Our company has successfully developed the first marine propeller grinding robot system in China by introducing foreign advanced technology and talents, and has been applied by customers. The welding and grinding work of ship is huge, and the propeller belongs to large complicated surface workpiece. At present, the ship welding and propeller grinding are all manual work. The working environment is harsh and the damage to human health is great. Applying our large complex surface grinding technology and mobile thick plate welding robot, we can provide automatic manufacturing solutions for ship body and propeller machining.
Now we have 25 engineers and technicians in total, including 2 with doctor's degree, 15 with master's degree and 8 with bachelor's degree. The main direction of the department is to provide customers with customized and comprehensive solutions for the shipbuilding industry. The customized products involved are as follows:
Ship body manufacture: automatic welding, automatic spraying.
Propeller: machining, grinding, milling, polishing.
Now we are developing the offshore repair and assembly technology, surface ship shell damage detection technology, maintenance technology of surface ship shell, damage detection technology of underwater platform shell, maintenance technology of underwater platform shell; old paint removal and surface repainting technology of ship body surface.
2 The positioner is used to clamp and rotate the blade.
3 The fixture system is used to fix the blade to the fixture shaft.
4 The robot system is used for milling process, removing tool marks and polishing.
5 The sliding table is moving repeatedly to ensure that robot could reach to each work area.
Key components of system
1 The system is equipped with 4 sets of industrial milling robots, which are arranged symmetrically on both sides of curved parts to realize double-sides milling, grinding and polishing simultaneously, so as to adapt to a wide range of areas and be more efficient.
2 The positioner references to the horizontal lathe structure. Its unique structure design could realize clamping, positioning, rotating positioning, bearing and other functions.
3 The robot sliding table adopts casting bed, high-precision rail, servo and full closed-loop control system to meet the requirements of high-precision positioning and repetitive positioning accuracy of robot linear motion
4 The end tools of the robot are equipped with force/bit hybrid control device, visual device, tool quick change device and automatic tool change device.
5 Off-line path planning system
Off-line path planning system
2 Force/position hybrid control technology: robot end actuator is equipped with vision and touch system, with accurate force/position hybrid control ability, can achieve a variety of complex machining processes, such as complex surface milling, grinding, deburring, polishing, drilling and so on. The system is composed of high resolution industrial camera, high precision laser rangefinder and image processor, which can provide the robot with target information and non-contact measurement. Using vision to calculate the feed information and correct the end deviation, the workpiece does not need accurate positioning;
3 Off-line track planning：use laser measurement as a visual automatic identification to determine the precise location and tolerance of workpiece. By using visual software, 3D model reconstruction technique and advanced algorithms which independent research and development to realize the processing procedures of intelligent robots. Before processing, calculate the model, dimension and tolerance by laser measurement It is a cutting-edge and advanced application system in the field of plane and space grinding and polishing.