CN112548583A

CN112548583A - Marine propeller machining robot and machining method thereof

Info

Publication number: CN112548583A
Application number: CN202011399262.1A
Authority: CN
Inventors: 张春燕; 邓鹏鹏; 张胜文; 高兆楼; 王林; 李坤
Original assignee: Jiangsu University of Science and Technology
Current assignee: Jiangsu University of Science and Technology
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-03-26

Abstract

The invention discloses a large marine propeller processing robot, which comprises an X-axis transmission mechanism fixedly arranged on the ground, a Y-axis transmission mechanism arranged on the X-axis transmission mechanism, a robot main body arranged on the Y-axis transmission mechanism, and a rotary supporting workbench arranged on the ground at the front side of the X-axis transmission mechanism and used for mounting a large marine propeller blank, wherein the X-axis transmission mechanism is used for driving the Y-axis transmission mechanism and the robot main body arranged on the Y-axis transmission mechanism to linearly move along the left-right direction; the Y-axis transmission mechanism is used for driving the robot main body to linearly move along the front-back direction. The invention realizes the milling and grinding integration of the large marine propeller blade, improves the production efficiency, saves the production cost, improves the working environment and lightens the labor intensity of workers. The invention also discloses a method for processing the propeller blades by using the large marine propeller processing robot.

Description

Marine propeller machining robot and machining method thereof

Technical Field

The invention relates to a marine propeller machining robot, and belongs to the technical field of machining equipment.

Background

The marine propeller is used as a core component of ship power, and the processing quality and the manufacturing level of the marine propeller directly influence the dynamic performance and the stability performance of a ship. The blade of the propeller blade wheel for the large ship is thin, the overhang wall is long, vibration and deformation are easy to generate in the processing process, and the processing precision of the blade surface is seriously influenced; on the other hand, the large-scale marine propeller has a large disc surface ratio, and due to the fact that the size of the blades is large, the area between the adjacent blades is narrow, even an overlapping area exists, and interference and over-cutting are prone to occur during machining. The processing of the large marine propeller with low cost, high quality and high efficiency is the key point of the intensive research of experts and scholars at home and abroad. At present, a large-scale multi-axis numerical control machine tool applied to large-scale enterprises is a main means for machining marine propellers, most of small and medium-sized enterprises finish propeller blade surface machining by manual polishing, and the small and medium-sized enterprises machine the propellers in a universal robot installation grinding wheel polishing or milling mode. Although the precision of the numerical control machine tool is relatively high, the reconfigurable configuration and the manufacturing flexibility are poor, the manufacturing cost is high, some numerical control machine tools are tens of millions, the production cost is high, and the numerical control machine tool is difficult to bear by small and medium-sized enterprises; although the general industrial robot can complete the processing task, due to the reasons of small processing range, poor rigidity and the like, the general industrial robot can only complete the processing of small and medium propellers and cannot be used as a large marine propeller; the manual polishing mode is low in efficiency, unstable in processing quality and poor in working environment, and influences the health of workers.

Patent application No.: CN201410729194.9, name: the invention discloses an intelligent integrated propeller grinding system and a method thereof, and aims to solve the problems of low production efficiency, poor processing quality stability and serious dust pollution of a manual propeller grinding processing mode and high price of a large-scale multi-axis numerical control milling machine or a special multi-axis numerical control abrasive belt grinding machine. The patent names are: "large-scale integral marine propeller profile numerical control grinding machine tool", patent application no: the invention patent of CN201510093679.8 provides a large integral numerical control grinding machine tool for the profile of a marine propeller, which aims at the problems of expensive numerical control machining equipment for the profile of the large propeller, high labor intensity of workers in grinding and the like, but integrates the gantry type upright post of a six-axis industrial robot and the position of a rotary support table of the propeller to be too close, and the large marine propeller is easy to interfere and collide with the robot or the upright post and a cross beam in the hoisting and positioning process. The patent names are: "a two-sided arm device that polishes for polishing large marine propeller", patent application no: the invention patent of CN201710521719.3 provides a double-sided polishing arm device for polishing a large marine propeller, aiming at the problem that the surface quality of a propeller blade is seriously affected due to the strong flutter of the propeller at the blade tip part of the propeller blade, but the polishing range is only the range of the blade edge which is easy to vibrate, the processing range is too small, the whole processing of the large marine propeller blade cannot be completed, and the device only has a certain reference value.

Disclosure of Invention

The invention aims to provide a large marine propeller machining robot and a machining method aiming at the problems and the defects in the prior art.

The milling and grinding integrated processing device can finish milling and grinding integrated processing of the large marine propeller, not only improves processing efficiency, reduces production cost, and improves working environment of workers.

In order to achieve the purpose, the invention is realized by the following technical scheme: a large marine propeller machining robot is characterized by comprising an X-axis transmission mechanism fixedly mounted on the ground, a Y-axis transmission mechanism mounted on the X-axis transmission mechanism, a robot main body mounted on the Y-axis transmission mechanism, and a rotary supporting workbench mounted on the ground on the front side of the X-axis transmission mechanism and used for mounting a large marine propeller blank, wherein the X-axis transmission mechanism is used for driving the Y-axis transmission mechanism and the robot main body mounted on the Y-axis transmission mechanism to linearly move along the left-right direction; the Y-axis transmission mechanism is used for driving the robot main body to linearly move along the front-back direction.

