Positioning method of robot shovel grinding tool for movable guide vane of water turbine

Abstract

The application belongs to the technical field of water turbine processing, and particularly relates to a positioning method of a robot shovel-grinding water turbine movable guide vane tooling. The positioning method comprises the following steps: installing a short shaft end positioning mechanism; installing a long shaft end positioning mechanism to position the Y-axis direction of a guide vane coordinate axis; hoisting the guide vane to make the short shaft end face of the guide vane adhere to the positioning end face of the short shaft end positioning mechanism tooling, and first perform axial coarse adjustment, then perform axial fine adjustment after the axial coarse adjustment is completed, and position the X-axis direction of the guide vane coordinate axis; position the Z-axis direction of the guide vane coordinate axis; install two jacks to support the left and right ends of a guide vane blade body profile, and adjust the guide vane to limit the rotation of the X-axis of the guide vane coordinate axis. The method can reduce the adhesion degree of the guide vane and the tooling from the level of 1mm-10mm to 0.1mm-1mm, and effectively reduces the number of manual teaching of the robot cutter track through the limiting of the tooling, and improves the working efficiency of the automatic shovel-grinding of the guide vane.

Description

Technical Field

[0001] This application belongs to the field of water turbine processing technology, and specifically relates to a positioning method for a robotic grinding tool for movable guide vanes of a water turbine. Background Technology

[0002] Before using a robot to grind the movable guide vanes of a water turbine, a crane is needed to lift the movable guide vanes onto the robot's work platform, and wooden stakes are used to elevate and position the movable guide vanes.

[0003] However, the above-mentioned positioning and installation method has the following limitations: 1. Low installation efficiency: When hoisting guide vanes, the position of the workpiece can only be determined by visual observation. Positioning is often inaccurate, requiring repeated adjustments and taking up a lot of crane time.

[0004] 2. Poor positioning accuracy: When installing workpieces in batches, human eye positioning can easily misjudge the distance between adjacent workpieces, causing interference during normal robot operation. Simultaneously, the height of both ends of the guide vane cannot be adjusted to be absolutely horizontal, and the wooden stakes will deform over time, leading to inconsistent heights at both ends of the guide vane, thus affecting the teaching accuracy of the grinding robot. Ultimately, this reduces the overall surface quality of the robot's grinding.

[0005] 3. Poor overall aesthetics: The use of wooden stakes is unsightly and will affect the overall presentation of the robot's grinding work.

[0006] 4. Not environmentally friendly: Wooden stakes need to be replaced regularly after being deformed by pressure, resulting in losses and making them non-recyclable.

[0007] Existing patents, such as the Chinese invention patent with publication number CN201810605292.X, application date 2018-06-13, entitled "Tooling for Machining Second-Stage Blades of Free Turbines in Aero-Engines," describe a tooling solution for machining second-stage blades of free turbines in aero-engines. The tooling includes a base with vertical left and right support portions on its left and right sides. A chuck is mounted on the left support portion, with a V-shaped toothed groove on its right end face. A top sleeve is mounted on the inner side of the right support portion, with a rectangular groove on its left end face. A worktable at the right end of the second-stage blade is fixedly fitted with the rectangular groove, and the V-shaped toothed groove is fixedly fitted with a tenon at the left end of the second-stage blade. While this patent also describes a blade tooling, it is not suitable for supporting and fixing guide vanes in water turbines. Summary of the Invention

[0008] To overcome the aforementioned problems in existing technologies, a positioning method for a robotic grinding tool specifically designed to support the movable guide vanes of a water turbine is proposed.

