CN109374208B - Equipment for detecting static balance of propeller and error compensation method thereof - Google Patents
Equipment for detecting static balance of propeller and error compensation method thereof Download PDFInfo
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Abstract
The invention discloses equipment for propeller static balance detection and an error compensation method thereof.
Description
Technical Field
The invention relates to the technical field of static balance detection, in particular to an error compensation method for static balance detection of a marine propeller.
Background
The propeller is the core power element of boats and ships, and with the continuous development of the times, our requirement to boats and ships is also higher and higher, and high-speed and high-precision have become the pronoun of modern boats and ships. The continuous pursuit of high speed and high precision of the propeller also means that the requirement for eliminating the static unbalance mass of the propeller is continuously increased, and further improvement of the static balance detection mode of the propeller is required.
The existing propeller static balance detection is mainly realized by two methods, namely a balance shaft rolling method and a swing method vertical balancer detection method, and the existing static balance detection equipment mainly centers the propeller by a mandrel positioning method and is fixed by a cone block. However, the two detection methods cannot always solve the eccentricity between the center of the propeller and the center of the detection platform, and the propeller is easily blocked by the cone block in the centering process due to the existence of the eccentricity, so that the propeller cannot be normally detached after the detection is finished. In view of the problem, the invention patent of CN201710306613.1 application number "a coreless marine propeller static balancer and a static balance detection method thereof" provides a coreless marine propeller static balancer and a static balance detection method thereof, which use visual guidance to complete centering, and theoretically, the method can eliminate the eccentricity between the propeller center and the detection platform center, but the eccentricity still exists due to the hoisting process error and the detection error of the laser triangulation distance meter. The existence of the eccentricity will inevitably affect the detection result of the unbalanced mass finally, so that the propeller is accelerated to wear in actual use, and the performance of the propeller is affected.
Therefore, it is necessary to compensate for the eccentricity between the center of the propeller and the center of the inspection platform.
Disclosure of Invention
Aiming at the problem that the eccentricity between the propeller center and the detection platform center cannot be eliminated in the propeller static balance detection process, the invention provides an error compensation method for propeller static balance detection.
In order to solve the technical problems, the invention adopts the technical scheme that:
the equipment for detecting the static balance of the propeller comprises a detection device, wherein the detection device comprises a bearing plate, the central position of the upper surface of the bearing plate is sequentially provided with a rotating platform fixed end, a rotating platform output end, a rotating platform, a guide rail and an industrial camera from bottom to top, the rotating platform output end drives the rotating platform to rotate, the guide rail is provided with a guide bar, one end of the guide rail is provided with a motor, and the guide bar is provided with a laser triangular range finder; a hydraulic suspension module is arranged at the center of the lower surface of the bearing plate, a sensor conversion platform motor is arranged at the side part of the hydraulic suspension module, a sensor conversion platform is arranged between the hydraulic suspension module and the bearing plate, a mass measurement sensor and a weighing sensor are arranged at the edge position of the sensor conversion platform, and a servo electric cylinder is arranged at the lower part of the weighing sensor; and an electric push rod is arranged at the edge position of the bearing plate.
As a further preferred scheme, four electric push rods are arranged at the edge of the bearing plate, and the distance between every two of the four electric push rods is the same.
As a further preferable scheme, a tilt sensor is further disposed on the lower surface of the bearing plate.
As a further preferred scheme, a laser triangular distance measuring instrument connecting base is arranged between the guide strip and the laser triangular distance measuring instrument, and an industrial camera base is arranged between the guide rail and the industrial camera.