The robot main body comprises a robot body, a lifting mechanism, an oblique supporting mechanism, a large arm, a telescopic arm, a wrist and a tail end device; the big arm is connected with the upper end shaft of the machine body and is driven by the lifting mechanism to realize the up-and-down swing of the big arm; one end of the oblique supporting mechanism is connected with the upper end of the machine body, the other end of the oblique supporting mechanism is connected with the bottom of the large arm, and the oblique supporting mechanism is linked with the lifting mechanism to realize the supporting effect on the large arm; the telescopic boom is arranged in the inner cavity of the large boom and is driven by a lead screw nut transmission mechanism arranged in the large boom to extend out of and retract into the inner cavity of the large boom; the wrist is connected with a telescopic arm shaft, and a fourth driving motor for driving a synchronous belt pulley to drive the wrist to swing up and down is arranged in the telescopic arm; the tail end device is fixedly connected with a rotating flange arranged at the tail end of the wrist through a bolt, and the rotating flange rotates to drive the tail end device to rotate;

the rotary supporting workbench is of a rotary disc-shaped structure, a plurality of annular grooves are formed in the upper plane of the rotary supporting workbench at equal intervals, and a plurality of supporting and vibration damping devices with adjustable heights are installed in the grooves and used for supporting and damping the marine propeller in the processing process;

further, X axle drive mechanism includes the subaerial X axle base of fixed mounting, be provided with X axle feed screw nut drive mechanism on the X axle base to X axle feed screw nut drive mechanism is provided with 2 pairs of X axle guide rails as central symmetry, and is every right there are 2X axle sliders that are used for bearing Y axle drive mechanism on the X axle guide rail respectively slidable mounting be provided with a driving motor on the plane of X axle base one end, a driving motor pass through the X axle shaft coupling with X axle feed screw nut drive mechanism connects, fixedly on the plane of X axle base other end is provided with supporting seat A, the X axle feed screw nut drive mechanism other end is fixed in supporting seat A, a driving motor drives X axle feed screw nut drive mechanism work to drive Y axle drive mechanism along X axle guide rail round trip linear motion. The X-axis lead screw nut transmission mechanism comprises an X-axis lead screw, an X-axis lead screw nut seat and an X-axis lead screw nut, the X-axis lead screw nut seat is wrapped on the outer surface of the X-axis lead screw nut, the X-axis lead screw nut is sleeved on the X-axis lead screw and connected through threads, and the X-axis lead screw nut seat is fixedly connected with the Y-axis transmission mechanism;

furthermore, the Y-axis transmission mechanism comprises a Y-axis base fixedly installed on an X-axis sliding block of the X-axis transmission mechanism, a Y-axis lead screw nut transmission mechanism is arranged on the Y-axis base, 1 pair of Y-axis guide rails are symmetrically arranged by taking the Y-axis lead screw nut transmission mechanism as a center, and 2Y-axis sliding blocks used for bearing the robot main body are installed on the Y-axis guide rails in a sliding mode; fixed mounting has second driving motor on Y axle base one end plane, second driving motor passes through Y axle shaft coupling and is connected with Y axle feed screw nut drive mechanism, fixed mounting has supporting seat B on the plane of Y axle base other end, the Y axle feed screw nut drive mechanism other end is fixed in supporting seat B, second driving motor drives Y axle feed screw nut drive mechanism work to it makes a round trip linear motion to drive the robot main part along Y axle guide rail. The Y-axis feed screw nut transmission mechanism comprises a Y-axis feed screw, a Y-axis feed screw nut seat and a Y-axis feed screw nut, the Y-axis feed screw nut seat is wrapped on the outer surface of the Y-axis feed screw nut, the Y-axis feed screw nut is sleeved on the Y-axis feed screw and is in threaded connection with the Y-axis feed screw nut seat, and the Y-axis feed screw nut seat is fixedly connected with the robot main body.

Further, elevating system includes the lift cylinder body, lift cylinder piston rod, lift cylinder body fixed mounting is at the fuselage upper surface, lift cylinder piston rod one end is connected with big arm, and the other end is arranged in the lift cylinder body with cylinder body sliding connection, stretches into through the lift cylinder piston rod and stretches out the swing that realizes big arm. The slant supporting mechanism comprises a slant oil cylinder body and a slant oil cylinder piston rod, the slant oil cylinder body is installed on a support arranged on the front side of the upper end of the machine body, one end of the slant oil cylinder piston rod is connected with a support arranged at the bottom of the big arm, the other end of the slant oil cylinder piston rod is arranged in the slant oil cylinder body and is in sliding connection with the cylinder body, the slant oil cylinder piston rod stretches into and stretches out to be linked with the lift oil cylinder piston rod, and the support and the action of the big arm are controlled.

Furthermore, the large arm is of a sleeve structure, a telescopic driving mechanism is installed in the large arm, and the telescopic driving mechanism comprises a third driving motor, a coupling A, a large arm screw rod nut and a large arm screw rod nut seat; the third driving motor is fixedly installed at one end in the large arm and is connected with one end of a large arm screw through a coupling A, the large arm screw nut is rotatably installed on the large arm screw, the large arm screw nut seat is sleeved on the outer surface of the large arm screw nut, and the large arm screw nut seat is fixedly connected with the rear end of the telescopic arm. And the third driving motor drives the large arm screw nut transmission mechanism to work so as to drive the telescopic arm to linearly move back and forth in the large arm.

