(r
1,z
11,φ
11)、(r
1,z
12,φ
12)……(r
1,z
1m,φ
1m)；
D, the second stepper motor (20) drive worktable (23) continue the movement of next step pitch, obtain the turning radius r of the laser displacement sensor (13) under relevant position
2, the mode identical according to step c obtains array:
(r
2,z
21,φ
21)，(r
2,z
22,φ
22)……(r
2,z
2m,φ
2m)；
The turning radius that e, continuation change and increase laser displacement sensor (13) is respectively r
3r
n, the mode identical by step c obtains array altogether:
(r
1,z
11,φ
11)、(r
1,z
12,φ
12)…(r
1,z
1m,φ
1m)；
(r
2,z
21,φ
21)，(r
2,z
22,φ
22)…(r
2,z
2m,φ
2m)；
……
(r
n,z
n1,φ
21)，(r
n,z
n2,φ
n2)…(r
n,z
nm,φ
nm)；
Wherein: r
1for the least radius at the blade root place of tested propeller blade (7), r
nmaximum radius for the blade tip place of tested propeller blade (7);
F, according to image data, tested propeller blade face type is carried out to Surface profile tolerance error evaluation, and provide evaluation result, provide each structural parameters that comprise the locator value of each data point relative datum point on the blade angle of pitch, pitch, rake angle and developed surface simultaneously.
2. propeller-type facial contour error meter according to claim 1, it is characterized in that: described pallet (6) is the mandrel that can rise, the top of the described mandrel that rises is fixedly installed as hole for hoist (a), can the rise Wei Di footpath, stage casing of mandrel is large, the little outer conical surface (c) in footpath, top, tested propeller blade (7) is contained on circular conical surface (c) with its inner hole sleeve, between the endoporus of described tested propeller blade (7) and outer conical surface, be incorporated with elastic opening tapered sleeve (58), with gland nut (60), by pressing plate (59), be pressed on the end face of described elastic opening tapered sleeve (58), make tested propeller blade (7) and the mandrel wringing fit that can rise, and the dead in line of the interior axially bored line of tested propeller blade (7) and the mandrel that can rise.
3. propeller-type facial contour error meter according to claim 1, it is characterized in that: the supporting structure that described rotary main shaft (35) is set is: 2 cover top corner contact ball bearings (53a) configure in the same way on rotary main shaft top, 1 cover bottom corner contact ball bearing (53b) becomes with described top corner contact ball bearing (53a) in the bottom of described rotary main shaft back-to-back to arrange; Between described top corner contact ball bearing (53a) and bottom corner contact ball bearing (53b), arrange and be sleeved on inner spacing collar (54b) and the outer separator (54a) on rotary main shaft respectively, with described inner spacing collar, be against on the inner ring of described top corner contact ball bearing and bottom corner contact ball bearing, with described outer separator, be against on the outer ring of described top corner contact ball bearing and bottom corner contact ball bearing, and the height of described inner spacing collar (54b) is less than the height of outer separator (54a).
