Positioning method of robot shovel grinding fixed vane tooling 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 fixed guide vane tooling, comprising the following steps: arranging the relative position of the robot shovel grinding water turbine fixed guide vane tooling; adjusting the height of the sliding support to realize the positioning of the fixed guide vane in the Z-axis direction; adjusting the position of a pair of adjusting bottom plates on the bearing plate to realize the positioning of the fixed guide vane in the X-axis direction; limiting the head or tail of the guide vane through the movable baffle outside the first adjusting mechanism to realize the positioning of the fixed guide vane in the Y-axis direction; and finely adjusting the placement position of the fixed guide vane through the tooling measurement method. Through the adjusting and positioning mode of the tooling, the workpiece can be in the best range of robot polishing, and the uneven force on the polishing contact surface caused by the improper placement position of the fixed guide vane can be effectively prevented to generate polishing adjacent row indentation, or the black skin caused by insufficient polishing pressure can be effectively prevented.

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 fixed guide vanes of a water turbine. Background Technology

[0002] Before using a robot to grind the guide vanes of a water turbine, the guide vanes are usually hoisted onto the robot's work platform, and then two wooden stakes are placed under the guide vanes to elevate and position them. However, this method of positioning using wooden stakes has the following disadvantages:

[0003] Low installation efficiency: When hoisting the fixed guide vane onto the wooden pile, the placement of the fixed guide vane can only be observed visually. This method results in inaccurate positioning, and the repeated placement over a long period of time also wastes the crane's time.

[0004] Poor positioning accuracy: When placing fixed guide vanes in batches, traditional positioning methods are prone to misjudging the spacing between adjacent workpieces, leading to interference during the normal operation of the grinding robot. Furthermore, the traditional method of placing wooden stakes prevents the height of the two ends of the fixed guide vane from being adjusted to be absolutely horizontal. Even if the stake height is adjusted appropriately during initial selection, the stakes will deform over time due to their material properties, resulting in inconsistent heights at both ends of the fixed guide vane and reducing the overall surface quality of the robot's grinding. Summary of the Invention

[0005] To overcome the aforementioned problems in existing technologies, a positioning method for a robotic grinding tool for water turbine fixed guide vanes, specifically designed to provide support for fixed guide vanes of water turbines, is proposed.

[0006] To achieve the above-mentioned technical effects, the technical solution of this application is as follows:

[0007] A method for positioning a robotic grinding tool for fixing guide vanes of a water turbine includes the following steps:

[0008] Step 1). Based on the actual length of the fixed guide vane, arrange the relative positions of the first and second adjustment mechanisms in the robot grinding turbine fixed guide vane fixture;

[0009] Step 2). Adjust the height of the sliding bracket according to the actual thickness of the fixed guide vane to position the fixed guide vane in the Z-axis direction;

[0010] Step 3). Based on the actual width of the fixed guide vane, adjust the position of a pair of adjusting base plates on the load-bearing plate so that the gap between the adjusting base plate or the adjusting vertical plate connected to it and the fixed guide vane in the width direction is controlled within 3-5mm, and ensure that the gap in the width direction is uniform, so as to achieve the positioning of the fixed guide vane in the X-axis direction.

[0011] Step 4). Place a protective pad on the load-bearing plate, and use a crane to lift and fix the guide vane onto the load-bearing plate. Use the movable baffle located outside the first adjustment mechanism to limit the head or tail of the guide vane, and achieve positioning of the fixed guide vane in the Y-axis direction.

[0012] Step 5). Fine-tune the placement of the fixed guide vane using tooling measurement to ensure that the fixed guide vane is located in the exact center of the distance between the two pairs of adjusting base plates;

[0013] Step 6). If there is an adjustable stand, lower the height of the adjustable stand and remove the movable baffle to ensure that the robot tool holder does not interfere with the adjustable stand and the movable baffle when it is working.

[0014] Further, the specific steps for positioning in the Z-axis direction in step 2) are as follows: slide the sliding bracket into the groove of the adjusting plate, adjust the height of the load-bearing plate that is fixedly connected to the sliding bracket, and when it is adjusted to the preset height, insert a cylindrical pin into the positioning pin hole at a suitable height between the sliding bracket and the adjusting plate to position the Z-axis coordinate value.

