Numerical control polishing machine for propeller

Abstract

The propeller numerical control polishing machine belongs to the technical field of industrial machines, and comprises a rack, a clamping mechanical arm, a blade polishing device, an auxiliary mechanical arm and a hub polishing device. The clamping mechanical arm can complete automatic clamping of the propeller, drive the propeller to reach a preset working position and loading and unloading work of the propeller. The blade polishing device is symmetrically arranged on the rack and can simultaneously polish two surfaces of the propeller blade, so that the working efficiency is high. The auxiliary mechanical arm greatly improves the rigidity of the machine tool by assisting and supporting the clamping mechanical arm during polishing. The hub polishing device is provided with a rubber wheel below a sand belt, and the polishing work at the blade root is completed through deformation during polishing. The propeller numerical control polishing machine can efficiently complete the polishing work of the propeller, and is beneficial to improving the efficiency and precision of propeller processing and the intelligent degree of industrial production.

Description

Technical Field

[0001] This invention relates to the field of parts polishing technology, specifically to a CNC polishing machine tool for propellers. Background Technology

[0002] Propellers are core components of various mechanical power systems, and their surface quality directly affects the hydrodynamic performance of the machinery. Polishing reduces surface roughness, lowers frictional resistance, thereby reducing drag loss and improving propulsion efficiency. Propeller blades are complex free-form surfaces, making them among the most difficult parts to machine in mechanical manufacturing. Currently, ship propeller processing plants generally still rely on traditional and relatively outdated manual polishing methods. Manual polishing suffers from low efficiency, high cost, difficulty in ensuring consistency and precision, and requires highly skilled and experienced craftsmen. In large-scale production, manual polishing cannot meet the demands for fast, efficient, and precise processing. With the continuous advancement of automatic control and computer technologies, CNC polishing machines for propellers are gradually becoming a viable solution. Summary of the Invention

[0003] To overcome the problems of low efficiency, high cost, and difficulty in ensuring consistency and accuracy in manual propeller polishing, this invention designs a CNC polishing machine tool for propellers, aiming to improve the polishing efficiency and quality of propellers.

[0004] The present invention provides a CNC polishing machine tool for propellers, including a frame (1), a clamping robotic arm (2), a blade polishing device (3), an auxiliary robotic arm (4), and a hub polishing device (5). The clamping robotic arm (2) is mounted on the frame (1), the blade polishing device (3) is mounted on the frame (1), the auxiliary robotic arm (4) is mounted on the frame (1), and the hub polishing device (5) is mounted on the frame (1). The clamping robotic arm (2) is responsible for clamping the propeller and, after docking with the auxiliary robotic arm (4), is responsible for driving the auxiliary robotic arm (4) to move on the frame (1).

[0005] In the above-mentioned propeller CNC polishing machine tool, the frame (1) includes a clamping mechanical arm mounting hole (11), a blade polishing device mounting bracket (12), an auxiliary mechanical arm guide rail (13), a sanding belt hole (14), and a hub polishing device support bracket (15).

[0006] In the aforementioned propeller CNC polishing machine tool, the clamping robotic arm (2) includes a clamping device (21), robotic arm E-axis (22), robotic arm D-axis (23), robotic arm C-axis (24), robotic arm D-axis servo motor (25), robotic arm E-axis servo motor (26), robotic arm B-axis (27), robotic arm C-axis servo motor (28), robotic arm C-axis connecting rod (29), robotic arm B-axis servo motor (210), robotic arm C-axis crank (211), and robotic arm A-axis hinge support (22). 212), Robotic arm A-axis (213), Base plate (214), Spiral bevel gear B (215), Arm extension device (216), Reduction gear set (217), Spur gear A (218), Spur gear B (219), Robotic arm A-axis servo motor (220), A-axis servo motor bracket (221), Harmonic reducer (222), Robotic arm C-axis hinge support (223), Spur internal gear (224), Spur gear C (225), Spiral bevel gear A (226).

[0007] In the aforementioned propeller CNC polishing machine tool, the clamping device (21) includes a chuck part (2101), a hydraulic cylinder barrel A (2102), a hydraulic cylinder barrel A hinge support (2103), an arc plate (2104), a limiting plate (2105), a limiting groove (2106), a hydraulic cylinder piston A (2107), an arc plate connecting rod (2108), and an arc plate hinge support (2109).

[0008] In the above-mentioned propeller CNC polishing machine tool, the D-axis (23) of the robotic arm includes the D-axis A (231), the D-axis B (232), and the annular groove (233).

[0009] In the aforementioned propeller CNC polishing machine tool, the chuck part (2101) includes a chuck (21011), a chuck protrusion (21012), and a flat spring (21013).

[0010] In the aforementioned propeller CNC polishing machine tool, the boom telescopic device (216) includes a D-axis drive rod (2161), a drive rod slot (21611), a shaped slider (2162), an E-axis drive rod (2163), a shoulder (21631), a boom telescopic device lead screw (2164), a boom telescopic device servo motor (2165), and a gear slide (2166).

[0011] In the aforementioned propeller CNC polishing machine tool, the reduction gear set (217) includes D-axis reduction gear A (2171), D-axis special-shaped gear (2172), E-axis special-shaped gear (2173), E-axis reduction gear A (2174), E-axis reduction gear B (2175), E-axis reduction gear C (2176), and E-axis reduction gear D (2177).

[0012] In the above-mentioned propeller CNC polishing machine tool, the blade polishing device (3) includes a blade polishing device housing (31), a linear guide rail (32), a hinge support A (33), a connecting rod (34), a support platform (35), a grinding disc (36), a grinding disc drive shaft (37), and a grinding disc servo motor (38).

[0013] In the above-mentioned propeller CNC polishing machine tool, the linear guide (32) includes a linear guide support plate (321), a guide rail (322), a linear guide servo motor (323), a servo motor mounting bracket (324), a lead screw (325), a slider A (326), and a lead screw bracket (327).

[0014] In the above-mentioned propeller CNC polishing machine tool, the auxiliary robotic arm (4) includes a support plate (41), a robotic arm F-axis servo motor (42), a hydraulic cylinder piston B (43), a hydraulic cylinder barrel B (441), a hydraulic cylinder barrel C (442), a slider B (45), an auxiliary robotic arm servo motor (46), a hinge support B (47), a robotic arm F-axis drive shaft (48), a slot (49), a retaining ring (410), an N-pole magnet (411), and an S-pole magnet (412).

