Research On Technology And Control Scheme Of Robotic Abrasive Belt Polishing For Integrated Propeller

Integrated propeller is the core components which provide ship the forward and back power, and it is widely used in marine propulsion. Its quality affects the ship’s propulsion efficiency, and processing quality of propellers reflects a country’s shipbuilding capabilities.Integrated propeller combines the blades and hub, which replace the traditional process that blade and hub are manufactured separately, and assembled finally. It has a simple structure, small number of parts and reliability. Compared to its advantage, the integrated propeller manufacturing process is relatively more complex, currently the main processes casting, milling and final manual polishing, but manual polishing cannot ensure its processing quality.Robotic machining has the advantage of simple structure, low cost, easy to expand and so on. This article research the integrated propeller belt grinding method, basing on the analysis of structural and the material characteristic of the propeller, suitable integrated propeller robot machining scheme are get; and the robot machining program are get through robot offline programming. This scheme solves the problems of interference between the blade and the poor quality of manual polishing during the processing of overall propeller grinding, which has a magnificent meaning for accomplishing the integrated propeller surface polishing.The main research work of the article is as follows:① Getting the appropriate belt grinding method through analyzing the material and structural characteristics of the propeller. Proposing a contact wheel grinding processing methods for blades polishing, and other abrasive grains for blade and hub.② Basing on the processing technical requirements, path planning and trajectory for propeller belt grinding are proposed. Blade point information of integrated propeller are get through UG Redevelopment.③ According to the actual processing needs, achieving propeller robotic polishing off-line programming by selecting the appropriate robot machining instructions language and inverse kinematics analysis and matrix operations.④ Soft shaft driven and motor driven grinding head were analyzed in the environment of UG, the advantages and disadvantages of each equipment programs are discussed, which finally get proper equipment scheme control schemes of propeller processing. ⑤ Verification of the program are tested through robotic processing experiment.