4. propeller-type facial contour error meter according to claim 1, it is characterized in that: multichannel conducting slip ring (11) is set on described rotary main shaft (35), and the detection signal of described the second stepper motor (20), inductance displacement sensor (14) and laser displacement sensor (13) and driving signal transmit by multichannel conducting slip ring (11) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210243295.6A CN102749041B (en) | 2012-07-13 | 2012-07-13 | Propeller type surface contour error measurement instrument and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210243295.6A CN102749041B (en) | 2012-07-13 | 2012-07-13 | Propeller type surface contour error measurement instrument and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102749041A CN102749041A (en) | 2012-10-24 |
| CN102749041B true CN102749041B (en) | 2014-10-08 |
Family
ID=47029421
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210243295.6A Expired - Fee Related CN102749041B (en) | 2012-07-13 | 2012-07-13 | Propeller type surface contour error measurement instrument and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102749041B (en) |
Families Citing this family (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103047941A (en) * | 2012-12-07 | 2013-04-17 | 法国圣戈班玻璃公司 | Measuring machine table, measuring system and vehicle glass test system |
| CN103049607A (en) * | 2012-12-17 | 2013-04-17 | 深圳市大族激光科技股份有限公司 | Improved method for gantry type support connection mode and gantry type support |
| CN103196365B (en) * | 2013-03-07 | 2016-12-07 | 宁波敏实汽车零部件技术研发有限公司 | A kind of auto parts and components laser scanning cubing |
| CN103245291B (en) * | 2013-04-24 | 2015-12-09 | 中国船舶重工集团公司第十二研究所 | Blade parts assembly accuracy detection method |
| CN103335590B (en) * | 2013-06-08 | 2016-06-01 | 沈阳黎明航空发动机(集团)有限责任公司 | The inductance detection method of blade profile is measured in a kind of multi-section timesharing |
| CN103630085B (en) * | 2013-10-15 | 2017-11-10 | 广东工业大学 | Multi-angle blade measuring device and method |
| CN104190745B (en) * | 2014-07-31 | 2016-04-06 | 安徽兴林机械集团有限公司 | A kind of inspection Correction Die of reamer blade |
| CN105290926A (en) * | 2014-12-16 | 2016-02-03 | 电子科技大学 | Blade intelligent grinding flexible manufacturing system |
| CN104613917A (en) * | 2015-02-12 | 2015-05-13 | 钱国臣 | Vehicle hub detection system with heat dissipation function and utilization method thereof |
| CN104634306A (en) * | 2015-02-12 | 2015-05-20 | 汪涛 | Detection system for vehicle hub with upper stopper and lower stopper and usage method of detection system |
| CN104713514A (en) * | 2015-02-12 | 2015-06-17 | 金华市四维空间汽车用品有限公司 | Movable vehicle hub detection system and using method thereof |
| CN104567786A (en) * | 2015-02-12 | 2015-04-29 | 徐萍 | Vehicle wheel hub detecting system capable of dissipating heat by fan and using method of vehicle wheel hub detecting system |
| CN104677321B (en) * | 2015-02-13 | 2018-03-30 | 浦江雄达机械设备有限公司 | The detection means and its application method of power industry turbine spindle bearing |
| CN104634307A (en) * | 2015-02-13 | 2015-05-20 | 楼天翔 | Power industry steam turbine main shaft bearing detecting device with anti-vibration function and detecting method |
| CN104613862B (en) * | 2015-02-13 | 2018-04-24 | 沂源县华阳能源设备有限公司 | The detection device and detection method of moveable power industry turbine spindle bearing |
| CN104677253A (en) * | 2015-02-13 | 2015-06-03 | 尚庆光 | Detection device with radiation and anti-vibration functions for main shaft bearing of steam turbine in power industry, and detection method |
| CN104697433A (en) * | 2015-02-13 | 2015-06-10 | 钱国臣 | Detection device and detection method for steam turbine spindle bearing having manually adjusted angle |
| TWI564547B (en) * | 2015-05-12 | 2017-01-01 | Position displacement sensing device | |
| CN105180834B (en) * | 2015-05-28 | 2016-04-13 | 华中科技大学 | A kind of blade intake and exhaust limit 3 D non-contacting type measurement mechanism |