[0015] In the above-mentioned propeller CNC polishing machine tool, the propeller hub polishing device (5) includes a sanding belt wheel (51), a rubber ring (52), a sanding belt (53), a sanding belt drive wheel (54), and a propeller hub polishing device servo motor (55).

[0016] In the aforementioned propeller CNC polishing machine tool, the base plate (214) is fixed to the clamping manipulator mounting hole (11) on the frame (1) by bolts. The A-axis (213) of the manipulator is connected to the base plate (214) by a revolute joint. The B-axis (27) of the manipulator is connected to the hinge support (212) of the A-axis of the manipulator by a revolute joint. The servo motor (210) of the B-axis of the manipulator and the servo motor (28) of the C-axis of the manipulator are fixed to the hinge support (212) of the A-axis of the manipulator by bolts. The harmonic reducer (222) is fixed to the hinge support (212) of the A-axis of the manipulator. The front ends of the servo motor (210) of the B-axis of the manipulator and the servo motor (28) of the C-axis of the manipulator are equipped with harmonic reducers (222). The output shafts of the two harmonic reducers (222) are... Do not connect to the B-axis (27) and C-axis crank (211) of the robotic arm. The B-axis (27) and C-axis (24) of the robotic arm are connected by a revolute joint. The C-axis crank (211) and C-axis connecting rod (29) of the robotic arm are connected by a revolute joint. The C-axis connecting rod (29) and C-axis (24) of the robotic arm are connected by a revolute joint. The D-axis servo motor (25) and E-axis servo motor (26) of the robotic arm are fixed to the C-axis (24) of the robotic arm by bolts. The E-axis (22) and D-axis (23) of the robotic arm are connected by a revolute joint. The clamping device (21) and E-axis (22) of the robotic arm are connected by a revolute joint. The A-axis servo motor bracket (221) is fixed to the base plate (214). The A-axis servo motor of the robotic arm... The motor (220) is fixed to the A-axis servo motor bracket (221) by bolts. The A-axis servo motor (220) of the robotic arm is connected to the spur gear B (219) through a reducer. The spur gear A (218) is connected to the base plate (214) through a rotating joint. The spur gear A (218) and the spur gear B (219) mesh together to transmit power. The spur gear A (218) is fixed to the A-axis (213) of the robotic arm. The output shaft gears of the D-axis servo motor (25) and the E-axis servo motor (26) of the robotic arm mesh with the gear set (217) to transmit power. The D-axis servo motor (25) of the robotic arm is connected to the D-axis reduction gear A (2171) through a reducer. The D-axis reduction gear A (2171) and the... The C-axis (24) of the robotic arm is connected via a revolute joint. The D-axis reduction gear A (2171) meshes with the D-axis non-circular gear (2172). The E-axis servo motor (26) of the robotic arm is connected to the E-axis reduction gear D (2177) via a reducer. The E-axis reduction gear D (2177) meshes with the E-axis reduction gear C (2176). The E-axis reduction gear C (2176) is fixedly connected to the E-axis reduction gear B (2175). The E-axis reduction gears C (2176) and B (2175) are connected to the C-axis (24) of the robotic arm via a revolute joint. The E-axis reduction gear B (2175) meshes with the E-axis reduction gear A (2174). The E-axis reduction gear A (2174) is connected to the C-axis (24) of the robotic arm via a revolute joint.The E-axis reduction gear A (2174) meshes with the E-axis special gear (2173). The D-axis special gear (2172), the E-axis special gear (2173), and the slide groove (2166) form a sliding pair. The servo motor (2165) of the boom extension device is fixed to the C-axis (24) of the robotic arm by bolts. The output of the servo motor (2165) of the boom extension device is connected to the boom extension device lead screw (2164) through a coupling. The boom extension device lead screw (2164) and the special slider (2162) form a helical pair. The D-axis (23) of the robotic arm is connected to the C-axis hinge support (223) via a revolute joint. The D-axis (23) of the robotic arm is formed by bolting the D-axis A (231) and D-axis B (232) of the robotic arm. The E-axis drive rod (2163) of the robotic arm is inserted into the annular groove (233) and forms a revolute joint with the D-axis (23). The irregularly shaped slider (2162) is connected to the E-axis drive rod (2163) of the robotic arm via a revolute joint. The irregularly shaped slider (2162) is installed in the drive rod groove (21611) and forms a revolute joint with the D-axis drive rod (2161) of the robotic arm. The moving rod (2161) is fixedly connected to the spur gear C (225), the spur gear C (225) meshes with the spur internal gear (224) to transmit power, the spur internal gear (224) is fixedly connected to the D-axis (23) of the robotic arm, the spiral bevel gear B (215) is fixedly connected to the E-axis drive rod (2163) of the robotic arm, the spiral bevel gear B (215) meshes with the spiral bevel gear A (226) to transmit power, the spiral bevel gear A (226) is fixedly connected to the E-axis (22) of the robotic arm, the limiting groove (2106) and the arc plate (2104) form a sliding pair, and the arc plate connecting rod (210) 8) The hydraulic cylinder barrel A hinge support (2103) is connected to the hydraulic cylinder barrel A via a revolute joint; the arc-shaped plate connecting rod (2108) is connected to the arc-shaped plate hinge support (2109) via a revolute joint; the hydraulic cylinder barrel A (2102) and the hydraulic cylinder piston A (2107) are mounted together via a sliding joint; the chuck (21011) is mounted together with the hydraulic cylinder barrel A (2102) via a revolute joint, and a flat spring (21013) is installed between the chuck (21011) and the hydraulic cylinder barrel A (2102); the chuck (21011) has a chuck protrusion (21012).