[0015] Further, the specific steps for positioning in the X-axis direction in step 3) are as follows: First, connect the bottom surface of the adjusting base plate to the load-bearing plate. The surface of the load-bearing plate is provided with a U-shaped through groove. Pass the bolts through the U-shaped through groove on the adjusting base plate and the U-shaped through groove on the load-bearing plate in sequence. Then, use nuts to connect the adjusting base plate and the load-bearing plate. After adjusting the size in the X-axis direction using the U-shaped through groove, tighten the bolts and nuts to fix the position of the pair of adjusting base plates.

[0016] Further, the specific steps for positioning in the Y-axis direction in step 4) are as follows: the movable baffle is connected to the threaded hole of the connecting block via bolts, and the connecting block is fixedly connected to the load-bearing plate. The Y-axis direction is achieved through clearance fit between the movable baffle surface and the head or tail of the fixed guide vane; simultaneously, the clearance is measured with a feeler gauge to ensure uniform clearance values, so that the Y-axis coordinate values ​​are consistent after the same batch of fixed guide vanes are loaded, thus enabling a single fixed guide vane robot grinding program to be applicable to the grinding of multiple identical fixed guide vanes.

[0017] Furthermore, the specific steps for fine-tuning in step 5) are as follows:

[0018] Measure the distance from the adjusting plate or adjusting base plate to the blunt edge of the fixed guide vane bevel using a measuring tape. Use this measurement method to determine the distances from the front and rear blunt edges of the fixed guide vane head to the adjusting plate, and the distances from the front and rear blunt edges of the fixed guide vane tail to the adjusting plate. A total of N sets of measurement results are obtained. Use a crane to fine-tune the fixed guide vane to ensure that the above N sets of measurement data values ​​are consistent, that is, the fine adjustment is completed, N≥4.

[0019] Furthermore, the method for measuring the distance from the adjusting plate or adjusting base plate to the blunt edge of the fixed guide vane bevel using a measuring tape is as follows: First, using a measuring tape with the outer facade of the load-bearing plate as a reference, vertically measure the distance from the bottom surface of the load-bearing plate to the outer edge of the blunt edge; Second, taking the end point of the measurement in the first step as the starting point, use a measuring tape to measure the distance from that point to the adjusting plate.

[0020] A robotic tooling for fixing guide vanes of a water turbine includes a first adjustment mechanism and a second adjustment mechanism. Both the first and second adjustment mechanisms include two bases, and an adjustment plate is vertically installed on each of the two bases. A sliding bracket is connected to the adjustment plate, and a load-bearing plate is connected between the two sliding brackets. Two adjustment base plates are symmetrically arranged on the load-bearing plate. A vertically arranged movable baffle is also provided on the outer side of the first adjustment mechanism.

[0021] Furthermore, each adjustable base plate is connected to an adjustable vertical plate.

[0022] Furthermore, the movable baffle is connected to the connecting block, the connecting block is connected to the load-bearing plate, the connecting block is L-shaped, the connecting block passes through the bottom of the load-bearing plate, and one end of the connecting block is connected to the inner side or bottom of the load-bearing plate.

[0023] Furthermore, a threaded hole is provided at one end of the connecting block where it connects to the movable baffle, and a bolt or other fixing structure can be connected to the threaded hole of the connecting block to achieve the connection between the two.

[0024] Furthermore, multiple stiffening plates are provided between the adjusting plate and the base.

[0025] Furthermore, the adjusting plate is provided with multiple positioning pin holes, and the corresponding sliding bracket is also provided with multiple rows of positioning pin holes. The adjusting plate is provided with a sliding groove, the sliding bracket is located in the sliding groove, and the adjusting plate and the sliding bracket are fixed by bolts and positioning pin holes.

[0026] Furthermore, the adjusting base plate is L-shaped, and the bottom edge of the adjusting base plate is connected to the load-bearing plate by bolts and nuts. A U-shaped through groove is provided on the side of the adjusting base plate, and a U-shaped through groove is provided in the middle of the adjusting vertical plate. The adjusting plate and the adjusting vertical plate are connected by bolts and nuts.

[0027] Furthermore, the base is provided with a plurality of engagement holes for fixing the base.

[0028] Furthermore, the surface of the load-bearing plate is provided with multiple positioning pin holes for adjusting different positions of the base plate.