| FR3043194B1 (en) * | 2015-11-02 | 2019-04-19 | Mesure-Systems3D | THREE-DIMENSIONAL CONTACTLESS CONTROL DEVICE FOR TURBOMACHINE, ESPECIALLY FOR AIRCRAFT REACTOR OR TURBINE |
| CN105890539A (en) * | 2016-04-01 | 2016-08-24 | 山东大学 | Rotational part machining precision quick and automatic measuring device and rotational part machining precision quick and automatic measuring method |
| CN107054690B (en) * | 2016-12-12 | 2024-04-26 | 惠阳航空螺旋桨有限责任公司 | Real-time measuring device for propeller blade angle |
| CN106643619B (en) * | 2017-02-10 | 2022-10-14 | 大连交通大学 | Propeller blade thickness measuring device, measuring system and measuring method |
| JP7009751B2 (en) * | 2017-03-15 | 2022-01-26 | オムロン株式会社 | Measurement system, control device, measurement method |
| CN106908014B (en) * | 2017-05-05 | 2020-04-21 | 苏州天准科技股份有限公司 | Five-axis measuring device for 3D curved glass |
| CN106895782A (en) * | 2017-05-05 | 2017-06-27 | 苏州天准科技股份有限公司 | A kind of rapid measurement device of 3D bend glasses |
| CN107121090A (en) * | 2017-05-05 | 2017-09-01 | 苏州天准科技股份有限公司 | A kind of method for fast measuring of 3D bend glasses |
| CN107121116A (en) * | 2017-05-25 | 2017-09-01 | 重庆大学 | Screw type face combination property detection platform |
| CN107966128B (en) * | 2017-12-03 | 2019-12-20 | 中国直升机设计研究所 | Unmanned aerial vehicle combined material paddle torsional angle detection device |
| CN108020160B (en) * | 2017-12-12 | 2023-11-07 | 镇江同舟螺旋桨有限公司 | Automatic laser measuring device for marine propeller blade |
| CN107990843A (en) * | 2017-12-12 | 2018-05-04 | 镇江同舟螺旋桨有限公司 | The small area of space laser measuring head of marine propeller blade |
| CN108278979B (en) * | 2018-01-03 | 2019-10-08 | 华中科技大学 | A kind of blade in situ contact formula three-dimensional measuring apparatus and method |
| CN108645337B (en) * | 2018-04-27 | 2019-06-11 | 北京理工大学 | A kind of depth inside pipe wall Surface Location Error on-line measurement and compensation method |
| CN108844501A (en) * | 2018-05-23 | 2018-11-20 | 清华大学 | A kind of laser frequency doubling crystal surface vertical measurement system and performance characterization method |
| CN108955617B (en) * | 2018-05-29 | 2021-01-05 | 潍坊科技学院 | Skew detector |
| CN108871247A (en) * | 2018-06-05 | 2018-11-23 | 安徽沃德气门制造有限公司 | A kind of valve-face detection device and detection method |
| CN109084722B (en) * | 2018-06-20 | 2019-08-13 | 华中科技大学 | A kind of adaptively sampled complex-curved contact measurement method |
| CN109186462B (en) * | 2018-08-10 | 2020-04-03 | 江南大学 | Laser high-speed measuring machine and measuring method |
| CN109974559B (en) * | 2019-04-09 | 2021-03-02 | 重庆水轮机厂有限责任公司 | Method for measuring opening degree of mixed flow type water pump blade inlet |
| CN110082501B (en) * | 2019-04-29 | 2021-05-28 | 中南大学 | Geological core space attitude restoration device |
| CN110793460B (en) * | 2019-11-06 | 2021-08-10 | 江苏科技大学 | Automatic detection device and detection method for rapid and accurate positioning of propeller blades |
| CN111397469A (en) * | 2020-04-09 | 2020-07-10 | 山东交通学院 | System and method for detecting errors and dynamics of profile of cylindrical intermittent cam |
| CN112082476A (en) * | 2020-08-31 | 2020-12-15 | 哈尔滨智达测控技术有限公司 | Small-size gear measuring center |
| CN112504151B (en) * | 2020-11-26 | 2022-04-15 | 大连辽南船厂 | Three-dimensional measurement process method for propeller pitch |
| CN112964172B (en) * | 2020-12-08 | 2022-08-26 | 聚时科技(上海)有限公司 | Aviation blade surface measuring method and measuring equipment based on structured light camera |
| CN113959373A (en) * | 2021-10-25 | 2022-01-21 | 中国航空工业集团公司北京长城计量测试技术研究所 | Paddle radial corner measuring device |
| CN114001681B (en) * | 2021-11-16 | 2024-04-12 | 沧州博瑞泽宇智能科技股份有限公司 | Full-automatic laser detector for industrial large fan and detection method |