[0017] In the aforementioned CNC polishing machine tool for propellers, the outer shell (31) of the propeller polishing device is fixed to the propeller polishing device mounting bracket (12) on the frame (1) by bolts. The linear guide rail (32) is fixed to the three mounting slots of the outer shell (31) of the propeller polishing device by bolts. The linear guide rail servo motor (323) is fixed to the servo motor mounting bracket (324) by bolts. The servo motor mounting bracket (324) is fixed to the linear guide rail support plate (321) by bolts. The output shaft of the linear guide rail servo motor (323) is connected to the lead screw (325) through a coupling. The lead screw (325) and the lead screw support (327) are connected through a rotating pair. The lead screw support (327) is fixed to the linear guide rail support by bolts. On the plate (321), the guide rail (322) is fixed to the linear guide rail support plate (321) by bolts. The slider A (326) is connected to the guide rail (322) by a sliding pair. The hinge support A (33) is fixed to the slider A (326) by bolts. The hinge support A (33) and the connecting rod (34) are installed together by a rotating pair. The connecting rod (34) and the support platform (35) are connected by a spherical pair. The grinding disc servo motor (38) is fixed to the support platform (35) by bolts. The output shaft of the grinding disc servo motor (38) is connected to the grinding disc drive shaft (37) by a reducer. The grinding disc drive shaft (37) and the support platform (35) form a rotating pair. The grinding disc drive shaft (37) and the grinding disc (36) are fixedly connected.

[0018] In the aforementioned propeller CNC polishing machine, slider B (45) and auxiliary robotic arm guide rail (13) on the frame (1) are mounted together to form a sliding pair. The auxiliary robotic arm servo motor (46) is fixed to slider B (45) by bolts. The hydraulic cylinder barrel B (441) and slider B (45) are mounted together by a rotating pair. The hydraulic cylinder barrel C (442) and slider B (45) are mounted together by a rotating pair. The output shaft of the auxiliary robotic arm servo motor (46) is connected to the hydraulic cylinder barrel B (441) through a reducer. The hydraulic cylinder piston B (43) and hydraulic cylinder barrel B (441) are mounted together by a sliding pair. The hydraulic cylinder piston B (43) and hydraulic cylinder barrel C (442) are mounted together by a sliding pair. The hydraulic cylinder piston B (43) and the hinge support B (47) are mounted together by a sliding joint. The hinge support B (47) is fixed to the support plate (41). The F-axis servo motor (42) of the robotic arm is fixed to the support plate (41) by bolts. The output shaft cylinder reducer of the F-axis servo motor (42) of the robotic arm is connected to the F-axis drive shaft (48) of the robotic arm. The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm form a sliding joint. The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm are equipped with mutually attractive magnets N-pole magnet (411) and S-pole magnet (412). The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm are assembled together by magnetic attraction.

[0019] In the above-mentioned propeller CNC polishing machine tool, the servo motor (55) of the propeller hub polishing device is fixed on the machine frame (1) by bolts. The servo motor (55) of the propeller hub polishing device drives the sand belt drive wheel (54) to rotate. The rubber ring (52) is installed on the sand belt wheel (51). The sand belt wheel (51) is installed on the propeller hub polishing device support frame (15) on the machine frame (1) to form a rotating pair. The sand belt (53) is installed on the sand belt wheel (51) and the sand belt drive wheel (54).

[0020] The propeller CNC polishing machine provided by this invention has the advantages of flexible structure and convenient installation. The clamping robotic arm has a telescopic device, which greatly increases the working space of the clamping robotic arm. At the same time, the presence of the auxiliary robotic arm increases the rigidity of the propeller CNC polishing machine tool, which ensures the accuracy of propeller polishing. Under the control of three parallel robotic arms, the blade polishing device makes the polishing disc reach the appropriate position to fully polish the blade. The polishing disc is connected to a long robotic arm E-axis drive rod, which can effectively avoid interference problems during blade polishing. Attached Figure Description

[0021] Figure 1 This is the overall structure of the present invention.

[0022] Figure 2 The frame of this invention.

[0023] Figure 3 The present invention relates to a gripping robotic arm.

[0024] Figure 4 The present invention relates to a clamping robotic arm transmission system.

[0025] Figure 5 The D-axis of the robotic arm in this invention.

[0026] Figure 6 The present invention relates to a boom telescopic system.

[0027] Figure 7 The present invention relates to a reduction gear set.

[0028] Figure 8 The clamping device of the present invention.

[0029] Figure 9 This is a partial view of the clamping device of the present invention.

[0030] Figure 10 The present invention relates to a blade polishing device.

[0031] Figure 11 The linear guide rail of this invention.

[0032] Figure 12 This is the auxiliary robotic arm of the present invention.

[0033] Figure 13 The present invention relates to a paddle hub polishing device.

[0034] The numbers in the attached diagrams represent the following: frame (1), gripping robotic arm (2), blade polishing device (3), auxiliary robotic arm (4), hub polishing device (5), gripping robotic arm mounting hole (11), blade polishing device mounting bracket (12), auxiliary robotic arm guide rail (13), sanding belt hole (14), hub polishing device support frame (15), gripping device (21), robotic arm E-axis (22), robotic arm D-axis (23), robotic arm C-axis (24), robotic arm D-axis servo motor (25), robotic arm E-axis servo motor (26), robotic arm B-axis (27), robotic arm C-axis servo motor (28), robotic arm C-axis connecting rod (29), robotic arm B-axis servo motor (210), robotic arm C-axis crank (2110). 1) A-axis hinge support of robotic arm (212), A-axis of robotic arm (213), base plate (214), spiral bevel gear B (215), boom telescopic device (216), reduction gear set (217), spur gear A (218), spur gear B (219), A-axis servo motor of robotic arm (220), A-axis servo motor bracket (221), harmonic reducer (222), C-axis hinge support of robotic arm (223), spur internal gear (224), spur gear C (225), spiral bevel gear A (226), chuck part (2101), hydraulic cylinder barrel A (2102), hydraulic cylinder barrel A hinge support (2103), arc plate (2104), limit plate (2105), limit groove (2106) Hydraulic cylinder piston A (2107), arc plate connecting rod (2108), arc plate hinge support (2109), robotic arm D-axis A (231), robotic arm D-axis B (232), annular groove (233), chuck (21011), chuck protrusion (21012), flat spring (21013), robotic arm D-axis drive rod (2161), drive rod groove (21611), irregular slider (2162), robotic arm E-axis drive rod (2163), shoulder (21631), boom telescopic device lead screw (2164), boom telescopic device servo motor (2165), gear slide (2166), D-axis reduction gear A (2171), D-axis irregular gear (2172), E-axis irregular gear (2173), E-axis reduction gear A (2174), E-axis reduction gear B (2175), E-axis reduction gear C (2176), E-axis reduction gear D (2177), paddle polishing device housing (31), linear guide rail (32), hinge support A (33), connecting rod (34), support platform (35), grinding disc (36), grinding disc drive shaft (37), grinding disc servo motor (38), linear guide rail support plate (321), guide rail (322), linear guide rail servo motor (323), servo motor mounting bracket (324), lead screw (325), slider A (326), lead screw bracket (327), support plate (41), robotic arm F-axis servo motor (42), hydraulic cylinder piston B (43)Hydraulic cylinder barrel B (441), hydraulic cylinder barrel C (442), slider B (45), auxiliary robotic arm servo motor (46), hinge support B (47), robotic arm F-axis drive shaft (48), slot (49), retaining ring (410), N-pole magnet (411), S-pole magnet (412), sanding belt wheel (51), rubber ring (52), sanding belt (53), sanding belt drive wheel (54), paddle hub polishing device servo motor (55). Detailed Implementation

[0035] To facilitate understanding of the structural functions, technical means, and working process of this invention, the following description is provided in conjunction with the appendix. Figure 1-13 The specific implementation method will be further explained.

