Automatic welding repairing system for rotating wheel of water turbine

Abstract

The invention provides an automatic welding repairing system for a rotating wheel of a water turbine. The automatic welding repairing system comprises a position changing machine, a visual image system and a welding robot, wherein the position changing machine is used for positioning and clamping a damaged rotating wheel; a design three-dimensional model of the damaged rotating wheel clamped on the position changing machine is pre-stored in the visual image system and is used as repairing reference; the visual image system is used for carrying out image scanning on a corresponding part to be repaired of the damaged rotating wheel clamped on the position changing machine to establish a real-time three-dimensional model of the corresponding part to be repaired, and comparing the real-time three-dimensional model with a corresponding part of a reference model to obtain a damaged part of the real-time three-dimensional model; the visual image system is used for separating a welding regionof the damaged part, planning a welding path, converting the planned welding path into a welding action control procedure of the welding robot and conveying the welding action control procedure to thewelding robot; the welding robot is used for carrying out welding repairing on the corresponding part to be repaired of the damaged rotating wheel clamped on the position changing machine according to the welding action control procedure output by the visual image system.

Description

technical field [0001] The invention relates to an automatic welding technology, in particular to an automatic welding repair system for a water turbine runner. Background technique [0002] The runner is the core part of the Pelton turbine, which converts the kinetic energy of water into rotational mechanical energy, see figure 1 As shown, the runner of the impact turbine is mainly composed of a wheel disc 1 and a plurality of water buckets 2 arranged on the outer periphery of the wheel disc 1, and a plurality of installation holes are arranged on the wheel disc 1, and these installation holes include a central hole 3 and a layout There are a plurality of assembly holes 4 on the periphery of the center hole 3, and the runner is installed on the main shaft of the impact turbine through these installation holes on the wheel disc 1. [0003] The runner of the impact turbine has been in the repeated impact environment of high-pressure water for a long time. Under the repeated ...

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Problems solved by technology

[0005] At present, the welding repair of the impact turbine runner is mainly realized by manual welding, which not only has low welding repair efficiency, high labor intensity of welders, long welding repair cycle, and poor economy; but also, as we all know, the welding quality of manual welding It depends entirely on the individual technical level of the welder. It is difficult for the same welder to achieve consistency in the welding of different welding positions and the welding of different welders. The repair quality is unstable and unreliable, which is not conducive to the effective and reliable improvement of the welding repair quality of the runner

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