[0029] The advantages of this application are:

[0030] 1. Based on the actual needs of mass production, a single fixed guide vane robot grinding program must be applicable to grinding multiple identical fixed guide vanes. Through the adjustment and positioning of the tooling, not only can the workpiece be placed within the optimal working range of the robot grinding, but it also effectively prevents uneven force on the grinding contact surface caused by improper placement of the fixed guide vanes, resulting in indentations between adjacent grinding rows, or the formation of unpolished black skin due to insufficient grinding pressure. To facilitate the positioning of the fixed guide vanes, the tooling ensures that the workpiece coordinate system of the tooling where the fixed guide vanes are located coincides with the robot's working coordinate system. Ultimately, the fixed guide vanes are positioned within the optimal working range for the robot grinding operation, thus achieving the best surface quality after grinding.

[0031] 2. The tooling in this application is applicable to the installation of fixed guide vanes for robot-driven grinding pumped storage and mixed-flow turbines.

[0032] By using tooling to limit movement, the number of times the robot's toolpath needs to be manually taught is effectively reduced, thus improving the efficiency of automatic grinding of guide vanes. The tooling's limiting position also improves the focusing accuracy of the 3D camera scan, thereby reducing the optimization difficulty after generating the planned grinding path and enhancing the overall processing quality of the robot grinding fixed guide vanes.

[0033] 3. The guide vane fixture has adjustable dimensions, making it applicable to various pumped-storage and mixed-flow turbine projects, enabling sustainable use and reducing the manufacturing cost of additional fixtures. Steel fixtures replace wooden piles, reducing timber loss and allowing for multiple recycling, contributing to low-carbon and environmentally friendly practices. Attached Figure Description

[0034] Figure 1 A schematic diagram of the overall structure of the tooling for fixing guide vanes to a water turbine for robotic grinding.

[0035] Figure 2 This is a schematic diagram of the load-bearing plate's associated structure.

[0036] Figure 3 This is a schematic diagram of the base's associated structure.

[0037] Figure 4 A schematic diagram showing how to adjust the vertical plate to fit a relatively thick fixed guide vane.

[0038] Figure 5 Schematic diagram for adjusting the base plate to fit a thinner fixed guide vane.

[0039] Figure 6 This is a schematic diagram of a method for measuring the distance from the adjusting plate or adjusting base plate to the blunt edge of the fixed guide vane bevel using a measuring tape.

[0040] In the attached diagram: 1-First adjusting mechanism, 2-Second adjusting mechanism, 3-Fixed guide vane, 4-Base, 5-Adjusting plate, 6-Sliding bracket, 7-Bearing plate, 8-Adjusting base plate, 9-Modible baffle, 10-Adjusting vertical plate, 11-Connecting block, 12-Rib plate, 13-Positioning pin hole, 14-Slide groove, 15-Threaded hole of connecting block. Detailed Implementation

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Example 1

[0047] A method for positioning a robotic grinding tool for fixing guide vanes of a water turbine includes the following steps:

[0048] Step 1). Based on the actual length of the fixed guide vane 3, arrange the relative positions of the first adjustment mechanism 1 and the second adjustment mechanism 2 in the robot grinding turbine fixed guide vane tooling;

[0049] Step 2). Adjust the height of the sliding bracket 6 according to the actual thickness of the fixed guide vane 3 to position the fixed guide vane 3 in the Z-axis direction; so that the workpiece is at the optimal working height value.

[0050] Step 3). Based on the actual width of the fixed guide vane 3, adjust the position of the pair of adjusting base plates 8 on the load-bearing plate 7 so that the gap between the adjusting base plate 8 or the adjusting vertical plate 10 connected to it and the fixed guide vane 3 in the width direction is controlled within 3-5mm, and ensure that the gap in the width direction is uniform, so as to achieve the positioning of the fixed guide vane 3 in the X-axis direction.

[0051] Step 4). Place a protective pad on the load-bearing plate 7 to protect the workpiece. The crane lifts the fixed guide vane 3 onto the load-bearing plate 7, and the movable baffle 9 located outside the first adjusting mechanism 1 limits the head or tail of the guide vane, thereby positioning the fixed guide vane 3 in the Y-axis direction;

[0052] Step 5). Fine-tune the placement of the fixed guide vane 3 by measuring with tooling, so that the fixed guide vane 3 is located in the exact middle of the distance between the two pairs of adjusting base plates 8;

[0053] Step 6). If there is an adjusting plate 10, lower the height of the adjusting plate 10 and remove the movable baffle 9 to ensure that the robot tool holder does not interfere with the adjusting plate 10 and the movable baffle 9 when it is working.