Further, flexible arm includes fourth driving motor, little band pulley, hold-in range, big band pulley, harmonic reducer A and fourth driving motor parallel and install in the cavity that flexible arm front end was equipped with mutually perpendicularly with the axis of flexible arm, fourth driving motor has little band pulley through the coupling joint, harmonic reducer A is connected with big band pulley, little band pulley passes through the hold-in range and is connected with big band pulley transmission, harmonic reducer A's output shaft and wrist fixed connection.

Further, the wrist comprises a fifth driving motor, a coupling B, a harmonic reducer B and a rotating flange; the fifth driving motor is fixedly installed inside the wrist and connected with the input end of the harmonic reducer B through a coupler B, and the output end of the harmonic reducer B is fixedly connected with the rotating flange. And the fifth driving motor drives the rotating flange to rotate.

Further, the end device comprises a force sensor, a connecting flange A, a quick-change tool disc, a connecting flange B and a milling end actuator/grinding end actuator; one end of the force sensor is in bolted connection with a rotary flange at the tail end of the wrist, the other end of the force sensor is in bolted connection with a connecting flange A, the other end of the connecting flange A is connected with a main disc in a quick-change tool disc, the tool disc in the quick-change tool disc is connected with a connecting flange B, and the other end of the connecting flange B is connected with an end actuator.

Furthermore, the supporting vibration damper is formed by connecting a supporting module, a vibration damping module and a telescopic adjusting module from top to bottom in sequence.

A method for processing propeller blades by using a large marine propeller processing robot is characterized by comprising the following steps:

firstly, adjusting the number and the position of used supporting mechanisms according to the specification of the propeller to be processed, and hoisting the propeller to a rotary supporting workbench in a hoisting mode to position, clamp and fix the propeller so as to prevent the propeller from moving in the processing process;

secondly, after the propeller is positioned and clamped, the height of the supporting vibration damper is adjusted, so that a supporting module in the supporting vibration damper is tightly attached to the curved surface of the blade, and the best supporting effect is achieved;

thirdly, controlling a fourth driving motor and a fifth driving motor to work through a control system, enabling the wrist to swing to a preset position, enabling a lifting mechanism and an inclined supporting mechanism to work, enabling the big arm to rotate to a proper position, enabling a first driving motor, a second driving motor and a third driving motor to work, realizing the movement in the X-axis direction and the Y-axis direction, controlling a cutter to move according to a planned cutter path, and stably milling the blade surface of the propeller;

fourthly, after the machinable area of the propeller at the current station is milled, rotating the rotary supporting workbench by a rated angle, and simultaneously rotating the propeller on the workbench by a corresponding angle; after rotation, the unprocessed blade region is in a position to be processed; then repeating the operation of the third step until all the machinable areas of the propeller are finished by milling;

fifthly, recycling the milled propeller chips, rapidly replacing the milled end effector with a grinding end effector through a quick-change tool disc, and repeating the processes in the third step and the fourth step to finish grinding and polishing of the propeller;

and sixthly, after all the processing areas of the propeller blades are finished, driving the first driving motor, the second driving motor and the third driving motor to work, so that after the whole robot main body exits from the processing range, the lifting mechanism, the inclined supporting mechanism, the fourth driving motor and the fifth driving motor are driven to work, and the robot returns to the initial state.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention adopts the PPRPRR joint type robot, enlarges the moving range of the robot by adding two moving platforms, and indirectly shortens the length of a cantilever in the processing process by adopting a telescopic arm type and an oblique supporting mechanism under the condition of keeping the processing range, thereby effectively improving the rigidity of a mechanical arm and ensuring the processing stability. Therefore, the defects that the working space of a common six-axis industrial robot is limited and the rigidity is insufficient are overcome, and the machining of all positions of the blade surface of the large marine propeller can be completely met through linkage in six directions.

(2) The invention realizes the processing of the large marine propeller by driving the industrial robot provided with the tail end device by the mobile platform, and compared with purchasing tens of millions of large multi-axis numerical control machines, the invention has the advantages of simple structure, better reconfigurable configuration and manufacturing flexibility, low cost and capability of being completely born by small and medium-sized enterprises.

(3) The invention realizes the integration of processing, milling and grinding of the robot by adopting the quick-change tool disc, the milling mode has high processing efficiency, the operation time is greatly reduced, the milled copper scraps can be recycled for the second time, the production cost is further reduced, and the grinding mode further improves the surface quality of the propeller blade.

(4) Through the use of the supporting vibration damper with adjustable height in the three-ring annular groove on the screw rotation supporting workbench, the marine screws of different models can be supported and damped in the processing process, the flutter of the screws in the processing process is reduced, the surface quality of a workpiece is further improved, and the flexibility of a robot processing system is improved.

Drawings

Fig. 1 is a front view schematically showing the structure of the present invention.

Fig. 2 is a top view of fig. 1.

Fig. 3 is a schematic structural view of the X-axis transmission mechanism in fig. 1.

