On-site robot in-situ measurement and milling repair integrated process and system

A robot, milling and grinding technology, used in measuring/indicating equipment, manipulators, manufacturing tools, etc., can solve problems such as inability to repair and process large-scale mechanical structures

Active Publication Date: 2020-10-30
武汉数字化设计与制造创新中心有限公司
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  • Abstract
  • Description
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Problems solved by technology

[0006] Aiming at the defect that large-scale mechanical structures cannot be repaired and processed on site in the prior art, the present invention proposes an integrated process method and system for on-site robot on-site measurement-milling and repairing

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  • On-site robot in-situ measurement and milling repair integrated process and system
  • On-site robot in-situ measurement and milling repair integrated process and system

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Embodiment Construction

[0068] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0069] The on-site robot on-site measurement-milling repair integrated process method and system of the embodiment of the present invention includes a mechanical motion system, an electrical control system, a three-dimensional vision measurement and processing trajectory generation system, a robot milling and processing system, and an online monitoring and automatic processing process. Adapt to the control system, etc.

[0070] Such as figure 1 As shown, the present invention takes the on-site robot in-situ measurement-milling and repairing integrated system of the turbine blade and the runner c...

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Abstract

The invention discloses an on-site robot in-situ measurement and milling repair integrated system. The system comprises a mechanical motion system, an electrical control system, a robot milling machining system, a three-dimensional vision measurement and machining track generation system, and a machining process online monitoring and self-adaptive regulation and control system. By means of modulardesign and lightweight design, equipment move-in is achieved, and the space of a to-be-machined area of a large curved surface closed structure can be reached by virtue of an annular guide rail, a moving trolley, a lifting platform and a robot. Automatic measurement and trajectory planning of the robot are achieved through the three-dimensional vision measurement and machining trajectory generation system. The machining process real-time three-dimensional visual motion simulation, and real-time monitoring and self-adaptive regulation of signals such as force / vibration / spindle current are achieved through the machining process online monitoring and self-adaptive regulation and control system, and the automatic and intelligent machining of the large curved surface closed structure by the robot is achieved.

Description

Technical field [0001] The invention belongs to the field of robot processing, and more specifically, relates to an integrated process method and system of on-site robot measurement-milling repair. Background technique [0002] After a period of service, the blades and runner chambers of large power generation turbines such as the Three Gorges will have corrosion spots and pits on the surface. The existing repair method is generally to use manual welding or laser cladding to fill the defects at the turbine work site, and then pass Manual polishing is used to remove the remaining height of the solder joints to complete the repair. This method has high manual labor intensity, low efficiency, poor quality consistency, and has a certain hazard to the health of operators. Therefore, hydraulic turbine maintenance companies have put forward an urgent need for robots to repair in place. However, to realize the on-site robotic processing and measurement of hydraulic turbines, great chall...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23P23/04B23Q17/09B23Q17/20B25J9/16B25J11/00
CPCB23P23/04B23Q17/09B23Q17/20B25J9/16B25J11/00B25J9/1679B25J11/0055B25J11/005B25J11/0065
Inventor 彭芳瑜周林杨岑岑唐小卫邓犇
Owner 武汉数字化设计与制造创新中心有限公司
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