An error compensation method for a propeller static balance detection device comprises the following steps:
the method comprises the following steps: the traveling crane hangs the propeller to approach the detection device, the central rotating shaft hole of the propeller faces downwards, the industrial camera is started, the industrial camera continuously shoots the central rotating shaft hole of the propeller to move relative to the detection device, the traveling crane is guided to reach the central position of the detection device, the traveling crane drives the propeller to descend along the vertical direction until the propeller among the four electric push rods keeps a suspension state;
step two: the four electric push rods are synchronously started to cooperatively center the propellers in a hanging manner, the traveling crane still moves along with the propellers, then the well-centered propellers are placed on the upper end face of the bearing plate to be suspended, the electric push rods return to the original positions, the guide rail and the laser triangular distance meter are positioned in a central rotating shaft hole of the propellers, the motor is started, the guide rail drives the laser triangular distance meter to move rightwards to the detection range of the laser triangular distance meter, and the laser triangular distance meter starts to collect the distance from the inner hole wall of the propeller to the center of the detection device;
step three: the motor in the fixed end of the rotating platform works to drive the output end of the rotating platform to start, the rotating platform is driven to rotate clockwise for a circle, the guide rail rotates clockwise for a circle, the laser triangulation distance meter is driven to rotate clockwise for a circle to collect a circle of data of the distance between the inner hole wall of the propeller and the center of the bearing plate, the collected data is transmitted to the industrial personal computer, the error between the center of the propeller and the center of the bearing plate is finally obtained through the analysis and calculation of the industrial personal computer, comparing the eccentricity finally detected with the preset standard value, i.e. the allowable error value, by the computer, if the value is greater than the allowable error value, repeating the steps for re-detection, and if the requirements are met, displaying the position relation between the propeller center and the detection platform center through visual processing on the image finally acquired by the industrial camera, so as to be convenient for drawing a detection coordinate system diagram later;
step four: the method comprises the steps that a hydraulic suspension module is started, a bearing plate is suspended by a hydraulic suspension ball to bear the weight of a propeller, at the moment, the default position of a sensor conversion platform is that a weighing sensor is located right above a servo electric cylinder, the servo electric cylinder is started after the bearing plate bears the propeller, the servo electric cylinder jacks up the weighing sensor, the bearing plate and the propeller, after jacking of the servo electric cylinder is finished, a jacking stroke is transmitted to an industrial personal computer by a displacement sensor carried by the servo electric cylinder, and as long as the final height of the stroke is larger than the height of a bearing disc, the data of the weighing sensor is read and recorded, and the operation is repeated for three times to obtain the average value to obtain the mass;
step five: establishing a plane coordinate system, setting a plane of a sensor conversion platform to have an X axis and a Y axis, setting three weighing sensors A, B and C on the sensor conversion platform, setting FA, FB and FC as the readings of the three weighing sensors, setting a point G as the central theoretical position of a detection platform, setting a circle F with the point G as the center of a circle as the theoretical position of a propeller, setting a point O as the actual position of the center of the propeller, setting a circle E with the point O as the center of a circle as the actual position of the propeller, and setting H as the actual center of gravity of the propeller, so as to obtain resultant moments delta m1 and delta m2 (formula (1)) on the axis of the coordinate system X, Y:
wherein: FG is the total mass of the propeller, R is the radius of the center of mass after the blades are set to be adjusted, R is the radius of a distribution circle of the weighing sensors, FA, FB and FC are data collected by the weighing sensors, and J, K is the actual center coordinate of a round hole at the bottom of the propeller;
step six: however, in practice, the parameters of K, J, FG, FA, FB, FC have errors Δ K, Δ J, Δ FG, Δ FA, Δ FB, Δ FC due to measurement errors generated by the sensors, and the real data are K1, J1, FG1, FA1, FB1, FC1, so that:
K＝ΔK+K1；J＝ΔJ+J1；FG＝ΔFG+FG1；FA＝ΔFA+FA1；FB＝ΔFB+FB1；FC＝ΔFC+FC1
substituting it into formula (1) to obtain
As can be seen from the above equations, the error portions of Δ m1 and Δ m2 are (equation (2))
Step seven: in the actual detection process, the detection precision of a laser triangular range finder and a weighing sensor adopted by the equipment is combined, the maximum influence parameter influencing the whole detection result can be judged to be the mass FG1 of the propeller from the formula, other errors mainly comprise delta K, delta J, delta FA, delta FB and delta FC which are mainly generated in the detection process of the laser triangular range finder and the weighing sensor, if the laser triangular range finder and the weighing sensor with higher detection precision are adopted, the errors can be basically ignored, otherwise, the errors are brought together for calculation; if the detection accuracy of the laser triangular range finder and the weighing sensor is high, the final error can be calculated by only bringing the mass FG1 of the propeller, the mass error delta FG, the center of mass radius r and the indication and the detection accuracy of the laser triangular range finder in the formula (2), and the final error is brought into a final unbalanced mass detection result to obtain accurate unbalanced mass and is eliminated.