Fig. 4 is a schematic structural view of the Y-axis transmission mechanism in fig. 1.

Fig. 5 is a schematic view of the internal structure of the large arm in fig. 1.

Fig. 6 is a schematic view of the construction of the telescopic arm of fig. 1.

FIG. 7 is a schematic view of the internal structure of the wrist of FIG. 1.

Fig. 8 is a schematic view of the structure of the tip device of fig. 1.

Fig. 9 is a schematic view of the rotary support table of fig. 1.

Fig. 10 is a schematic structural view of the supporting vibration damping device of fig. 1.

In the figure: description of reference numerals:

1-a rotary support table;

2-supporting vibration damping device, 2.1-telescopic adjusting module, 2.2-vibration damping module, 2.3-supporting module;

3-large marine propellers;

4-end device, 4.1-force sensor, 4.2-first connecting flange, 4.3-quick change tool disc, 4.4-second connecting flange, 4.5-end actuator;

5-wrist, 5.1-rotary flange, 5.2-harmonic reducer B, 5.3-coupling B, 5.4-fifth driving motor;

6-telescopic arm, 6.1-fourth driving motor, 6.2-small belt wheel, 6.3-synchronous belt, 6.4 large belt wheel and 6.5-harmonic reducer A;

7-big arm, 7.1-third driving motor, 7.2 coupler A, 7.3-big arm screw, 7.4-big arm screw nut and 7.5-big arm screw nut seat;

8-a lifting mechanism;

9-an oblique supporting mechanism;

10-a fuselage;

11-Y-axis transmission mechanism, 11.1-Y-axis base, 11.2-second driving motor, 11.3-Y-axis coupler, 11.4-Y-axis lead screw nut, 11.5-Y-axis lead screw nut seat, 11.6-Y-axis lead screw, 11.7-Y-axis slide block, 11.8-Y-axis guide rail and 11.9-supporting seat B;

12-X axis drive mechanism; 12.1-X axis base, 12.2-first driving motor, 12.3-X axis coupler, 12.4-X axis lead screw nut, 12.5-X axis lead screw nut seat, 12.6-X axis lead screw, 12.7-X axis slide block, 12.8-X axis guide rail and 12.9-supporting seat A;

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the present invention, directional terms such as "up", "down", "left", "right", "front", "back", etc. refer to directions of the drawings. Accordingly, the directional terminology is used for the purpose of illustration and understanding and is in no way limiting.

Referring to fig. 1-9, the screw processing robot for large ship according to the present invention is used for milling and grinding blades of a large ship screw, wherein, referring to fig. 1 and 2, the screw processing robot comprises an X-axis transmission mechanism 12 fixedly installed on the ground, a Y-axis transmission mechanism 11 installed on the X-axis transmission mechanism 12, a robot main body installed on the Y-axis transmission mechanism 11, and a rotary support table 1 installed on the ground at the front side of the X-axis transmission mechanism 12 for installing a large ship screw blank 3.

The X-axis transmission mechanism 12 is used for driving the Y-axis transmission mechanism 11 and the robot main body arranged on the Y-axis transmission mechanism 11 to move linearly along the left-right direction; the Y-axis transmission mechanism 11 is used for driving the robot main body to move linearly in the front-rear direction.

The robot main body comprises a robot body 10, a lifting mechanism 8, an oblique supporting mechanism 9, a large arm 7, a telescopic arm 6, a wrist 5 and a tail end device 4; the large arm 7 is connected with the upper end shaft of the machine body 10, and the large arm is driven by the lifting mechanism 8 to swing up and down; one end of the oblique supporting mechanism 9 is connected with the upper end of the machine body 10, the other end of the oblique supporting mechanism is connected with the bottom of the large arm 7, and the oblique supporting mechanism 9 is linked with the lifting mechanism 8 to realize the supporting effect on the large arm 7; the telescopic arm 6 is arranged in the inner cavity of the large arm 7, and the telescopic arm 6 extends out of and retracts into the inner cavity of the large arm 7 through the driving of a screw nut transmission mechanism arranged in the large arm 7; the wrist 5 is connected with a telescopic arm 6 shaft, and a fourth driving motor 6.1 for driving a synchronous belt pulley to drive the wrist 5 to swing up and down is arranged in the telescopic arm 6; the end device 4 is fixedly connected with a rotating flange 5.1 arranged at the tail end of the wrist through a bolt, and the rotating flange 5.1 rotates to drive the end device 4 to rotate.

The rotary supporting workbench 1 is of a rotary disc-shaped structure, a plurality of annular grooves are formed in the plane of the rotary supporting workbench 1 at equal intervals, and a plurality of height-adjustable supporting vibration dampers 2 are mounted in the grooves and used for supporting and damping the marine propeller machining process.

