Research On Key Technologies Of Engine Shell Driving Vehicle Of The Grinding Robot

Recently the robotics technology has been a representational one of the most strategic technologies in the high-technology fields, which makes the traditional industry producing mode change essentially, and it also makes sense to the development of the society. Especially industrial robots are applied more and more widely, and that is an important way for our country to go from a big manufacturing nation to powerful nation.During the process of manufacturing a solid rocket engine, there is a process to grind the stress release boot of the solid rocket engine precisely. And the reason of doing that is to prepare for spraying gel for the next step. While the traditionally manually grinding method is inefficient, and the dust is harmful to workers'health. Therefore the grinding robot needs inventing.The grinding robot includes the main vehicle and the engine shell driving vehicle, and the engine shell driving vehicle is used to support the engine shell as well as combine the main vehicle to grind the shell. The grinding robot is supposed to be seasoned with different kinds of shells. Therefore we must design the engine shell driving vehicle to be adaptive for the shells with different length or radius. The mechanism of the engine shell driving vehicle is designed based on practical requirement and synthesis design method in the dissertation.Due to its special material and use, the engine shell should be protected safely. The dissertation describes the relationship between the angle, the diameter of the wheel and the angular velocity with formula. So on the premise of ensuring the security of the shell and lowering the height of the central axis, the optimal parameters can be gained. In the dissertation it is simulated with the software Ansys and ADAMS. At the same time, the dissertation also shows the relationship between the angular velocity and the safety.In order to keep grinding precisely, the paper analyzes the error and gives the solution. At last the automation and intelligence in process of grinding is realized.