[0036] The present invention provides a CNC polishing machine tool for propellers, including a frame (1), a clamping robotic arm (2), a blade polishing device (3), an auxiliary robotic arm (4), and a hub polishing device (5). The clamping robotic arm (2) is mounted on the frame (1), the blade polishing device (3) is mounted on the frame (1), the auxiliary robotic arm (4) is mounted on the frame (1), and the hub polishing device (5) is mounted on the frame (1). The clamping robotic arm (2) is responsible for clamping the propeller and, after docking with the auxiliary robotic arm (4), is responsible for driving the auxiliary robotic arm (4) to move on the frame (1).

[0037] The frame (1) includes a clamping robotic arm mounting hole (11), a blade polishing device mounting bracket (12), an auxiliary robotic arm guide rail (13), a sanding belt hole (14), and a hub polishing device support bracket (15).

[0038] The gripping robotic arm (2) includes a gripping device (21), a robotic arm E-axis (22), a robotic arm D-axis (23), a robotic arm C-axis (24), a robotic arm D-axis servo motor (25), a robotic arm E-axis servo motor (26), a robotic arm B-axis (27), a robotic arm C-axis servo motor (28), a robotic arm C-axis connecting rod (29), a robotic arm B-axis servo motor (210), a robotic arm C-axis crank (211), and a robotic arm A-axis hinge support (212). Arm A-axis (213), base plate (214), spiral bevel gear B (215), boom telescopic device (216), reduction gear set (217), spur gear A (218), spur gear B (219), robotic arm A-axis servo motor (220), A-axis servo motor bracket (221), harmonic reducer (222), robotic arm C-axis hinge support (223), spur internal gear (224), spur gear C (225), spiral bevel gear A (226).

[0039] The clamping device (21) includes a claw part (2101), a hydraulic cylinder barrel A (2102), a hydraulic cylinder barrel A hinge support (2103), an arc plate (2104), a limiting plate (2105), a limiting groove (2106), a hydraulic cylinder piston A (2107), an arc plate connecting rod (2108), and an arc plate hinge support (2109).

[0040] The robotic arm D-axis (23) includes robotic arm D-axis A (231), robotic arm D-axis B (232), and annular groove (233).

[0041] The chuck portion (2101) includes a chuck (21011), a chuck protrusion (21012), and a flat spring (21013).

[0042] The boom telescopic device (216) includes a D-axis drive rod (2161), a drive rod slot (21611), a shaped slider (2162), an E-axis drive rod (2163), a shoulder (21631), a boom telescopic device lead screw (2164), a boom telescopic device servo motor (2165), and a gear slide (2166).

[0043] The reduction gear set (217) includes D-axis reduction gear A (2171), D-axis special gear (2172), E-axis special gear (2173), E-axis reduction gear A (2174), E-axis reduction gear B (2175), E-axis reduction gear C (2176), and E-axis reduction gear D (2177).

[0044] The blade polishing device (3) includes a blade polishing device housing (31), a linear guide rail (32), a hinge support A (33), a connecting rod (34), a support platform (35), a polishing disc (36), a polishing disc drive shaft (37), and a polishing disc servo motor (38).

[0045] The linear guide (32) includes a linear guide support plate (321), a guide rail (322), a linear guide servo motor (323), a servo motor mounting bracket (324), a lead screw (325), a slider A (326), and a lead screw bracket (327).

[0046] The auxiliary robotic arm (4) includes a support plate (41), a robotic arm F-axis servo motor (42), a hydraulic cylinder piston B (43), a hydraulic cylinder barrel B (441), a hydraulic cylinder barrel C (442), a slider B (45), an auxiliary robotic arm servo motor (46), a hinge support B (47), a robotic arm F-axis drive shaft (48), a slot (49), a retaining ring (410), an N-pole magnet (411), and an S-pole magnet (412).

[0047] The hub polishing device (5) includes a sanding belt wheel (51), a rubber ring (52), a sanding belt (53), a sanding belt drive wheel (54), and a hub polishing device servo motor (55).

