船舶螺旋桨机器人铣磨系统

Robotic Milling and Grinding System for Marine Propellers

对船舶螺旋桨机器人铣磨系统进行研究,详细阐述系统组成、系统原理和关键技术。利用拍照式三维扫描仪获得螺旋桨叶片的形状参数信息并拟合形成螺旋桨三维毛坯模型,运用专用的模型计算软件完成毛坯模型与目标模型的比对并绘制出切削曲线,得出最佳切削量,传输给机器人系统产生铣削程序,从而使机器人以最佳切削量对螺旋桨进行铣磨。该机器人铣磨系统技术可用来解决磨削整体螺旋桨时出现桨叶间干涉和手工打磨质量低下等难题,对快速、高质量地加工整体螺旋桨具有重要作用。

This paper studies the robotic milling and grinding system for marine propellers and elaborates the system composition,system principles and key technologies.The propeller blade shape parameters are obtained with the photographic 3D scanner,and then the data is fitted to create the 3D blank model of the propeller.A professional software is used to compare the blank model with the target model and to draw the cutting curves,so as to achieve the optimal cutting amount.After that,the data is transferred to the robotic system where the milling and grinding program is generated for the robot to mill and grind the propeller with the optimal cutting amount.This robotic milling and grinding system can solve the problem of interference between blades when the whole propeller is under grinding,and avoid the defect of low quality of manual grinding,which is very important for the fast and high quality manufacturing of the whole propeller.