Compared with the existing propeller static balance detection technology, the equipment for propeller static balance detection and the error compensation method thereof provided by the invention can compensate the eccentricity between the center of the propeller and the center of the detection platform and the detection error of the sensor to eliminate the influence of the detection error of the eccentricity and the sensor on the unbalance quality of a final detection result, can greatly improve the precision of propeller static balance detection, and enables the final error to be in a very small range, thereby improving the processing precision, the propulsion efficiency and the service life of the propeller.
Drawings
FIG. 1 is a general flow diagram of error compensation;
FIG. 2 is a schematic structural diagram of a centering detection module;
FIG. 3 is a schematic structural diagram of a detection device in the centering detection module of FIG. 2;
FIG. 4 is a flowchart of the alignment detection module;
FIG. 5 is a schematic structural diagram of a detection module;
FIG. 6 is a flow chart of the detection module weighing operation;
FIG. 7 is a diagram of a detection coordinate system;
wherein, 1, the electric push rod; 2-a detection device; 3-laser triangular range finder; 4-a guide rail; 5, a motor; 6-a rotating platform; 7-rotating platform output end; 8-rotating the platform fixed end; 9-the laser triangular range finder is connected with the base; 10-industrial camera mount; 11-a carrier plate; 12-an industrial camera; 13-servo electric cylinder; 14-a hydraulic suspension module; 15-a sensor conversion platform; 16-a mass-measuring sensor; 17-a load cell; 18-sensor switching platform motor; 19-tilt angle sensor.
Detailed Description
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention provides an error compensation method for static balance detection of a large marine propeller, which comprises the following specific steps of:
analysis of sources of error
The main factors influencing the error of the propeller static balance detection include the offset distance between the center of the propeller and the center of the detection platform in the propeller centering process and the error of a sensor used on the detection platform, but only the offset distance between the center of the propeller and the center of the detection platform in the propeller centering process can be compensated, and the detection error of the sensor cannot be avoided. As shown in FIG. 1, the eccentricity between the center of the propeller and the center of the detection platform and the reading of the weighing sensor are measured to compensate the error generated in the detection process.
Measurement of propeller and detection platform eccentricity
As shown in fig. 2 and 3, the centering detection module of the propeller static balance detection platform comprises an electric push rod 1 and a detection device 2, and the detection device mainly comprises a laser triangular distance meter 3, a guide rail 4, a motor 5, a rotary platform 6, a rotary platform output end 7, a rotary platform fixing end 8, a laser triangular distance meter connecting base 9, an industrial camera base 10, a bearing plate 11 and an industrial camera 12. The concrete testing process is as shown in fig. 4, in operation, at first the driving is hanging the screw and is being close to testing platform, industry camera 12 starts, industry camera 12 constantly shoots the relative testing platform's of screw position, thereby the guide driving arrives the appointed place, the screw is transferred along vertical direction, when the screw reachs the settlement position, centering mechanism work, electric putter 1 starts, unsettled centering is carried out to the screw, then transfer the upper end face of loading board 11 with the screw that the centering is good, then electric putter 1 returns the normal position, detection device 2 is in the interior sky of screw. At the moment, the motor 5 is started, the guide rail 4 drives the laser triangular range finder 3 to move rightwards to a set position, the laser triangular range finder 3 starts to be prepared for collecting the distance from the inner hole arm of the propeller to the center of the detection device 2, the motor in the fixed end 8 of the rotary platform works to drive the output end 7 of the rotary platform to rotate clockwise for a circle, the output end 7 of the rotary platform drives the rotary platform 6 to rotate clockwise for a circle, the rotary platform 6 drives the motor 5 and the guide rail 4 to rotate clockwise for a circle through the output end 7 of the rotary platform, the electric guide rail drives the laser triangular range finder 3 to rotate clockwise for a circle to collect the distance data of the inner hole wall of the propeller from the center of the bearing plate 11, the collected data is transmitted to the industrial personal computer, the final error between the center of the propeller and the center of the bearing plate 11 is obtained through the analysis and calculation of the industrial computer, the finally, if the numerical value is too large, the steps are repeated for re-detection, and if the numerical value meets the requirement, the position relation between the propeller center and the detection platform center is displayed on the image finally acquired by the industrial camera 12 through visual processing.