[0048] The base plate (214) is fixed to the clamping robot arm mounting hole (11) on the frame (1) by bolts. The robot arm A axis (213) is connected to the base plate (214) by a revolute joint. The robot arm B axis (27) is connected to the robot arm A axis hinge support (212) by a revolute joint. The robot arm B axis servo motor (210) and the robot arm C axis servo motor (28) are fixed to the robot arm A axis hinge support (212) by bolts. The harmonic reducer (222) is fixed to the robot arm A axis hinge support (212). The robot arm B axis servo motor (210) and the robot arm C axis servo motor (28) are equipped with harmonic reducers (222) at their front ends. The output shafts of the two harmonic reducers (222) are respectively connected to the robot arm B axis (27) and the robot arm C axis servo motor (28). The robotic arm B axis (27) is connected to the robotic arm C axis (24) via a revolute joint. The robotic arm C axis crank (211) is connected to the robotic arm C axis connecting rod (29) via a revolute joint. The robotic arm C axis connecting rod (29) is connected to the robotic arm C axis (24) via a revolute joint. The robotic arm D axis servo motor (25) and robotic arm E axis servo motor (26) are fixed to the robotic arm C axis (24) by bolts. The robotic arm E axis (22) and robotic arm D axis (23) are connected by a revolute joint. The clamping device (21) is connected to the robotic arm E axis (22) via a revolute joint. The A axis servo motor bracket (221) is fixed to the base plate (214). The robotic arm A axis servo motor (220) is connected to the base plate (214). The robotic arm's A-axis servo motor (220) is fixed to the A-axis servo motor bracket (221) by bolts. The A-axis servo motor (220) is connected to the spur gear B (219) through a reducer. The spur gear A (218) is connected to the base plate (214) through a revolute joint. The spur gear A (218) and spur gear B (219) mesh together to transmit power. The spur gear A (218) is fixed to the robotic arm's A-axis (213). The output shaft gears of the robotic arm's D-axis servo motor (25) and E-axis servo motor (26) mesh with the gear set (217) to transmit power. The robotic arm's D-axis servo motor (25) is connected to the D-axis reduction gear A (2171) through a reducer. The D-axis reduction gear A (2171) is connected to the robotic arm's... The C-axis (24) is connected via a revolute joint. The D-axis reduction gear A (2171) meshes with the D-axis non-circular gear (2172). The E-axis servo motor (26) of the robotic arm is connected to the E-axis reduction gear D (2177) via a reducer. The E-axis reduction gear D (2177) meshes with the E-axis reduction gear C (2176). The E-axis reduction gear C (2176) is fixedly connected to the E-axis reduction gear B (2175). The E-axis reduction gears C (2176) and B (2175) are connected to the C-axis (24) of the robotic arm via a revolute joint. The E-axis reduction gear B (2175) meshes with the E-axis reduction gear A (2174). The E-axis reduction gear A (2174) is connected to the C-axis (24) of the robotic arm via a revolute joint.The E-axis reduction gear A (2174) meshes with the E-axis special gear (2173). The D-axis special gear (2172), the E-axis special gear (2173), and the slide groove (2166) form a sliding pair. The servo motor (2165) of the boom extension device is fixed to the C-axis (24) of the robotic arm by bolts. The output of the servo motor (2165) of the boom extension device is connected to the boom extension device lead screw (2164) through a coupling. The boom extension device lead screw (2164) and the special slider (2162) form a helical pair. The D-axis (23) of the robotic arm is connected to the C-axis hinge support (223) via a revolute joint. The D-axis (23) of the robotic arm is formed by bolting the D-axis A (231) and D-axis B (232) of the robotic arm. The E-axis drive rod (2163) of the robotic arm is inserted into the annular groove (233) and forms a revolute joint with the D-axis (23). The irregularly shaped slider (2162) is connected to the E-axis drive rod (2163) of the robotic arm via a revolute joint. The irregularly shaped slider (2162) is installed in the drive rod groove (21611) and forms a revolute joint with the D-axis drive rod (2161) of the robotic arm. The moving rod (2161) is fixedly connected to the spur gear C (225), the spur gear C (225) meshes with the spur internal gear (224) to transmit power, the spur internal gear (224) is fixedly connected to the D-axis (23) of the robotic arm, the spiral bevel gear B (215) is fixedly connected to the E-axis drive rod (2163) of the robotic arm, the spiral bevel gear B (215) meshes with the spiral bevel gear A (226) to transmit power, the spiral bevel gear A (226) is fixedly connected to the E-axis (22) of the robotic arm, the limiting groove (2106) and the arc plate (2104) form a sliding pair, and the arc plate connecting rod (210) 8) The hydraulic cylinder barrel A hinge support (2103) is connected to the hydraulic cylinder barrel A via a revolute joint; the arc-shaped plate connecting rod (2108) is connected to the arc-shaped plate hinge support (2109) via a revolute joint; the hydraulic cylinder barrel A (2102) and the hydraulic cylinder piston A (2107) are mounted together via a sliding joint; the chuck (21011) is mounted together with the hydraulic cylinder barrel A (2102) via a revolute joint, and a flat spring (21013) is installed between the chuck (21011) and the hydraulic cylinder barrel A (2102); the chuck (21011) has a chuck protrusion (21012).

[0049] The blade polishing device housing (31) is bolted to the blade polishing device mounting bracket (12) on the frame (1). The linear guide rail (32) is bolted to the three mounting slots of the blade polishing device housing (31). The linear guide rail servo motor (323) is bolted to the servo motor mounting bracket (324). The servo motor mounting bracket (324) is bolted to the linear guide rail support plate (321). The output shaft of the linear guide rail servo motor (323) is connected to the lead screw (325) via a coupling. The lead screw (325) is connected to the lead screw bracket (327) via a revolute joint. The lead screw bracket (327) is bolted to the linear guide rail support plate (321). The guide rail (322) is fixed to the linear guide rail support plate (321) by bolts. The slider A (326) is connected to the guide rail (322) by a sliding joint. The hinge support A (33) is fixed to the slider A (326) by bolts. The hinge support A (33) and the connecting rod (34) are installed together by a rotating joint. The connecting rod (34) and the support platform (35) are connected by a spherical joint. The grinding disc servo motor (38) is fixed to the support platform (35) by bolts. The output shaft of the grinding disc servo motor (38) is connected to the grinding disc drive shaft (37) by a reducer. The grinding disc drive shaft (37) and the support platform (35) form a rotating joint. The grinding disc drive shaft (37) and the grinding disc (36) are fixedly connected.

[0050] The slider B (45) is mounted together with the auxiliary robotic arm guide rail (13) on the frame (1) to form a sliding pair. The auxiliary robotic arm servo motor (46) is fixed to the slider B (45) by bolts. The hydraulic cylinder barrel B (441) is mounted together with the slider B (45) through a rotating pair. The hydraulic cylinder barrel C (442) is mounted together with the slider B (45) through a rotating pair. The output shaft of the auxiliary robotic arm servo motor (46) is connected to the hydraulic cylinder barrel B (441) through a reducer. The hydraulic cylinder piston B (43) is mounted together with the hydraulic cylinder barrel B (441) through a sliding pair. The hydraulic cylinder piston B (43) is mounted together with the hydraulic cylinder barrel C (442) through a sliding pair. Together, the hydraulic cylinder piston B (43) and the hinge support B (47) are mounted together by a rotating joint. The hinge support B (47) is fixed to the support plate (41). The F-axis servo motor (42) of the robotic arm is fixed to the support plate (41) by bolts. The output shaft cylinder reducer of the F-axis servo motor (42) of the robotic arm is connected to the F-axis drive shaft (48) of the robotic arm. The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm form a sliding joint. The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm are equipped with mutually attractive magnets N-pole magnet (411) and S-pole magnet (412). The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm are assembled together by magnetic attraction.