[0054] Example 2

[0055] A method for positioning a robotic grinding tool for fixing guide vanes of a water turbine includes the following steps:

[0056] Step 1). Based on the actual length of the fixed guide vane 3, arrange the relative positions of the first adjustment mechanism 1 and the second adjustment mechanism 2 in the robot grinding turbine fixed guide vane tooling;

[0057] Step 2). Adjust the height of the sliding bracket 6 according to the actual thickness of the fixed guide vane 3 to position the fixed guide vane 3 in the Z-axis direction; so that the workpiece is at the optimal working height value.

[0058] Step 3). Based on the actual width of the fixed guide vane 3, adjust the position of the pair of adjusting base plates 8 on the load-bearing plate 7 so that the gap between the adjusting base plate 8 or the adjusting vertical plate 10 connected to it and the fixed guide vane 3 in the width direction is controlled within 3-5mm, and ensure that the gap in the width direction is uniform, so as to achieve the positioning of the fixed guide vane 3 in the X-axis direction.

[0059] Step 4). Place a protective pad on the load-bearing plate 7 to protect the workpiece. The crane lifts the fixed guide vane 3 onto the load-bearing plate 7, and the movable baffle 9 located outside the first adjusting mechanism 1 limits the head or tail of the guide vane, thereby positioning the fixed guide vane 3 in the Y-axis direction;

[0060] Step 5). Fine-tune the placement of the fixed guide vane 3 by measuring with tooling, so that the fixed guide vane 3 is located in the exact middle of the distance between the two pairs of adjusting base plates 8;

[0061] Step 6). If there is an adjusting plate 10, lower the height of the adjusting plate 10 and remove the movable baffle 9 to ensure that the robot tool holder does not interfere with the adjusting plate 10 and the movable baffle 9 when it is working.

[0062] The specific steps for positioning in the Z-axis direction in step 2) are as follows: To ensure that the fixed guide vanes 3 with different valve thicknesses can meet the optimal height value for robot grinding work after installation on the tooling, the sliding bracket 6 is designed with multiple rows of positioning pin holes 13 vertically, with at least two positioning pin holes 13 in each row. The sliding bracket 6 is slidably inserted into the groove 14 of the adjusting plate 5, and the height of the load-bearing plate 7 fixedly connected to the sliding bracket 6 is adjusted. After adjustment to the preset height, a cylindrical pin is inserted into the positioning pin hole 13 at a suitable height between the sliding bracket 6 and the adjusting plate 5 to position the Z-axis coordinate value.

[0063] The specific steps for positioning in the X-axis direction in step 3) are as follows: First, connect the bottom surface of the adjusting base plate 8 to the load-bearing plate 7. The surface of the load-bearing plate 7 is provided with a U-shaped through groove. Pass the bolts through the U-shaped through grooves on the adjusting base plate 8 and the load-bearing plate 7 in sequence. Then, use nuts to connect the adjusting base plate 8 and the load-bearing plate 7. After adjusting the size in the X-axis direction using the U-shaped through grooves, tighten the bolts and nuts to fix the position of the pair of adjusting base plates 8.

[0064] Step 4) involves the following steps for positioning in the Y-axis direction: The movable baffle 9 is connected to the threaded hole 15 of the connecting block via bolts, allowing for easy removal after workpiece positioning and preventing the movable baffle from interfering with the robot's grinding operation. The connecting block 11 and the load-bearing plate 7 are fixedly connected by welding. Based on batch production requirements, the Y-axis direction is fitted with a clearance between the movable baffle 9 and the head or tail of the fixed guide vane 3. Simultaneously, the clearance is measured with a feeler gauge to ensure uniformity, guaranteeing consistent Y-axis coordinates for the same batch of fixed guide vanes 3 after loading. This allows a single robot grinding program for fixed guide vanes 3 to be applicable to the grinding of multiple identical fixed guide vanes 3.