Measurement of the reading of a weighing cell
As shown in fig. 5, the detection module of the propeller static balance detection platform mainly comprises a servo electric cylinder 13, a hydraulic suspension module 14, a sensor conversion platform 15, a mass measurement sensor 16, a weighing sensor 17, a sensor conversion platform motor 18 and an inclination sensor 19. The data required by the error compensation method for the static balance detection of the large marine propeller only comprises the data of the weighing sensor 17, so that only weighing measurement is needed, the process of weighing detection is shown in fig. 6, when the method works, firstly, the hydraulic suspension module 14 is started, the hydraulic suspension ball suspends the bearing plate 11 to bear the weight of the propeller, at the moment, the default position of the sensor conversion platform 15 is that the weighing sensor 17 is positioned right above the servo electric cylinder 13, the servo electric cylinder 13 is started after the propeller is placed on the bearing plate 11, and the servo electric cylinder 13 jacks the weighing sensor 17, the bearing plate 11 and the propeller according to a preset stroke. The height of the preset stroke end of the servo electric cylinder 13 is larger than the height of the bearing plate 11. After jacking is finished, the stroke of the servo electric cylinder 13 is transmitted to an industrial personal computer by a displacement sensor, the industrial personal computer compares the stroke with the preset stroke, if the stroke meets the requirement, the data of the weighing sensor 17 is read and recorded, and due to inaccuracy of detection precision, the operation is repeated for three times to obtain the average value to obtain the quality of the propeller.
Compensating for eccentricity and sensor accuracy errors
As shown in fig. 7, a, B, and C are three weighing sensors uniformly distributed, FA, FB, and FC are readings of the three weighing sensors, G is a theoretical position of the center of the detection platform, i.e., the center of the propeller, G is a theoretical position of the propeller, F is a circle with G as a center of the circle is a theoretical position of the propeller, O is an actual position of the center of the propeller, E is an actual position of the propeller, and H is an actual center of gravity of the propeller.
1) According to the coordinate system established in fig. 7, the readings of the three load cells, the positional relationship of the three load cells, and the actual situation of the propeller, the resultant moments Δ m1, Δ m2 on the axes of the coordinate system X, Y can be obtained:
wherein: FG is the total mass of the propeller, R is the radius of the center of mass (namely the polishing position) after the blades are set to be adjusted, R is the radius of a distribution circle of the weighing sensors, FA, FB and FC are data collected by the weighing sensors, and J, K is the actual center coordinate of a circular hole at the bottom of the propeller;
2) however, in practice, the parameters of K, J, FG, FA, FB, FC have errors Δ K, Δ J, Δ FG, Δ FA, Δ FB, Δ FC due to measurement errors generated by the sensors, and the real data are K1, J1, FG1, FA1, FB1, FC1, so that:
K＝ΔK+K1；J＝ΔJ+J1；FG＝ΔFG+FG1；FA＝ΔFA+FA1；FB＝ΔFB+FB1；FC＝ΔFC+FC1
substituting it into formula (1) to obtain
As can be seen from the above formula, the error portions of Δ m1 and Δ m2 are respectively
In the actual detection process, the detection precision of the laser triangulation ranging instrument and the weighing sensor adopted by the equipment is combined, the maximum influence parameter influencing the whole detection result can be judged to be the mass FG1 of the propeller from the formula, other errors mainly comprise delta K, delta J, delta FA, delta FB and delta FC which are mainly generated by the laser triangulation ranging instrument and the weighing sensor in the detection process, if the laser triangulation ranging instrument and the weighing sensor with higher detection precision are adopted, the errors can be basically ignored, and if the laser triangulation ranging instrument and the weighing sensor with higher detection precision are adopted, the errors are brought together for calculation. If the detection accuracy of the laser triangular range finder and the weighing sensor is high, the detection errors of the system caused by the detection errors and the actual errors of the positions of the propellers can be calculated by only bringing the mass FG1, the mass error delta FG, the center of mass radius r and the readings and the detection accuracy of the laser triangular range finder into the formula (2), and finally the accurate unbalanced mass is obtained by subtracting the part from the detected unbalanced mass detection result.