[0009] To achieve the above-mentioned technical effects, the technical solution of this application is as follows: A method for positioning a robotic grinding tool for movable guide vanes of a water turbine includes the following steps: Step 1). Install the short shaft end positioning mechanism and fix the support of the short shaft end V-shaped support block with a pressure plate; Step 2). Install the long shaft end positioning mechanism, connect the set screws and the long shaft end V-shaped support block into a whole, and adjust all set screws to be at the same height before use; next, set the assembly position of the slot base plate. First, determine the position of the slot base plate in the X-axis direction according to the guide vane length, and then adjust the position of the slot base plate in the Y-axis direction. Measure the distance from the left and right sides of the end face of the slot base plate facing the short shaft end positioning mechanism to the short shaft end positioning mechanism with a tape measure. The distances on both sides should be consistent. Finally, make its center line coincide with the center line of the assembly position of the short shaft end positioning mechanism. Then, use the fixing plate to fix the slot base plate. Finally, install the set screws and the long shaft end V-shaped support block into the set screw slot of the slot base plate as a whole. Install the fixing plate and fixing plate bolts in sequence. The assembled long shaft end positioning mechanism 1 is used to position the guide vane coordinate axis in the Y-axis direction. Step 3). Hoist the guide vane so that the short shaft end face of the guide vane fits into the positioning end face of the short shaft end positioning mechanism tooling. First, perform axial coarse adjustment, and then perform axial fine adjustment to position the X-axis of the guide vane. Step 4). Based on the radius difference between the long and short journal positioning ends of the movable guide vane, adjust the height position of the long axis end of the guide vane by adjusting the set screw, so that the height of the short axis positioning end of the guide vane is consistent with that of the long axis positioning end. Finally, install the positioning pin and lock nut to fix the set screw, thereby positioning the guide vane in the Z-axis direction; restrict the rotation of the Y-axis and Z-axis of the guide vane by using the V-shaped support block at the long axis end and the V-shaped support block at the short axis end. Step 5). Install two jacks to support the left and right ends of the guide vane body and level the guide vane to restrict the rotation of the guide vane's X-axis coordinate axis.

[0010] Further, the specific steps of the axial coarse adjustment in step 3) are as follows: arrange the long shaft end positioning mechanism and the short shaft end positioning mechanism within the robot's working range, measure the axial distance between the two positioning mechanisms with a tape measure, adjust the distance to meet the placement requirements of the movable guide vane, use a crane to hoist the movable guide vane onto the fixture, so that its short shaft end face fits against the inner end face of the short shaft end V-shaped support block, and at the same time, the short shaft journal of the movable guide vane is hoisted into the V-groove of the short shaft end V-shaped support block, and the long shaft journal is hoisted into the V-groove of the long shaft end V-shaped support block.

[0011] Further, the specific steps of axial fine adjustment in step 3) are as follows: the long shaft end positioning mechanism and the short shaft end positioning mechanism are fixed by pressing with a pressure plate, the U-shaped groove of the short shaft end V-shaped support block is connected to the screw hole of the short shaft end face of the movable guide vane by adjusting the bolt, and the adjusting bolt is continuously tightened with a wrench until the short shaft end face of the movable guide vane is completely in contact with the inner end face of the short shaft end V-shaped support block.

[0012] Further, in step 6), based on the actual length of the movable guide vane, arrange the positions of the long-axis end positioning mechanism and the short-axis end positioning mechanism. If batch processing of the movable guide vane arrangement is required, to prevent interference between the robot and the workpiece during operation, the distance between the flaps of two adjacent guide vanes installed in the Y-axis direction should be greater than 800mm. Furthermore, the long shaft end positioning mechanism includes a slot base plate and a long shaft end V-shaped support block, the long shaft end V-shaped support block being connected to the slot base plate via a set screw; the short shaft end positioning mechanism includes a short shaft end V-shaped support block, the short shaft end V-shaped support block being provided with a U-shaped slot, and an adjusting bolt being provided in the U-shaped slot.

[0013] Furthermore, a V-groove is provided in the middle of the long shaft end V-shaped support block, and mounting plates are fixedly connected to both sides of the long shaft end V-shaped support block. Each mounting plate has at least two mounting threaded holes, and the set screw is located in the mounting threaded hole. The set screw is provided with an external thread, and the external thread is adapted to the internal thread in the mounting threaded hole.

[0014] Furthermore, a slot is provided on the slot base plate, and the bottom end of the set screw is located in the slot to achieve a clearance fit with the slot base plate.