In this example, as shown in fig. 3, the X-axis transmission mechanism 12 includes an X-axis base 12.1 fixedly installed on the ground, an X-axis lead screw nut transmission mechanism is disposed on the X-axis base 12.1, 2 pairs of X-axis guide rails 12.8 are symmetrically arranged by taking the X-axis lead screw nut transmission mechanism as a center, 2X-axis sliding blocks 12.7 for bearing the Y-axis transmission mechanism 11 are respectively installed on each pair of X-axis guide rails 12.8 in a sliding manner, a first driving motor 12.2 is fixedly arranged on the plane of one end of the X-axis base 12.1, the first driving motor 12.2 is connected with the X-axis lead screw nut transmission mechanism through an X-axis coupler 12.3, a supporting seat A12.9 is fixedly arranged on the plane of the other end of the X-axis base 12.1, the other end of the X-axis lead screw nut transmission mechanism is fixed in the supporting seat A12.9, and the first driving motor 12.2 drives the X-axis lead screw nut transmission mechanism to work, so that the Y-axis transmission mechanism 11 is driven to linearly move back and forth along the X-axis guide rail 12.8. X axle lead screw nut drive mechanism includes X axle lead screw 12.6, X axle lead screw nut seat 12.5 and X axle lead screw nut 12.4, X axle lead screw nut seat 12.5 cladding is at X axle lead screw nut 12.4 surface, X axle lead screw nut 12.4 cover is on X axle lead screw 12.6 and through threaded connection, X axle lead screw nut seat 12.5 and Y axle drive mechanism 11 fixed connection.

As shown in fig. 4, the Y-axis transmission mechanism 11 includes a Y-axis base 11.1 fixedly mounted on an X-axis slider 12.7 of the X-axis transmission mechanism 12, the Y-axis base 11.1 is provided with a Y-axis lead screw nut transmission mechanism, 1 pair of Y-axis guide rails 11.8 are symmetrically arranged with the Y-axis lead screw nut transmission mechanism as a center, and 2Y-axis sliders 11.7 for bearing a robot main body are slidably mounted on the Y-axis guide rails 11.8; fixed mounting has second driving motor 11.2 on Y axle base 11.1 one end plane, second driving motor 11.2 is connected with Y axle screw nut drive mechanism through Y axle shaft coupling 11.3, fixed mounting has supporting seat B11.9 on the plane of Y axle base 11.1 other end, the Y axle screw nut drive mechanism other end is fixed in supporting seat B11.9, second driving motor 11.2 drives Y axle screw nut drive mechanism work to drive the main part of robot along the straight-line motion of making a round trip of Y axle guide rail 11.8. Y axle lead screw nut drive mechanism includes Y axle lead screw 11.6, Y axle lead screw nut seat 11.5 and Y axle lead screw nut 11.4, Y axle lead screw nut seat 11.5 cladding is at Y axle lead screw nut 11.4 surface, Y axle lead screw nut 11.4 cover is on Y axle lead screw 11.6 and through threaded connection, Y axle lead screw nut seat 11.5 and robot main part fixed connection.

Wherein, above-mentioned elevating system 8 includes the lift cylinder body, lift cylinder piston rod, lift cylinder body fixed mounting is on the fuselage 10 upper surface, lift cylinder piston rod one end is connected with big arm 7, and the other end is arranged in the lift cylinder body with cylinder body sliding connection, stretches into through the lift cylinder piston rod and stretches out the swing that realizes big arm 7. The inclined supporting mechanism 9 comprises an inclined oil cylinder body and an inclined oil cylinder piston rod, the inclined oil cylinder body is installed on a support arranged on the front side of the upper end of the machine body 10, one end of the inclined oil cylinder piston rod is connected with a support arranged at the bottom of the big arm, the other end of the inclined oil cylinder piston rod is arranged in the inclined oil cylinder body and is in sliding connection with the cylinder body, the inclined oil cylinder piston rod stretches into and stretches out to be linked with the lifting oil cylinder piston rod, and the support and the action of the big arm 7 are controlled.

As shown in fig. 5, the large arm 7 is of a sleeve structure, a telescopic driving mechanism is installed in the large arm 7, and the telescopic driving mechanism includes a third driving motor 7.1, a coupler a7.2, a large arm lead screw 7.3, a large arm lead screw nut 7.4, and a large arm lead screw nut seat 7.5; one end fixed mounting third driving motor 7.1 in big arm 7, third driving motor 7.1 is connected with big arm lead screw 7.3 one end through shaft coupling A7.2, big arm lead screw nut 7.4 is adorned soon on big arm lead screw 7.3, big arm lead screw nut seat 7.5 suit is in big arm lead screw nut 7.4 surface, big arm lead screw nut seat 7.5 and the 6 rear end fixed connection of flexible arm. The third driving motor 7.1 drives the large arm screw nut 7.4 transmission mechanism to work, so as to drive the telescopic arm 6 to linearly move back and forth in the large arm 7.

As shown in fig. 6, the telescopic boom 6 includes a fourth driving motor 6.1, a small belt wheel 6.2, a synchronous belt 6.3, a large belt wheel 6.4 and a harmonic reducer a6.5, the harmonic reducer a6.5 and the fourth driving motor 6.1 are parallel to each other and are vertically installed in a cavity arranged at the front end of the telescopic boom 6 with the axis of the telescopic boom 6, the fourth driving motor 6.1 is connected with the small belt wheel 6.2 through a coupler, the harmonic reducer a6.5 is connected with the large belt wheel 6.4, the small belt wheel 6.2 is in transmission connection with the large belt wheel 6.4 through the synchronous belt 6.3, and the output shaft of the harmonic reducer a6.5 is fixedly connected with the wrist 5.