[0051] The servo motor (55) of the hub polishing device is fixed to the frame (1) by bolts. The servo motor (55) of the hub polishing device drives the sand belt drive wheel (54) to rotate. The rubber ring (52) is installed on the sand belt wheel (51). The sand belt wheel (51) is installed on the hub polishing device support frame (15) on the frame (1) to form a rotating pair. The sand belt (53) is installed on the sand belt wheel (51) and the sand belt drive wheel (54).

[0052] The specific working principle and usage process of the propeller CNC polishing machine tool provided by this invention are as follows:

[0053] The control system controls the posture of the gripping robot arm (2) by controlling the servo motors of the robot arm's A-axis (220), B-axis (210), C-axis (28), D-axis (25), E-axis (26), and the extension device servo motor (2165). The servo motor of the robot arm's A-axis (220) drives the spur gear B (219) to rotate, and the spur gear B (219) drives the spur gear A (218) to rotate through the gear meshing relationship, thereby driving the robot arm's A-axis (213) to rotate. The servo motor of the robot arm's B-axis (210) drives the robot arm's B-axis (27) to rotate after being reduced in speed by the harmonic reducer (222). The servo motor of the robot arm's C-axis... The machine (28) drives the C-axis crank (211) of the robotic arm to rotate after being reduced in speed by the harmonic reducer (222). The C-axis crank (211) of the robotic arm drives the C-axis (24) of the robotic arm to rotate through the C-axis connecting rod (29). The D-axis servo motor (25) of the robotic arm drives the D-axis special gear (2172) to rotate after being reduced in speed by the reduction gear set (217). The protrusion on the D-axis special gear (2172) is stuck in the gear slide groove (2166) of the D-axis drive rod (2161) of the robotic arm, thereby driving the D-axis drive rod (2161) of the robotic arm to rotate. The D-axis drive rod (2161) of the robotic arm drives the spur gear C (225) to rotate. The spur gear C (225) drives the spur internal gear (224) to rotate through the meshing relationship. The rotation of the D-axis (23) of the robotic arm is driven by the E-axis servo motor (26), which, after being reduced in speed by the reduction gear set (217), drives the E-axis special gear (2173) to rotate. The protrusion on the E-axis special gear (2173) is engaged in the gear groove (2166) of the E-axis drive rod (2163) of the robotic arm, thereby driving the D-axis drive rod (2161) of the robotic arm to rotate. The D-axis drive rod (2161) of the robotic arm drives the spiral bevel gear B (215) to rotate. The spiral bevel gear B (215) drives the spiral bevel gear A (226) to rotate through the meshing relationship, thereby driving the E-axis (22) of the robotic arm to rotate. The servo motor (2165) of the boom extension device drives the lead screw (2164) of the boom extension device to rotate through the coupling. This drives the irregularly shaped slider (2162) to move back and forth. The irregularly shaped slider (2162) is engaged in the slot (21611) of the D-axis drive rod (2161) of the robotic arm, causing the D-axis drive rod (2161) of the robotic arm to move back and forth. The E-axis drive rod (2163) of the robotic arm has a shoulder (21631), which allows the irregularly shaped slider (2162) to also drive the E-axis drive rod (2163) of the robotic arm to move. The movement of the E-axis drive rod (2163) of the robotic arm is engaged in the annular slot (233), causing the D-axis (23) of the robotic arm to move back and forth. The irregularly shaped slider (2162) forms a revolute joint with the D-axis drive rod (2161) and the E-axis drive rod (2163) of the robotic arm, and forms a sliding joint with the irregularly shaped spur gear (2167).Therefore, the transmission of power is not affected during the forward and backward movement of the D-axis drive rod (2161) and E-axis drive rod (2163) of the robotic arm. The propeller enters the central hole of the propeller through the motion clamping device (21) of each axis of the robotic arm. At this time, the oil pump starts and pumps hydraulic oil into the hydraulic cylinder A (2102). Under the push of the hydraulic oil, the hydraulic cylinder A (2102) moves forward. At this time, the arc plate (2104) clamps the propeller under the action of the arc plate connecting rod (2108).

[0054] The output shaft of the auxiliary robotic arm servo motor (46) is fixedly connected to the hydraulic cylinder barrel B (441) to control the angle of the hydraulic cylinder barrel B (441). The oil pump controls the extension and retraction of the hydraulic cylinder piston B (43) to control the height of the support plate (41). After the support plate (41) reaches the preset position, the clamping robotic arm (2) controls the clamping device (21) to be clamped onto the F-axis drive shaft (48) of the robotic arm. The F-axis servo motor (42) of the robotic arm drives the F-axis drive shaft (48) of the robotic arm to rotate. Under the action of the plane spring (21013), the pawl (21011) is clamped into the slot (49), so that the F-axis servo motor (42) of the robotic arm can drive and control the clamping device (21) to rotate to drive the propeller to rotate. Then the clamping robotic arm (2) drives the propeller to the blade polishing station.

[0055] The linear guide servo motor (323) on the linear guide (32) drives the lead screw (325) to rotate through the coupling, thereby driving the slider A (326) to move on the guide rail (322). The guide rail (322) controls the position and attitude of the support platform (35) through the hinge support A (33) and the connecting rod (34). The grinding disc servo motor (38) drives the grinding disc (36) to rotate through the grinding disc transmission shaft (37). The blade polishing device (3) is symmetrically placed on the frame. After the grinding disc (36) reaches the preset position, the F-axis servo motor (42) of the robotic arm drives the propeller to rotate and polishes both sides of the propeller blades simultaneously according to the planned path.

[0056] After the propeller blade polishing is completed, the clamping robot arm (2) drives the propeller to the hub polishing station. The servo motor (55) of the hub polishing device drives the sand belt (53) to rotate. The position and attitude of the propeller are controlled by the servo motors (220, 210, 28, 25, 26, and 48 of the robot arm A-axis, B-axis, C-axis, D-axis, E-axis, and F-axis to complete the polishing of the hub. After the polishing of the entire propeller is completed, the clamping robot arm (2) moves to the unloading station. The downward clamping device (21) causes the claw protrusion (21012) on the claw (21011) to engage in the retaining ring. Then, the clamping robot arm (2) pulls the clamping device (21) backward, causing the retaining ring (410) to move upward, so that the claw (21011) separates from the F-axis drive shaft (48) of the robot arm. The retaining ring (410) is reset under the magnetic force of the N-pole magnet (411) and the S-pole magnet (412). Then, the hydraulic system drives the hydraulic cylinder A (2102) to retract to complete the unloading of the propeller. After that, the clamping robot arm (2) completes the clamping of the propeller again and begins the polishing of the next propeller.