[0065] The specific steps for fine-tuning in step 5) are as follows:

[0066] Measure and adjust the vertical plate 10 or the base plate 8 using a measuring tape (select the appropriate plate based on the thickness of the fixed guide vane 3: the vertical plate 10 is suitable for thicker fixed guide vanes 3, such as...). Figure 4 As shown; the adjusting base plate 8 can be used for thinner fixed guide vanes 3, such as... Figure 5 The distance from the bevel blunt edge of the fixed guide vane 3 (as shown) to the adjusting plate 5 is determined using this measurement method. The distances from the front and rear blunt edges of the head of the fixed guide vane 3 to the adjusting plate 5 are also determined using this method. A total of N sets of measurement results are obtained. The fixed guide vane 3 is then finely adjusted using a crane to ensure that the above N sets of measurement data are consistent, i.e., the fine adjustment is completed, and N≥4.

[0067] The method for measuring the distance from the adjusting plate 10 or adjusting base plate 8 to the blunt edge of the bevel of the fixed guide vane 3 using a measuring tape is as follows: First, using the outer facade of the load-bearing plate 7 as a reference, vertically measure the distance from the bottom surface of the load-bearing plate 7 to the outer edge of the blunt edge; Second, taking the end point of the measurement in the first step as the starting point, use a measuring tape to measure the distance from that point to the adjusting plate 5; the measurement method is as follows. Figure 6 As shown.

[0068] Example 3

[0069] A method for positioning a robotic grinding tool for fixing guide vanes of a water turbine includes the following steps:

[0070] Step 1). Based on the actual length of the fixed guide vane 3, arrange the relative positions of the first adjustment mechanism 1 and the second adjustment mechanism 2 in the robot grinding turbine fixed guide vane tooling;

[0071] Step 2). Adjust the height of the sliding bracket 6 according to the actual thickness of the fixed guide vane 3 to position the fixed guide vane 3 in the Z-axis direction; so that the workpiece is at the optimal working height value.

[0072] Step 3). Based on the actual width of the fixed guide vane 3, adjust the position of the pair of adjusting base plates 8 on the load-bearing plate 7 so that the gap between the adjusting base plate 8 or the adjusting vertical plate 10 connected to it and the fixed guide vane 3 in the width direction is controlled within 3-5mm, and ensure that the gap in the width direction is uniform, so as to achieve the positioning of the fixed guide vane 3 in the X-axis direction.

[0073] Step 4). Place a protective pad on the load-bearing plate 7 to protect the workpiece. The crane lifts the fixed guide vane 3 onto the load-bearing plate 7, and the movable baffle 9 located outside the first adjusting mechanism 1 limits the head or tail of the guide vane, thereby positioning the fixed guide vane 3 in the Y-axis direction;

[0074] Step 5). Fine-tune the placement of the fixed guide vane 3 by measuring with tooling, so that the fixed guide vane 3 is located in the exact middle of the distance between the two pairs of adjusting base plates 8;

[0075] Step 6). If there is an adjusting plate 10, lower the height of the adjusting plate 10 and remove the movable baffle 9 to ensure that the robot tool holder does not interfere with the adjusting plate 10 and the movable baffle 9 when it is working.

[0076] The specific steps for positioning in the Z-axis direction in step 2) are as follows: To ensure that the fixed guide vanes 3 with different valve thicknesses can meet the optimal height value for robot grinding work after installation on the tooling, the sliding bracket 6 is designed with multiple rows of positioning pin holes 13 vertically, with at least two positioning pin holes 13 in each row. The sliding bracket 6 is slidably inserted into the groove 14 of the adjusting plate 5, and the height of the load-bearing plate 7 fixedly connected to the sliding bracket 6 is adjusted. After adjustment to the preset height, a cylindrical pin is inserted into the positioning pin hole 13 at a suitable height between the sliding bracket 6 and the adjusting plate 5 to position the Z-axis coordinate value.

[0077] The specific steps for positioning in the X-axis direction in step 3) are as follows: First, connect the bottom surface of the adjusting base plate 8 to the load-bearing plate 7. The surface of the load-bearing plate 7 is provided with a U-shaped through groove. Pass the bolts through the U-shaped through grooves on the adjusting base plate 8 and the load-bearing plate 7 in sequence. Then, use nuts to connect the adjusting base plate 8 and the load-bearing plate 7. After adjusting the size in the X-axis direction using the U-shaped through grooves, tighten the bolts and nuts to fix the position of the pair of adjusting base plates 8.