As shown in fig. 7, the wrist 5 includes a fifth driving motor 5.4, a coupling B5.3, a harmonic reducer B5.2, and a rotating flange 5.1; fifth driving motor 5.4 fixed mounting is inside wrist 5, fifth driving motor 5.4 is connected with harmonic reducer B5.2's input through shaft coupling B5.3, harmonic reducer B5.2's output with rotary flange 5.1 fixed connection. And the fifth driving motor 5.4 drives the rotating flange 5.1 to rotate.

As shown in fig. 8, the end device 4 includes a force sensor 4.1, a coupling flange a4.2, a quick-change tool plate 4.3, a coupling flange B4.4, and an end effector 4.5. One end of the force sensor 4.1 is connected with a rotating flange 5.1 at the tail end of the wrist 5 through a bolt, the other end of the force sensor is connected with a connecting flange A4.2 through a bolt, the other end of the connecting flange A4.2 is connected with a main disc in a quick-change tool disc 4.3, a tool disc 4.3 in the quick-change tool disc is connected with a connecting flange B4.4, and the other end of the connecting flange B4.4 is connected with an end actuator 4.5.

As shown in fig. 9 and 10, the rotary supporting workbench 1 is of a rotary disc-shaped structure, a plurality of annular grooves are formed in the upper plane of the rotary supporting workbench 1 at equal intervals, a plurality of supporting vibration dampers 2 with adjustable heights are installed in the grooves, and the supporting vibration dampers 2 with different numbers, different positions and different heights are used to support and damp the machining process of the marine propellers with various models, so that the flexibility of the equipment is realized. The supporting and damping device 2 is formed by connecting a supporting module 2.1 for providing a supporting function, a damping module 2.2 for providing a damping function and a telescopic adjusting module 2.3 for providing a height adjusting function from top to bottom in sequence.

A method for processing propeller blades by using a large marine propeller processing robot comprises the following steps:

firstly, adjusting the number and the position of the used supporting mechanisms 2 according to the specification of the propeller 3 to be processed, and hoisting the propeller 3 to the rotary supporting worktable 1 in a hoisting mode to position, clamp and fix the propeller 3 so as to prevent the propeller 3 from moving in the processing process;

secondly, after the propeller 3 is positioned and clamped, the height of the supporting vibration damper 2 is adjusted, so that a supporting module 2.1 in the supporting vibration damper is tightly attached to the curved surface of the blade, and the best supporting effect is achieved;

thirdly, controlling a fourth driving motor 6.1 and a fifth driving motor 5.4 to work through a control system, swinging the wrist 5 to a preset position, operating a lifting mechanism 8 and an inclined supporting mechanism 9 to enable the large arm 7 to rotate to a proper position, operating a first driving motor 12.2, a second driving motor 11.2 and a third driving motor 7.1 to realize the movement in the directions of an X axis and a Y axis, controlling a cutter to move according to a planned cutter path, and stably milling the blade surface of the propeller;

fourthly, after the machinable area of the propeller at the current station is milled, the rotary supporting workbench 1 rotates by a rated angle, and the propeller 3 on the workbench also rotates by a corresponding angle; after rotation, the unprocessed blade region is in a position to be processed; then repeating the operation of the third step until all the machinable regions of the propeller 3 are finished by milling;

and fifthly, recycling the milled propeller chips, rapidly replacing the milling end effector 4.5 with a grinding end effector 4.5 through a quick-change tool disc 4.3, and repeating the processes in the third step and the fourth step to finish the grinding and polishing of the propeller 3.

And sixthly, after all the processing areas of the propeller 3 blades are finished, driving the first driving motor 12.2, the second driving motor 11.2 and the third driving motor 7.1 to work, so that after the whole robot main body exits from the processing range, driving the lifting mechanism 8, the inclined supporting mechanism 9, the fourth driving motor 6.1 and the fifth driving motor 5.4 to work, and returning to the initial state.

Finally, the description is as follows: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The large marine propeller machining robot is characterized by comprising an X-axis transmission mechanism (12) fixedly mounted on the ground, a Y-axis transmission mechanism (11) mounted on the X-axis transmission mechanism (12), a robot main body mounted on the Y-axis transmission mechanism (11), and a rotary supporting workbench (1) mounted on the ground on the front side of the X-axis transmission mechanism (12) and used for mounting a large marine propeller blank (3), wherein the X-axis transmission mechanism (12) is used for driving the Y-axis transmission mechanism (11) and the robot main body mounted on the Y-axis transmission mechanism (11) to linearly move along the left-right direction; the Y-axis transmission mechanism (11) is used for driving the robot main body to move linearly along the front-back direction;