[0015] Furthermore, the set screw is fitted with a locking nut, which is located on the upper surface of the mounting plate.

[0016] Furthermore, a fixing plate is sleeved at the bottom of the set screw, and the fixing plate and the set screw are fitted with a clearance hole. The fixing plate is connected to the bottom plate of the slot by bolts.

[0017] Furthermore, the mounting plate has an opening in the middle, and a positioning pin is fixed in the opening.

[0018] Furthermore, a V-shaped groove is provided in the middle of the short shaft end V-shaped support block, a support is provided at the bottom of the short shaft end V-shaped support block, a baffle is provided on the outer side of the short shaft end V-shaped support block, and a U-shaped slot is provided longitudinally on the baffle.

[0019] Furthermore, the locating pin is an internally threaded cylindrical pin.

[0020] The advantages of this application are: 1. This method can reduce the fit between the guide vane and the tooling from 1mm-10mm to 0.1mm-1mm, and through the limiting of the tooling, it can effectively reduce the number of times the robot toolpath is manually taught, thereby improving the working efficiency of automatic grinding of the guide vane.

[0021] 2. By limiting the tooling, the focusing accuracy of the 3D camera scanning is improved, thereby reducing the optimization difficulty after generating the planned grinding path and improving the overall processing quality of the robot grinding the moving guide vane.

[0022] 3. The guide vane tooling has the function of size adjustment, so it can be used in different pumped storage and mixed flow turbine projects, achieving sustainable use and reducing the manufacturing cost of additional tooling.

[0023] 4. This makes the overall appearance of the grinding robot workstation more modern and industrial, and improves the overall display effect of the robot's grinding guide vanes.

[0024] 5. Steel tooling replaces wooden stakes, reducing timber loss and allowing for multiple recycling, contributing to low-carbon and environmentally friendly practices. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the tooling used in this application.

[0026] Figure 2 This is a side view of the long shaft end positioning mechanism.

[0027] Figure 3 This is a top view of the long shaft end positioning mechanism.

[0028] Figure 4 A sectional view of the long shaft end positioning mechanism AA.

[0029] Figure 5 This is a schematic diagram of the short shaft end positioning mechanism.

[0030] In the attached diagram: 1-Long shaft end positioning mechanism, 2-Short shaft end positioning mechanism, 11-Slot base plate, 12-Long shaft end V-shaped support block, 13-Setting screw, 14-Mounting plate, 15-Locking nut, 16-Fixing plate, 17-Positioning pin, 21-Short shaft end V-shaped support block, 22-U-shaped slot, 23-Adjusting bolt, 24-Support, 25-Baffle, 3-Guide vane. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of this application, it should be noted that the terms "upper," "vertical," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] Example 1 A method for positioning a robotic grinding tool for movable guide vanes of a water turbine includes the following steps: Step 1). Install the short shaft end positioning mechanism 2, place it in the working area, and fix the support 24 of the short shaft end V-shaped support block 21 with a pressure plate; Step 2). Install the long shaft end positioning mechanism 1. Connect the set screw 13 and the long shaft end V-shaped support block 12 into a whole by threading. Adjust all set screws 13 to be at the same height and set aside. Next, set the assembly position of the slot base plate 11. First, determine the position of the slot base plate 11 in the X-axis direction according to the length of the guide vane 3. Then adjust the position of the slot base plate 11 in the Y-axis direction. Measure the distance from the left and right sides of the end face of the slot base plate 11 facing the short shaft end positioning mechanism 2 to the short shaft end positioning mechanism 2 with a tape measure. The distance on both sides should be consistent. Finally, make its center line coincide with the center line of the assembly position of the short shaft end positioning mechanism 2. Fix the slot base plate 11 with the fixing plate 16. Finally, install the set screw 13 and the long shaft end V-shaped support block 12 into the set screw slot of the slot base plate. Install the fixing plate 16 and fixing plate bolts in sequence. The assembled long shaft end positioning mechanism 1 is used to position the guide vane 3 in the Y-axis direction. Step 3). Hoist the guide vane 3 so that the short shaft end face of the guide vane 3 fits into the positioning end face of the short shaft end positioning mechanism 2 tooling. First, perform a coarse axial adjustment, and then perform a fine axial adjustment. (After installation, the guide vane 3 can be engaged with the adjusting bolt 23 to perform a fine axial adjustment, thereby positioning the X-axis of the guide vane 3. Step 4). Based on the radius difference between the long and short journal positioning ends of the movable guide vane 3, adjust the height position of the long axis end of the guide vane 3 by adjusting the set screw 13 with a wrench, so that the height of the short axis positioning end of the guide vane 3 is consistent with that of the long axis positioning end. Finally, install the positioning pin 17 and the locking nut 15 to fix the set screw 13, thereby positioning the guide vane 3 in the Z-axis direction. The rotation of the Y-axis and Z-axis of the guide vane 3 is restricted by the V-shaped support block 12 at the long axis end and the V-shaped support block 21 at the short axis end. Step 5). Install two jacks to support the left and right ends of the guide vane 3 body shape, and level the guide vane 3 to restrict the rotation of the X-axis coordinate axis of the guide vane 3.