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. An error compensation method for propeller static balance detection equipment is characterized in that the detection equipment comprises a detection device (2), the detection device (2) comprises a bearing plate (11), a rotating platform fixing end (8), a rotating platform output end (7), a rotating platform (6), a guide rail (4) and an industrial camera (12) are sequentially arranged at the central position of the upper surface of the bearing plate (11) from bottom to top, the rotating platform output end (7) drives the rotating platform (6) to rotate, a guide bar is arranged on the guide rail (4), a motor (5) is arranged at one end of the guide rail (4), and a laser triangulation ranging device (3) is arranged on the guide bar; a hydraulic suspension module (14) is arranged at the center of the lower surface of the bearing plate (11), a sensor conversion platform motor (18) is arranged at the side part of the hydraulic suspension module (14), a sensor conversion platform (15) is arranged between the hydraulic suspension module (14) and the bearing plate (11), a mass measurement sensor (16) and a weighing sensor (17) are arranged at the edge position of the sensor conversion platform (15), and a servo electric cylinder (13) is arranged at the lower part of the weighing sensor (17); the border position of loading board (11) is provided with electric putter (1), its characterized in that: the error compensation method comprises the following steps:
the method comprises the following steps: the driving vehicle hangs the propeller to approach the detection device (2), the central rotating shaft hole of the propeller faces downwards, the industrial camera (12) is started, the industrial camera (12) continuously shoots the central rotating shaft hole of the propeller to move relative to the detection device (2), the driving vehicle is guided to hang the propeller right above the detection device (2), so that the hub of the propeller is positioned in the working range of the electric push rods, the driving vehicle drives the propeller to descend along the vertical direction until the propeller among the four electric push rods (1) keeps a suspension state;
step two: the four electric push rods (1) are synchronously started, the propellers are suspended and centered in a coordinated manner, the traveling crane still moves along with the traveling crane, then the well-centered propellers are placed on the upper end face of the bearing plate (11) and are kept suspended, the electric push rods (1) return to the original position, the guide rail (4) and the laser triangulation distance meter (3) are located in a propeller rotating shaft hole, the motor (5) is started, the guide rail (4) drives the laser triangulation distance meter (3) to send the laser triangulation distance meter (3) to the range of the laser triangulation distance meter along the direction of the guide rail, and the laser triangulation distance meter (3) is started to collect the distance from the inner hole wall of the propeller to the center of the detection device (2);
step three: a motor in the fixed end (8) of the rotary platform works to drive the output end (7) of the rotary platform to start, the rotary platform (6) is driven to rotate clockwise for a circle, the guide rail (4) rotates clockwise for a circle, the laser triangulation distance meter (3) is driven to rotate clockwise for a circle to collect data of the distance between the inner hole wall of the propeller and the center of the bearing plate (11), the collected data is transmitted to an industrial personal computer, the error between the center of the final propeller and the center of the bearing plate (11) is obtained through analysis and calculation of the industrial personal computer, the finally detected eccentricity is compared with a preset standard value, namely an error allowable value, if the value is greater than the error allowable value, the first step and the second step are repeated for detection, if the value meets the requirement, the finally collected image of the industrial camera (12) displays the position relation between the center of the propeller and the center of the detection platform through visual processing, drawing a detection coordinate system diagram conveniently;
