Research On Automatic Placement Device And Key Technology Of Carbon Fiber Adjustable Paddle

In the manufacturing field of ship propeller and other marine equipment,carbon fiber as a composite material of typical and high performance is widely used,because of its advantages of light weight,good strength,specific stiffness,fatigue resistance,corrosion resistance and so on.In developed countries,the placement equipment and relevant technology of carbon fiber propeller is developed early and the development is more mature,however,the manufacturing field of composite material in China is still in its infancy.Compared with conventional Cu Ni alloy,the propeller with the carbon fiber material is not only greatly improved in its mechanical properties,corrosion resistance and fatigue resistance,but also the quality is greatly reduced,and the surface roughness is greatly improved.Therefore,the ships used of carbon fiber are faster,more flexible and less noise.In this paper,taking a marine propeller with high order surface as an example,the laying equipment of the carbon fiber propeller with a six degree of freedom is designed,in addition,the key technology of using carbon fiber to lay the propeller surface is studied.First,the overall design about the automatic placement equipment of the adjustable propeller used of carbon fiber has been completed,and the virtual prototype of parallel wire laying machine has been established.The kinematics analysis of parallel wire laying machine is carried out,and the inverse kinematics of parallel platform is solved by using trigonometric function method.The forward kinematics simulation analysis of the model is carried out to verify the correctness of the inverse solution model.The workspace accessibility of a six bar parallel placement system is analyzed based on MATLAB software.Secondly,the process of the placement of the adjustable propeller used of carbon fiber is analyzed,and the device function module of the placement of the adjustable propeller used of carbon fiber is designed.The programme of the mechanical structure is designed,including tow clamping module,retransmission module,cutting module,tow tension control module and so on.Thirdly,according to the surface characteristics of the propeller blade surface,the principle of blade layering is proposed,and with the layering information planned the placement track is laid out.And the whole six pole parallel wire feeding control system and man-machine interactive operation system are designed.Finally,the prototype of six bar parallel wire feeding system is established.The rationality of the structure is verified by comparing the modal test data of the prototype with the ANSYS finite element modal analysis data.Then,the accuracy error of the prototype is measured.The mathematical modeling of the system positioning error is built and the system positioning error is forecasted and compensated by applying mathematical regression equation.The effectiveness of error compensation is verified by analyzing the experimental data of the system positioning error after compensation.