[0037] Because the long and short shafts of the turbine's movable guide vane 3 have different design diameters, without tooling to compensate for the radius difference, the axis of the movable guide vane 3 will not be horizontal after placement, and the vane body surface will be axially tilted. This will directly affect the robot's grinding process. When the robot executes the program, it will be under uneven stress due to the tilt angle of the guide vane 3 surface, which may cause pits on the ground surface, increasing the overall roughness and seriously affecting the grinding production quality. Therefore, the tooling is designed with a long and short shaft radius difference compensation adjustment function to ensure that the axis of the movable guide vane 3 is horizontal, effectively improving the working quality of the robot's grinding surface. Among them, the height of the short shaft end positioning mechanism 2 is fixed, and the height is adjusted by simultaneously rotating the four set screws 13 of the long shaft end positioning mechanism 1.

[0038] Example 2 A method for positioning a robotic grinding tool for movable guide vanes of a water turbine includes the following steps: Step 1). Install the short shaft end positioning mechanism 2, place it in the working area, and fix the support 24 of the short shaft end V-shaped support block 21 with a pressure plate; Step 2). Install the long shaft end positioning mechanism 1. Connect the set screw 13 and the long shaft end V-shaped support block 12 into a whole by threading. Adjust all set screws 13 to be at the same height and set aside. Next, set the assembly position of the slot base plate 11. First, determine the position of the slot base plate 11 in the X-axis direction according to the length of the guide vane 3. Then adjust the position of the slot base plate 11 in the Y-axis direction. Measure the distance from the left and right sides of the end face of the slot base plate 11 facing the short shaft end positioning mechanism 2 to the short shaft end positioning mechanism 2 with a tape measure. The distance on both sides should be consistent. Finally, make its center line coincide with the center line of the assembly position of the short shaft end positioning mechanism 2. Fix the slot base plate 11 with the fixing plate 16. Finally, install the set screw 13 and the long shaft end V-shaped support block 12 into the set screw slot of the slot base plate. Install the fixing plate 16 and fixing plate bolts in sequence. The assembled long shaft end positioning mechanism 1 is used to position the guide vane 3 in the Y-axis direction. Step 3). Hoist the guide vane 3 so that the short shaft end face of the guide vane 3 fits into the tooling positioning end face of the short shaft end positioning mechanism 2. First, perform axial coarse adjustment, and then perform axial fine adjustment (axial fine adjustment is performed by adjusting the bolt 23 and engaging the guide vane 3 to make axial fine adjustment), thereby positioning the X-axis of the guide vane 3. Step 4). Based on the radius difference between the long and short journal positioning ends of the movable guide vane 3, adjust the height position of the long axis end of the guide vane 3 by adjusting the set screw 13 with a wrench, so that the height of the short axis positioning end of the guide vane 3 is consistent with that of the long axis positioning end. Finally, install the positioning pin 17 and the locking nut 15 to fix the set screw 13, thereby positioning the guide vane 3 in the Z-axis direction. The rotation of the Y-axis and Z-axis of the guide vane 3 is restricted by the V-shaped support block 12 at the long axis end and the V-shaped support block 21 at the short axis end. Step 5). Install two jacks to support the left and right ends of the guide vane 3 body shape, and level the guide vane 3 to restrict the rotation of the X-axis coordinate axis of the guide vane 3.