Claims

1. A CNC polishing machine tool for propellers, comprising a frame (1), a clamping robotic arm (2), a blade polishing device (3), an auxiliary robotic arm (4), and a hub polishing device (5): The gripping robotic arm (2) is mounted on the frame (1); The blade polishing device (3) is installed on the frame (1); The auxiliary robotic arm (4) is mounted on the frame (1); The hub polishing device (5) is installed on the frame (1); The clamping robotic arm (2) is responsible for clamping the propeller and, after docking with the auxiliary robotic arm (4), is responsible for driving the auxiliary robotic arm (4) to move on the frame (1); The frame (1) includes a clamping mechanical arm mounting hole (11), a blade polishing device mounting frame (12), an auxiliary mechanical arm guide rail (13), a sanding belt hole (14), and a blade hub polishing device support frame (15). The clamping robotic arm (2) includes a clamping device (21), a robotic arm E-axis (22), a robotic arm D-axis (23), a robotic arm C-axis (24), a robotic arm D-axis servo motor (25), a robotic arm E-axis servo motor (26), a robotic arm B-axis (27), a robotic arm C-axis servo motor (28), a robotic arm C-axis connecting rod (29), a robotic arm B-axis servo motor (210), a robotic arm C-axis crank (211), and a robotic arm A-axis hinge support (212). Robotic arm A-axis (213), base plate (214), spiral bevel gear B (215), boom telescopic device (216), reduction gear set (217), spur gear A (218), spur gear B (219), robotic arm A-axis servo motor (220), A-axis servo motor bracket (221), harmonic reducer (222), robotic arm C-axis hinge support (223), spur internal gear (224), spur gear C (225), spiral bevel gear A (226); The clamping device (21) includes a claw part (2101), a hydraulic cylinder barrel A (2102), a hydraulic cylinder barrel A hinge support (2103), an arc plate (2104), a limiting plate (2105), a limiting groove (2106), a hydraulic cylinder piston A (2107), an arc plate connecting rod (2108), and an arc plate hinge support (2109). The robotic arm D-axis (23) includes robotic arm D-axis A (231), robotic arm D-axis B (232), and an annular groove (233); The claw portion (2101) includes a claw (21011), a claw protrusion (21012), and a plane spring (21013). The boom telescopic device (216) includes a D-axis drive rod (2161), a drive rod slot (21611), a shaped slider (2162), an E-axis drive rod (2163), a shoulder (21631), a boom telescopic device lead screw (2164), a boom telescopic device servo motor (2165), and a gear slide (2166). The reduction gear set (217) includes D-axis reduction gear A (2171), D-axis special-shaped gear (2172), E-axis special-shaped gear (2173), E-axis reduction gear A (2174), E-axis reduction gear B (2175), E-axis reduction gear C (2176), and E-axis reduction gear D (2177). The blade polishing device (3) includes a blade polishing device housing (31), a linear guide rail (32), a hinge support A (33), a connecting rod (34), a support platform (35), a grinding disc (36), a grinding disc drive shaft (37), and a grinding disc servo motor (38). The linear guide (32) includes a linear guide support plate (321), a guide rail (322), a linear guide servo motor (323), a servo motor mounting bracket (324), a lead screw (325), a slider A (326), and a lead screw bracket (327). The auxiliary robotic arm (4) includes a support plate (41), a robotic arm F-axis servo motor (42), a hydraulic cylinder piston B (43), a hydraulic cylinder barrel B (441), a hydraulic cylinder barrel C (442), a slider B (45), an auxiliary robotic arm servo motor (46), a hinge support B (47), a robotic arm F-axis drive shaft (48), a slot (49), a retaining ring (410), an N-pole magnet (411), and an S-pole magnet (412). The hub polishing device (5) includes a sanding belt wheel (51), a rubber ring (52), a sanding belt (53), a sanding belt drive wheel (54), and a hub polishing device servo motor (55).

