摘要船用螺旋桨是船舶的重要组成部件,较高的磨削精度是其机械性能的保证。由于其复杂的外形结构，目前国内螺旋桨磨削加工多采用人工打磨和砂带磨削方式。人工磨削虽然能实现复杂曲面的打磨与抛光,但曲面表面的质量由操作人员的熟练程度决定,因而无法对工件尺寸精度进行有效管控,导致加工精度较差、型面的质量难以保证；砂带磨削加工深度较低，加工效率不高，且加工周期较长。国外采用高精度大型三维数控加工机床加工磨削，加工精度高，但由于技术要求高，制造繁琐，机床造价不菲，所以加工成本较高。

首先，本文对螺旋桨加工工艺进行了系统的分析，论述了现有螺旋桨磨削方案的加工性能和加工成本及其优缺点。其次，本文自主设计了一种用于大型船用螺旋桨磨削的加工机床方案，并对其进行可行性分析和评估，以机械手对大型船用螺旋桨进行高速砂轮磨削为方案，确定并进行机械手相关运动机构方案的设计、零部件及其主要参数的设计。解决了大型三维数控机床加工成本高、人工打磨精度低，不可控以及砂带磨削加工周期长等问题。最后，通过solidworks三维建模软件，对所设计机床方案进行三维建模,并对部分细节和传动部分进行细化处理。43847

毕业论文关键词：大型船用螺旋桨;机械手；砂轮磨削

ABSTRACT

Marine marine propeller is important component parts, high grinding precision of its mechanical performance guarantee. Because of its complex structure, the current domestic propeller grinding using artificial grinding and abrasive belt grinding method. Although artificial grinding can achieve complex surface grinding and polishing, but by the subjective influence, curved surface quality by the operator's proficiency decisions, and thus cannot be done on the dimensional precision of control, surface quality difficult to guarantee; abrasive belt grinding processing depth is low, the processing efficiency is not high, and long processing cycle; the high precision large 3D NC machine tool grinding, high processing precision, but due to the technically demanding, complex machine tool manufacturing, high cost, so the processing cost is high.

The propeller grinding machine of domestic and international status and key technology on the basis, this paper firstly propeller processing technology are analyzed, and the processing cost, find out the existing advantages and disadvantages. Independent design for large marine propeller grinding machine tools, and carries on the feasibility analysis and assessment, application of knowledge and the literature datum, eventually adopts the mechanical hand for large ship propeller by high speed grinding solution, components and the design of its main parameters. Solve large-scale3D NC machining of high cost, low precision of artificial grinding, uncontrollable and abrasive belt grinding processing cycle is long wait for a problem, the results show that the processing scheme of high feasibility, good reliability, low cost, high processing precision. Finally, through the SolidWorks3D modeling software, the design scheme of machine tool for three-dimensional modeling, and details about the part and the transmission part is thinned. 

Keywords: Marinepropeller;wheel grinding;Manipulator

目  录

第一章 绪论 1

1.1课题的研究背景与意义 1

1.1.1研究背景 1

1.1.2 课题目的与研究意义 1

1.2 工业机械手概述 2

1.3工业机械手国内外发展趋势 3

1.4工业机械手在螺旋桨加工领域应用实例