[0039] Because the long and short shafts of the turbine's movable guide vane 3 have different design diameters, without tooling to compensate for the radius difference, the axis of the movable guide vane 3 will not be horizontal after placement, and the vane body surface will be axially tilted. This will directly affect the robot's grinding process. When the robot executes the program, it will be under uneven stress due to the tilt angle of the guide vane 3 surface, which may cause pits on the ground surface, increasing the overall roughness and seriously affecting the grinding production quality. Therefore, the tooling is designed with a long and short shaft radius difference compensation adjustment function to ensure that the axis of the movable guide vane 3 is horizontal, effectively improving the working quality of the robot's grinding surface. Among them, the height of the short shaft end positioning mechanism 2 is fixed, and the height is adjusted by simultaneously rotating the four set screws 13 of the long shaft end positioning mechanism 1.

[0040] The specific steps for the axial coarse adjustment in step 3) are as follows: Arrange the long axis end positioning mechanism 1 and the short axis end positioning mechanism 2 within the optimal working range of the robot. Measure the axial distance between the two positioning mechanisms with a tape measure and adjust the distance to meet the placement requirements of the movable guide vanes 3 of different lengths. Use a crane to hoist the movable guide vane 3 onto the fixture so that its short axis end face is in contact with the inner end face of the short axis end V-shaped support block 21. At the same time, the short axis journal of the movable guide vane 3 is hoisted into the V-groove of the short axis end V-shaped support block 21, and the long axis journal is hoisted into the V-groove of the long axis end V-shaped support block 12.

[0041] The specific steps for axial fine adjustment in step 3) are as follows: the long shaft end positioning mechanism 1 and the short shaft end positioning mechanism 2 are fixed by pressing with a pressure plate. The U-shaped groove 22 of the short shaft end V-shaped support block 21 is connected to the screw hole on the short shaft end face of the movable guide vane 3 by adjusting bolt 23. The adjusting bolt 23 is continuously tightened with a wrench until the short shaft end face of the movable guide vane 3 is completely in contact with the inner end face of the short shaft end V-shaped support block 21.

[0042] Step 6). Based on the actual length of the movable guide vane 3, arrange the positions of the long shaft end positioning mechanism 1 and the short shaft end positioning mechanism 2. If the movable guide vane 3 is to be processed in batches, in order to prevent the robot from interfering with the workpiece during operation, the distance between the flaps of two adjacent guide vanes 3 installed in the Y-axis direction should be greater than 800mm.

[0043] like Figure 1 As shown, a robotic tooling for grinding the movable guide vanes of a water turbine includes a long-shaft end positioning mechanism 1 and a short-shaft end positioning mechanism 2. The long-shaft end positioning mechanism 1 includes a slot base plate 11 and a long-shaft end V-shaped support block 12, which is connected to the slot base plate 11 via a set screw 13. The short-shaft end positioning mechanism 2 includes a short-shaft end V-shaped support block 21, on which a U-shaped slot 22 is provided, and an adjusting bolt 23 is provided in the U-shaped slot 22. The U-shaped slot 22 and the adjusting bolt 23 are fitted with a clearance fit.

[0044] like Figure 1 , Figure 2 and Figure 3 As shown, a V-groove is provided in the middle of the V-shaped support block 12 at the long shaft end, and mounting plates 14 are fixedly connected to both sides of the V-shaped support block 12 at the long shaft end. Each mounting plate 14 has at least two mounting threaded holes. The set screw 13 is located in the mounting threaded hole. The set screw 13 is provided with an external thread, and the external thread is adapted to the internal thread in the mounting threaded hole.

[0045] A slot is provided on the slot base plate 11, and the bottom end of the set screw 13 is located in the slot to achieve clearance fit with the slot base plate 11.