the robot comprises a robot body, a lifting mechanism (8), an oblique supporting mechanism (9), a large arm (7), a telescopic arm (6), a wrist (5) and a tail end device (4), wherein the robot body comprises a body (10); the large arm (7) is connected with the upper end shaft of the machine body (10) in a shaft mode, and the large arm is driven by the lifting mechanism (8) to swing up and down; one end of the inclined supporting mechanism (9) is connected with the upper end of the machine body (10), the other end of the inclined supporting mechanism is connected with the bottom of the large arm (7), and the inclined supporting mechanism (9) is linked with the lifting mechanism (8) to support the large arm (7); the telescopic arm (6) is arranged in the inner cavity of the large arm (7), and the telescopic arm (6) is driven to extend out and retract in the inner cavity of the large arm (7) through a lead screw nut transmission mechanism arranged in the large arm (7); the wrist (5) is connected with a telescopic arm (6) through a shaft, and a fourth driving motor (6.1) for driving a synchronous belt pulley to drive the wrist (5) to swing up and down is arranged in the telescopic arm (6); the tail end device (4) is fixedly connected with a rotating flange (5.1) arranged at the tail end of the wrist through a bolt, and the rotating flange (5.1) rotates to drive the tail end device (4) to rotate;

the rotary supporting workbench (1) is of a rotary disc-shaped structure, a plurality of annular grooves are formed in the upper plane of the rotary supporting workbench (1) at equal intervals, and a plurality of height-adjustable supporting and damping devices (2) are installed in the grooves and used for supporting and damping in the machining process of the marine propeller;

the X-axis transmission mechanism (12) comprises an X-axis base (12.1) fixedly installed on the ground, an X-axis lead screw nut transmission mechanism is arranged on the X-axis base (12.1), 2 pairs of X-axis guide rails (12.8) are symmetrically arranged by taking the X-axis lead screw nut transmission mechanism as a center, each pair of X-axis guide rails (12.8) is respectively provided with 2X-axis sliding blocks (12.7) used for bearing a Y-axis transmission mechanism (11) in a sliding mode, a first driving motor (12.2) is fixedly arranged on one end plane of the X-axis base (12.1), the first driving motor (12.2) is connected with the X-axis lead screw nut transmission mechanism through an X-axis coupler (12.3), a supporting seat A (12.9) is fixedly arranged on the other end plane of the X-axis base (12.1), the other end of the X-axis lead screw nut transmission mechanism is fixed in the supporting seat A (12.9), and the first driving motor (12.2) drives the X-axis lead screw nut transmission mechanism to work, thereby driving the Y-axis transmission mechanism (11) to linearly move back and forth along the X-axis guide rail (12.8). The X-axis lead screw nut transmission mechanism comprises an X-axis lead screw (12.6), an X-axis lead screw nut seat (12.5) and an X-axis lead screw nut (12.4), wherein the X-axis lead screw nut seat (12.5) covers the outer surface of the X-axis lead screw nut (12.4), the X-axis lead screw nut (12.4) is sleeved on the X-axis lead screw (12.6) and is connected with the X-axis lead screw nut seat (12.5) through threads, and the X-axis lead screw nut seat (12.5) is fixedly connected with the Y-axis transmission mechanism (11);

the Y-axis transmission mechanism (11) comprises a Y-axis base (11.1) fixedly mounted on an X-axis sliding block (12.7) of the X-axis transmission mechanism (12), a Y-axis lead screw nut transmission mechanism is arranged on the Y-axis base (11.1), 1 pair of Y-axis guide rails (11.8) are symmetrically arranged by taking the Y-axis lead screw nut transmission mechanism as a center, and 2Y-axis sliding blocks (11.7) used for bearing a robot main body are slidably mounted on the Y-axis guide rails (11.8); fixed mounting has second driving motor (11.2) on Y axle base (11.1) one end plane, second driving motor (11.2) are connected with Y axle feed screw nut drive mechanism through Y axle shaft coupling (11.3), fixed mounting has supporting seat B (11.9) on Y axle base (11.1) the other end plane, the Y axle feed screw nut drive mechanism other end is fixed in supporting seat B (11.9), second driving motor (11.2) drive Y axle feed screw nut drive mechanism work to drive the main part of robot and make a round trip linear motion along Y axle guide rail (11.8). Y axle feed screw nut drive mechanism includes Y axle lead screw (11.6), Y axle feed screw nut seat (11.5) and Y axle feed screw nut (11.4), Y axle feed screw nut seat (11.5) cladding is at Y axle feed screw nut (11.4) surface, Y axle feed screw nut (11.4) cover is on Y axle lead screw (11.6) and through threaded connection, Y axle feed screw nut seat (11.5) and robot main part fixed connection.

2. The large marine propeller machining robot according to claim 1, wherein the lifting mechanism (8) comprises a lifting cylinder body and a lifting cylinder piston rod, the lifting cylinder body is fixedly mounted on the upper surface of the machine body (10), one end of the lifting cylinder piston rod is connected with the large arm (7), the other end of the lifting cylinder piston rod is arranged in the lifting cylinder body and is in sliding connection with the cylinder body, and the large arm (7) swings through the extension and extension of the lifting cylinder piston rod. The inclined supporting mechanism (9) comprises an inclined oil cylinder body and an inclined oil cylinder piston rod, the inclined oil cylinder body is installed on a support arranged on the front side of the upper end of the machine body (10), one end of the inclined oil cylinder piston rod is connected with a support arranged at the bottom of the big arm, the other end of the inclined oil cylinder piston rod is arranged in the inclined oil cylinder body and is in sliding connection with the cylinder body, the inclined oil cylinder piston rod stretches into and stretches out of the inclined oil cylinder piston rod to be linked with the stretching into and stretching out of the lifting oil cylinder piston rod, and the support and the action.