| CN114964066B (en) * | 2022-08-02 | 2022-11-25 | 深圳市海清视讯科技有限公司 | Measuring device and screening system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1912540A (en) * | 2006-08-30 | 2007-02-14 | 天津大学 | Tilt error compensation method based on coordinate transformation in micro-nano structure 3-D contour measuring |
| CN101886922A (en) * | 2009-05-15 | 2010-11-17 | 松下电器产业株式会社 | Probe for three-dimensional shape measuring apparatus and 3 d shape testing device |
| CN102538700A (en) * | 2011-12-02 | 2012-07-04 | 合肥工业大学 | Screw rotor type surface profile error measurement instrument |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006317465A (en) * | 2006-08-03 | 2006-11-24 | Tdk Corp | X-ray analysis method and x-ray analysis device |
-
2012
- 2012-07-13 CN CN201210243295.6A patent/CN102749041B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1912540A (en) * | 2006-08-30 | 2007-02-14 | 天津大学 | Tilt error compensation method based on coordinate transformation in micro-nano structure 3-D contour measuring |
| CN101886922A (en) * | 2009-05-15 | 2010-11-17 | 松下电器产业株式会社 | Probe for three-dimensional shape measuring apparatus and 3 d shape testing device |
| CN102538700A (en) * | 2011-12-02 | 2012-07-04 | 合肥工业大学 | Screw rotor type surface profile error measurement instrument |
Non-Patent Citations (3)
| Title |
|---|
| JP特开2006-317465A 2006.11.24 |
| 余武志等.螺杆转子的NURBS建模.《电子测量与仪器学报》.2009,第15-18页. |
| 螺杆转子的NURBS建模;余武志等;《电子测量与仪器学报》;20091231;第15-18页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102749041A (en) | 2012-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102749041B (en) | Propeller type surface contour error measurement instrument and method | |
| CN106556367B (en) | Rotation error measuring device of aerostatic main shaft | |
| CN102538700B (en) | Screw rotor type surface profile error measurement instrument | |
| CN202350753U (en) | Measuring instrument for profile error of spiral rotor molded surface | |
| CN106441153B (en) | A kind of aperture aspherical element profile high-precision detecting method and device | |
| CN102162717B (en) | Device and method for automatically detecting composite errors of spiral inner raceway of ball nut | |
| CN101403600B (en) | Synthetic inspection tester for shaft element | |
| CN104625880A (en) | Five-axis machine tool cutter posture and cutter point position error synchronous detection mechanism | |
| CN203053405U (en) | Rapid gear single error field measuring device based on double-face engagement | |
| CN105387817A (en) | Device for rapidly detecting size parameters of cylinder type excircle shape | |
| CN201811840U (en) | Single-flank meshing tester for micron gear error | |
| CN101957190B (en) | Worm error detection device | |
| CN102322796A (en) | Laser detection device and method for gear parameters | |
| CN210108282U (en) | Columnar part outer circumference size and shape and position error non-contact intelligent detector | |
| CN108759694A (en) | A kind of bearing size detecting system of quick large redundancy | |
| CN109737884A (en) | A kind of quiet dynamic deformation amount on-Line Monitor Device of axial workpiece and method | |
| CN105928479A (en) | Online measuring device of outer diameter of cylindrical member in spinning process | |
| CN114264251B (en) | Automatic aligning and leveling workbench and transverse arm radial measurement size calibration method | |
| CN108319299B (en) | Adjusting device for multi-measuring-head installation angle, and measuring and compensating method | |
| CN111331427B (en) | Single-value measuring tool and method for attitude angle of main shaft head of machine tool | |
| CN112798015B (en) | Dynamic angle calibration device | |
| CN111044242A (en) | Rigidity detection device and detection method for main shaft and guide rail of ultra-precise fly-cutting machine tool | |
| CN114485474B (en) | Triaxial ultra-precise contour detection device | |
| CN115854908A (en) | Non-contact ultra-precise contour scanning detection device | |
| CN114858121A (en) | Rolling bearing ring cylindricity measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141008 |