[0046] A locking nut 15 is fitted onto the set screw 13, and the locking nut 15 is located on the upper surface of the mounting plate 14. A fixing plate 16 is fitted onto the bottom of the set screw 13, and the fixing plate 16 and the set screw 13 are in a smooth hole clearance fit. One end of the set screw is a smooth section without threads, and the other end is threaded. The fixing plate 16 is connected to the slot base plate 11 by bolts.

[0047] like Figure 4 As shown, the mounting plate 14 has an opening in the middle, and a positioning pin 17 is fixed in the opening. The internally threaded positioning pin is used to position the pin hole of the slot base plate 11 and the pin hole on the mounting plate 14 of the long shaft end V-shaped support block 12 through the position of two small holes to limit the position of the long shaft end V-shaped support block 12. During the manufacturing process, the pin hole of the slot base plate 11 and the pin hole on the mounting plate 14 are in a corresponding relationship. The positioning pin 17 is inserted into the pin hole of the mounting plate 14 and the pin hole of the slot base plate 11 in sequence. The positioning pin 17 has an internally threaded hole in the center. This internally threaded hole is used to tighten and pull outward when removing the cylindrical pin.

[0048] like Figure 5 As shown, a V-shaped groove is provided in the middle of the short shaft end V-shaped support block 21, and a support 24 is provided at the bottom of the short shaft end V-shaped support block 21. A baffle 25 is provided on the outer side of the short shaft end V-shaped support block, and a U-shaped groove 22 is provided longitudinally on the baffle 25. The U-shaped groove 22 is a U-shaped groove. When one end of the guide vane 3 is placed in the V-shaped groove, the baffle 25 is used to limit the position of one end of the guide vane 3, and the adjusting bolt 23 can be screwed in and out through the U-shaped groove 22 to achieve fine adjustment of the position of the guide vane 3.

Claims

1. A positioning method for a robotic grinding tool for movable guide vanes of a water turbine, characterized in that: The steps include the following: Step 1). Install the short shaft end positioning mechanism (2) and fix the support (24) of the short shaft end V-shaped support block (21) with a pressure plate. Step 2). Install the long shaft end positioning mechanism (1), connect the set screw (13) and the long shaft end V-shaped support block (12) into a whole, and adjust all the set screws (13) to keep the height consistent before use; then set the assembly position of the slot base plate (11). First, determine the position of the slot base plate (11) in the X-axis direction according to the length of the guide vane (3), and then adjust the position of the slot base plate (11) in the Y-axis direction. Measure the left and right sides of the end face of the slot base plate (11) facing the short shaft end positioning mechanism (2) to the position of the short shaft end positioning mechanism (2). The distance between the short shaft end positioning mechanism (2) and the distance between the two sides should be consistent. Finally, make its center line coincide with the center line of the assembly position of the short shaft end positioning mechanism (2). Then, use the fixing plate (16) to fix the card slot bottom plate (11). Finally, put the top screw (13) and the long shaft end V-shaped support block (12) into the top screw slot hole of the card slot bottom plate as a whole. Install the fixing plate (16) and fixing plate bolt in sequence. The assembled long shaft end positioning mechanism (1) is used to position the guide vane (3) in the Y-axis direction. Step 3). Hoist the guide vane (3) so that the short shaft end face of the guide vane (3) fits with the tooling positioning end face of the short shaft end positioning mechanism (2). First, perform axial coarse adjustment, and then perform axial fine adjustment to position the X-axis direction of the guide vane (3). Step 4). Based on the radius difference between the long and short journal positioning ends of the movable guide vane (3), adjust the height position of the long axis end of the guide vane (3) by adjusting the set screw (13) with a wrench, so that the height of the short axis positioning end of the guide vane (3) is consistent with that of the long axis positioning end. Finally, install the positioning pin (17) and the locking nut (15) to fix the set screw (13) and realize the Z-axis direction of the positioning guide vane (3). Step 5). Install two jacks to support the left and right ends of the guide vane (3) and level the guide vane (3) to restrict the rotation of the X-axis of the guide vane (3); The specific steps of the axial fine adjustment in step 3) are as follows: the long shaft end positioning mechanism (1) and the short shaft end positioning mechanism (2) are fixed by pressing with a pressure plate. The U-shaped groove (22) of the short shaft end V-shaped support block (21) is connected to the screw hole of the short shaft end face of the movable guide vane (3) by adjusting bolt (23). The adjusting bolt (23) is continuously tightened until the short shaft end face of the movable guide vane (3) is completely in contact with the inner end face of the short shaft end V-shaped support block (21).