3. The large marine propeller machining robot according to claim 1, wherein the large arm (7) is of a sleeve structure, a telescopic driving mechanism is installed in the large arm (7), and the telescopic driving mechanism comprises a third driving motor (7.1), a coupling A (7.2), a large arm lead screw (7.3), a large arm lead screw nut (7.4) and a large arm lead screw nut seat (7.5); one end fixed mounting third driving motor (7.1) in big arm (7), third driving motor (7.1) is connected with big arm lead screw (7.3) one end through shaft coupling A (7.2), big arm lead screw nut (7.4) are adorned soon on big arm lead screw (7.3), big arm lead screw nut seat (7.5) suit is in big arm lead screw nut (7.4) surface, big arm lead screw nut seat (7.5) and flexible arm (6) rear end fixed connection. The third driving motor (7.1) drives the large arm screw nut (7.4) transmission mechanism to work, so that the telescopic arm (6) is driven to linearly move back and forth in the large arm (7).

4. The large marine propeller machining robot according to claim 1, wherein the telescopic arm (6) comprises a fourth driving motor (6.1), a small belt wheel (6.2), a synchronous belt (6.3), a large belt wheel (6.4) and a harmonic reducer A (6.5), the harmonic reducer A (6.5) and the fourth driving motor (6.1) are parallel to each other in the front and back direction and are perpendicularly installed in a cavity formed in the front end of the telescopic arm (6) with the axis of the telescopic arm (6), the fourth driving motor (6.1) is connected with the small belt wheel (6.2) through a coupling, the harmonic reducer A (6.5) is connected with the large belt wheel (6.4), the small belt wheel (6.2) is in transmission connection with the large belt wheel (6.4) through the synchronous belt (6.3), and the output shaft of the harmonic reducer A (6.5) is fixedly connected with a wrist (5).

5. A large marine propeller machining robot according to claim 1, characterized in that the wrist (5) comprises a fifth drive motor (5.4), a coupling B (5.3), a harmonic reducer B (5.2), a rotating flange (5.1); fifth driving motor (5.4) fixed mounting is inside wrist (5), fifth driving motor (5.4) are connected with the input of harmonic speed reducer B (5.2) through shaft coupling B (5.3), the output of harmonic speed reducer B (5.2) with rotary flange (5.1) fixed connection. And the fifth driving motor (5.4) drives the rotating flange (5.1) to rotate.

6. A large marine propeller machining robot according to claim 1, characterised in that the end device (4) comprises a force sensor (4.1), a coupling flange a (4.2), a quick-change tool disc (4.3), a coupling flange B (4.4), a milling/grinding end-effector (4.5); force sensor (4.1) one end and the terminal rotatory flange (5.1) bolted connection of wrist (5), the other end and flange A (4.2) bolted connection, the flange A (4.2) other end is connected with the master disc in quick change tool dish (4.3), the tool dish of (4.3) is connected with flange B (4.4) in the quick change tool dish, the flange B (4.4) other end is connected with end effector (4.5).

7. A large marine propeller machining robot according to claim 1, wherein the support and vibration damping device (2) is formed by connecting a support module (2.1), a vibration damping module (2.2) and a telescopic adjusting module (2.3) from top to bottom in sequence.

8. A method for processing propeller blades by using a large marine propeller processing robot is characterized by comprising the following steps:

firstly, adjusting the number and the positions of used supporting mechanisms (2) according to the specification of a propeller (3) to be processed, hoisting the propeller (3) to a rotary supporting workbench (1) in a hoisting mode for positioning, clamping and fixing, and preventing the propeller (3) from moving in the processing process;

secondly, after the propeller (3) is positioned and clamped, the height of the supporting vibration damper (2) is adjusted, so that a supporting module (2.1) in the supporting vibration damper is tightly attached to the curved surface of the blade, and the best supporting effect is achieved;

thirdly, controlling a fourth driving motor (6.1) and a fifth driving motor (5.4) to work through a control system, swinging the wrist (5) to a preset position, enabling a lifting mechanism (8) and an oblique supporting mechanism (9) to work, enabling a large arm (7) to rotate to a proper position, enabling a first driving motor (12.2), a second driving motor (11.2) and a third driving motor (7.1) to work, realizing the movement in the X-axis direction and the Y-axis direction, controlling a cutter to move according to a planned cutter path, and stably milling the blade surface of the propeller;

fourthly, after the machinable area of the propeller at the current station is milled, the rotary supporting workbench (1) rotates by a rated angle, and the propeller (3) on the workbench also rotates by a corresponding angle; after rotation, the unprocessed blade region is in a position to be processed; then repeating the operation of the third step until all the machinable areas of the propeller (3) are finished by milling;

fifthly, recycling the milled propeller chips, quickly replacing the milling end effector (4.5) with a grinding end effector (4.5) through a quick-change tool disc (4.3), and repeating the processes in the third step and the fourth step to finish grinding and polishing of the propeller (3);

and sixthly, after all processing areas of the propeller (3) blades are finished, driving a first driving motor (12.2), a second driving motor (11.2) and a third driving motor (7.1) to work, so that after the whole robot main body exits from the processing range, driving a lifting mechanism (8), an oblique supporting mechanism (9), a fourth driving motor (6.1) and a fifth driving motor (5.4) to work, and returning to the initial state.