step four: the method comprises the following steps that a hydraulic suspension module (14) is started, a bearing plate (11) is suspended by a hydraulic suspension ball to bear the weight of a propeller, at the moment, a default position of a sensor conversion platform (15) is that a weighing sensor (17) is located right above a servo electric cylinder (13), the servo electric cylinder (13) is started after the bearing plate (11) bears the propeller, the servo electric cylinder (13) jacks the weighing sensor (17), the bearing plate (11) and the propeller, after the servo electric cylinder (13) is jacked, a displacement sensor carried by the servo electric cylinder (13) transmits a jacking stroke to an industrial personal computer, and as long as the final height of the stroke is larger than the height of a bearing disc, data of the weighing sensor (17) is read and recorded, the steps one to three are repeated, and the average value is used for obtaining the mass of the propeller;
step five: establishing a plane coordinate system, setting a plane of a sensor conversion platform (15) to have an X axis and a Y axis, setting three weighing sensors (17) on the sensor conversion platform (15), wherein A, B and C are respectively set, FA, FB and FC are respectively the readings of the three weighing sensors (17), a point G is the central theoretical position of a detection platform, a circle F taking the point G as the center of a circle is the theoretical position of a propeller, a point O is the actual position of the center of the propeller, a circle E taking the point O as the center of a circle is the actual position of the propeller, and H is the actual center of gravity of the propeller, so that resultant moments delta m1 and delta m2 on the axis of the coordinate system X, Y are obtained, as shown in a formula (1):
wherein: FG is the total mass of the propeller, R is the radius of the center of mass after the blades are set to be adjusted, R is the radius of a distribution circle of the weighing sensors, FA, FB and FC are data collected by the weighing sensors, K is the numerical value of the coordinate X direction of the circular hole at the bottom of the propeller, and J is the numerical value of the coordinate Y direction of the circular hole at the bottom of the propeller;
step six: however, in practice, the parameters of K, J, FG, FA, FB, FC have errors Δ K, Δ J, Δ FG, Δ FA, Δ FB, Δ FC due to measurement errors generated by the sensors, and the real data are K1, J1, FG1, FA1, FB1, FC1, so that:
K＝ΔK+K1；J＝ΔJ+J1；FG＝ΔFG+FG1；FA＝ΔFA+FA1；FB＝ΔFB+FB1；FC＝ΔFC+FC1
substituting it into formula (1) to obtain
As can be seen from the above equation, the error portions of Δ m1 and Δ m2 are shown in equation (2):
step seven: in the actual detection process, the detection precision of a laser triangular range finder and a weighing sensor adopted by the equipment is combined, the maximum influence parameter influencing the whole detection result can be judged to be the mass FG1 of the propeller from the formula, and other errors delta K, delta J, delta FA, delta FB and delta FC are generated in the detection process of the laser triangular range finder and the weighing sensor, if the laser triangular range finder and the weighing sensor with higher detection precision are adopted, the error can be ignored, otherwise, the error is brought together for calculation; if the detection accuracy of the laser triangular range finder and the weighing sensor is high, the final error can be calculated by only bringing the mass FG1, the mass error delta FG, the center of mass radius r and the indication and the detection accuracy of the laser triangular range finder into the formula (2), and the final error is brought into the final unbalanced mass detection result, and the calculated error is subtracted from the final unbalanced mass detection result, so that the unbalanced mass of the propeller can be obtained.
2. The error compensation method for the propeller static balance detection device according to claim 1, characterized in that: the edge position of the bearing plate (11) is provided with four electric push rods (1), and the distances between every two of the four electric push rods (1) are the same.
3. The error compensation method for the propeller static balance detection device according to claim 1, characterized in that: and the lower surface of the bearing plate (11) is also provided with an inclination angle sensor (19).
4. The error compensation method for the propeller static balance detection device according to claim 1, characterized in that: be equipped with laser triangular range finder between conducting bar and laser triangular range finder (3) and connect base (9), be equipped with industry camera base (10) between guide rail (4) and industry camera (12).
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| CN109374208A (en) | 2019-02-22 |
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