2. The propeller CNC polishing machine tool according to claim 1, characterized in that: The base plate (214) is fixed to the clamping robot arm mounting hole (11) on the frame (1) by bolts. The robot arm A axis (213) is connected to the base plate (214) by a revolute joint. The robot arm B axis (27) is connected to the robot arm A axis hinge support (212) by a revolute joint. The robot arm B axis servo motor (210) and the robot arm C axis servo motor (28) are fixed to the robot arm A axis hinge support (212) by bolts. The harmonic reducer (222) is fixed to the robot arm A axis hinge support (212). The robot arm B axis servo motor (210) and the robot arm C axis servo motor (28) are equipped with harmonic reducers (222) at their front ends. The output shafts of the two harmonic reducers (222) are respectively connected to the robot arm B axis (27) and the robot arm C axis servo motor (28). The robotic arm B axis (27) is connected to the robotic arm C axis (24) via a revolute joint. The robotic arm C axis crank (211) is connected to the robotic arm C axis connecting rod (29) via a revolute joint. The robotic arm C axis connecting rod (29) is connected to the robotic arm C axis (24) via a revolute joint. The robotic arm D axis servo motor (25) and robotic arm E axis servo motor (26) are fixed to the robotic arm C axis (24) by bolts. The robotic arm E axis (22) and robotic arm D axis (23) are connected by a revolute joint. The clamping device (21) is connected to the robotic arm E axis (22) via a revolute joint. The A axis servo motor bracket (221) is fixed to the base plate (214). The robotic arm A axis servo motor (220) is connected to the base plate (214). The robotic arm's A-axis servo motor (220) is fixed to the A-axis servo motor bracket (221) by bolts. The A-axis servo motor (220) is connected to the spur gear B (219) through a reducer. The spur gear A (218) is connected to the base plate (214) through a revolute joint. The spur gear A (218) and spur gear B (219) mesh together to transmit power. The spur gear A (218) is fixed to the robotic arm's A-axis (213). The output shaft gears of the robotic arm's D-axis servo motor (25) and E-axis servo motor (26) mesh with the gear set (217) to transmit power. The robotic arm's D-axis servo motor (25) is connected to the D-axis reduction gear A (2171) through a reducer. The D-axis reduction gear A (2171) is connected to the robotic arm's... The C-axis (24) is connected via a revolute joint. The D-axis reduction gear A (2171) meshes with the D-axis non-circular gear (2172). The E-axis servo motor (26) of the robotic arm is connected to the E-axis reduction gear D (2177) via a reducer. The E-axis reduction gear D (2177) meshes with the E-axis reduction gear C (2176). The E-axis reduction gear C (2176) is fixedly connected to the E-axis reduction gear B (2175). The E-axis reduction gears C (2176) and B (2175) are connected to the C-axis (24) of the robotic arm via a revolute joint. The E-axis reduction gear B (2175) meshes with the E-axis reduction gear A (2174). The E-axis reduction gear A (2174) is connected to the C-axis (24) of the robotic arm via a revolute joint.The E-axis reduction gear A (2174) meshes with the E-axis special gear (2173). The D-axis special gear (2172), the E-axis special gear (2173), and the slide groove (2166) form a sliding pair. The servo motor (2165) of the boom extension device is fixed to the C-axis (24) of the robotic arm by bolts. The output shaft of the servo motor (2165) of the boom extension device is connected to the boom extension device lead screw (2164) through a coupling. The boom extension device lead screw (2164) and the special slider (2162) form a helical pair. The D-axis (23) of the robotic arm is connected to the C-axis hinge support (223) via a revolute joint. The D-axis (23) of the robotic arm is formed by bolting the D-axis A (231) and D-axis B (232) of the robotic arm. The E-axis drive rod (2163) of the robotic arm is inserted into the annular groove (233) and forms a revolute joint with the D-axis (23). The irregularly shaped slider (2162) is connected to the E-axis drive rod (2163) of the robotic arm via a revolute joint. The irregularly shaped slider (2162) is installed in the drive rod groove (21611) and forms a revolute joint with the D-axis drive rod (2161) of the robotic arm. The moving rod (2161) is fixedly connected to the spur gear C (225), the spur gear C (225) meshes with the spur internal gear (224) to transmit power, the spur internal gear (224) is fixedly connected to the D-axis (23) of the robotic arm, the spiral bevel gear B (215) is fixedly connected to the E-axis drive rod (2163) of the robotic arm, the spiral bevel gear B (215) meshes with the spiral bevel gear A (226) to transmit power, the spiral bevel gear A (226) is fixedly connected to the E-axis (22) of the robotic arm, the limiting groove (2106) and the arc plate (2104) form a sliding pair, and the arc plate connecting rod (210) 8) The hydraulic cylinder barrel A hinge support (2103) is connected to the hydraulic cylinder barrel A via a revolute joint; the arc-shaped plate connecting rod (2108) is connected to the arc-shaped plate hinge support (2109) via a revolute joint; the hydraulic cylinder barrel A (2102) and the hydraulic cylinder piston A (2107) are mounted together via a sliding joint; the chuck (21011) is mounted together with the hydraulic cylinder barrel A (2102) via a revolute joint, and a flat spring (21013) is installed between the chuck (21011) and the hydraulic cylinder barrel A (2102); the chuck (21011) has a chuck protrusion (21012).

3. The CNC polishing machine tool for propellers according to claim 1, characterized in that: The blade polishing device housing (31) is bolted to the blade polishing device mounting bracket (12) on the frame (1). The linear guide rail (32) is bolted to the three mounting slots of the blade polishing device housing (31). The linear guide rail servo motor (323) is bolted to the servo motor mounting bracket (324). The servo motor mounting bracket (324) is bolted to the linear guide rail support plate (321). The output shaft of the linear guide rail servo motor (323) is connected to the lead screw (325) via a coupling. The lead screw (325) is connected to the lead screw bracket (327) via a revolute joint. The lead screw bracket (327) is bolted to the linear guide rail support plate (321). The guide rail (322) is fixed to the linear guide rail support plate (321) by bolts. The slider A (326) is connected to the guide rail (322) by a sliding joint. The hinge support A (33) is fixed to the slider A (326) by bolts. The hinge support A (33) and the connecting rod (34) are installed together by a rotating joint. The connecting rod (34) and the support platform (35) are connected by a spherical joint. The grinding disc servo motor (38) is fixed to the support platform (35) by bolts. The output shaft of the grinding disc servo motor (38) is connected to the grinding disc drive shaft (37) by a reducer. The grinding disc drive shaft (37) and the support platform (35) form a rotating joint. The grinding disc drive shaft (37) and the grinding disc (36) are fixedly connected.

4. The propeller CNC polishing machine tool according to claim 1, characterized in that: The slider B (45) is mounted together with the auxiliary robotic arm guide rail (13) on the frame (1) to form a sliding pair. The auxiliary robotic arm servo motor (46) is fixed to the slider B (45) by bolts. The hydraulic cylinder barrel B (441) is mounted together with the slider B (45) through a rotating pair. The hydraulic cylinder barrel C (442) is mounted together with the slider B (45) through a rotating pair. The output shaft of the auxiliary robotic arm servo motor (46) is connected to the hydraulic cylinder barrel B (441) through a reducer. The hydraulic cylinder piston B (43) is mounted together with the hydraulic cylinder barrel B (441) through a sliding pair. The hydraulic cylinder piston B (43) is mounted together with the hydraulic cylinder barrel C (442) through a sliding pair. Together, the hydraulic cylinder piston B (43) and the hinge support B (47) are mounted together by a rotating joint. The hinge support B (47) is fixed to the support plate (41). The F-axis servo motor (42) of the robotic arm is fixed to the support plate (41) by bolts. The output shaft cylinder reducer of the F-axis servo motor (42) of the robotic arm is connected to the F-axis drive shaft (48) of the robotic arm. The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm form a sliding joint. The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm are equipped with mutually attractive magnets N-pole magnet (411) and S-pole magnet (412). The retaining ring (410) and the F-axis drive shaft (48) of the robotic arm are assembled together by magnetic attraction.

5. The propeller CNC polishing machine tool according to any one of claims 1 to 4, characterized in that: The servo motor (55) of the hub polishing device is fixed to the frame (1) by bolts. The servo motor (55) of the hub polishing device drives the sand belt drive wheel (54) to rotate. The rubber ring (52) is installed on the sand belt wheel (51). The sand belt wheel (51) is installed on the hub polishing device support frame (15) on the frame (1) to form a rotating pair. The sand belt (53) is installed on the sand belt wheel (51) and the sand belt drive wheel (54).

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