2. The positioning method for a robotic grinding turbine movable guide vane tooling according to claim 1, characterized in that: The specific steps of the axial coarse adjustment in step 3) are as follows: the long shaft end positioning mechanism (1) and the short shaft end positioning mechanism (2) are arranged in the working range of the robot. The axial distance between the two positioning mechanisms is measured by measuring tape and the distance is adjusted to meet the placement requirements of the movable guide vane (3). The movable guide vane (3) is hoisted onto the tooling by a crane so that its short shaft end face is in contact with the inner end face of the short shaft end V-shaped support block (21). At the same time, the short shaft journal of the movable guide vane (3) is hoisted into the V-groove of the short shaft end V-shaped support block (21), and the long shaft journal is hoisted into the V-groove of the long shaft end V-shaped support block (12).

3. The positioning method for a robotic grinding turbine movable guide vane tooling according to claim 1, characterized in that: Step 6). Based on the actual length of the movable guide vane (3), arrange the positions of the long shaft end positioning mechanism (1) and the short shaft end positioning mechanism (2). If the movable guide vane (3) is to be processed in batches, the distance between the flaps of two adjacent guide vanes (3) installed in the Y-axis direction should be greater than 800mm.

4. A positioning method for a robotic grinding turbine movable guide vane tooling according to any one of claims 1-3, characterized in that: The long shaft end positioning mechanism (1) includes a slot base plate (11) and a long shaft end V-shaped support block (12). The long shaft end V-shaped support block (12) is connected to the slot base plate (11) through a set screw (13). The short shaft end positioning mechanism (2) includes a short shaft end V-shaped support block (21). A U-shaped slot (22) is provided on the short shaft end V-shaped support block (21). An adjusting bolt (23) is provided in the U-shaped slot (22).

5. The positioning method for a robotic grinding turbine movable guide vane tooling according to claim 4, characterized in that: The V-shaped support block (12) at the long shaft end is provided with a V-shaped groove in the middle. Mounting plates (14) are fixedly connected to both sides of the V-shaped support block (12) at the long shaft end. Each mounting plate (14) has at least two mounting threaded holes. The set screw (13) is located in the mounting threaded hole. The set screw (13) is provided with an external thread. The external thread is adapted to the internal thread in the mounting threaded hole.

6. The positioning method for a robotic grinding turbine movable guide vane tooling according to claim 5, characterized in that: The card slot base plate (11) has a card slot, and the bottom end of the top screw (13) is located in the card slot and achieves clearance fit with the card slot base plate (11).

7. The positioning method for a robotic grinding turbine movable guide vane tooling according to claim 5, characterized in that: The set screw (13) is fitted with a locking nut (15), which is located on the upper surface of the mounting plate (14); a fixing plate (16) is fitted at the bottom of the set screw (13), and the fixing plate (16) and the set screw (13) are in a clearance fit with a light hole. The fixing plate (16) is connected to the slot bottom plate (11) by bolts.

8. The positioning method for a robotic grinding turbine movable guide vane tooling according to claim 5, characterized in that: The mounting plate (14) has an opening in the middle, and a positioning pin (17) is fixed in the opening.

9. The positioning method for a robotic grinding turbine movable guide vane tooling according to claim 4, characterized in that: The short shaft end V-shaped support block (21) has a V-shaped groove in the middle, a support (24) is provided at the bottom of the short shaft end V-shaped support block (21), a baffle (25) is provided on the outer side of the short shaft end V-shaped support block, and a U-shaped slot (22) is provided on the baffle (25) longitudinally.

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