[0078] Step 4) involves the following steps for positioning in the Y-axis direction: The movable baffle 9 is connected to the threaded hole 15 of the connecting block via bolts, allowing for easy removal after workpiece positioning and preventing the movable baffle from interfering with the robot's grinding operation. The connecting block 11 and the load-bearing plate 7 are fixedly connected by welding. Based on batch production requirements, the Y-axis direction is fitted with a clearance between the movable baffle 9 and the head or tail of the fixed guide vane 3. Simultaneously, the clearance is measured with a feeler gauge to ensure uniformity, guaranteeing consistent Y-axis coordinates for the same batch of fixed guide vanes 3 after loading. This allows a single robot grinding program for fixed guide vanes 3 to be applicable to the grinding of multiple identical fixed guide vanes 3.

[0079] The specific steps for fine-tuning in step 5) are as follows:

[0080] Measure and adjust the vertical plate 10 or the base plate 8 using a measuring tape (select the appropriate plate based on the thickness of the fixed guide vane 3: the vertical plate 10 is suitable for thicker fixed guide vanes 3, such as...). Figure 4 As shown; the adjusting base plate 8 can be used for thinner fixed guide vanes 3, such as... Figure 5 The distance from the bevel blunt edge of the fixed guide vane 3 (as shown) to the adjusting plate 5 is determined using this measurement method. The distances from the front and rear blunt edges of the head of the fixed guide vane 3 to the adjusting plate 5 are also determined using this method. A total of N sets of measurement results are obtained. The fixed guide vane 3 is then finely adjusted using a crane to ensure that the above N sets of measurement data are consistent, i.e., the fine adjustment is completed, and N≥4.

[0081] The method for measuring the distance from the adjusting plate 10 or adjusting base plate 8 to the blunt edge of the bevel of the fixed guide vane 3 using a measuring tape is as follows: First, using the outer facade of the load-bearing plate 7 as a reference, vertically measure the distance from the bottom surface of the load-bearing plate 7 to the outer edge of the blunt edge; Second, taking the end point of the measurement in the first step as the starting point, use a measuring tape to measure the distance from that point to the adjusting plate 5; the measurement method is as follows. Figure 6 As shown.

[0082] A robotic tooling for fixing guide vanes of a water turbine includes a first adjustment mechanism 1 and a second adjustment mechanism 2. Both the first adjustment mechanism 1 and the second adjustment mechanism 2 include two bases 4. An adjustment plate 5 is vertically installed on each of the two bases 4. A sliding bracket 6 is connected to the adjustment plate 5. A load-bearing plate 7 is connected between the two sliding brackets 6. Two adjustment base plates 8 are symmetrically arranged on the load-bearing plate 7. A vertically arranged movable baffle 9 is also provided on the outer side of the first adjustment mechanism 1.

[0083] Each adjusting base plate 8 is connected to an adjusting vertical plate 10; the adjusting vertical plate 10 is suitable for wider fixed guide vanes 3. The adjusting base plate 8 is suitable for thinner fixed guide vanes 3.

[0084] The movable baffle 9 is connected to the connecting block 11, which is connected to the load-bearing plate 7. The connecting block 11 is L-shaped and passes through the bottom of the load-bearing plate 7. One end of the connecting block 11 is connected to the inner side or bottom of the load-bearing plate 7.

[0085] One end of the connecting block 11 is provided with a threaded hole 15 at the connection point with the movable baffle 9. Bolts or other fixing structures can be connected to the threaded hole 15 to achieve the connection between the two.

[0086] Multiple stiffeners 12 are provided between the adjusting plate 5 and the base 4.

[0087] The adjusting plate 5 is provided with multiple positioning pin holes 13, and the corresponding sliding bracket 6 is also provided with multiple rows of positioning pin holes 13. The adjusting plate 5 is provided with a sliding groove 14, the sliding bracket 6 is located in the sliding groove 14, and the adjusting plate 5 and the sliding bracket 6 are fixed by bolts and positioning pin holes 13.

[0088] The adjusting base plate 8 is L-shaped. The bottom edge of the adjusting base plate 8 is connected to the load-bearing plate 7 by bolts and nuts. A U-shaped through groove is provided on the side of the adjusting base plate 8. A U-shaped through groove is provided in the middle of the adjusting vertical plate 10. The adjusting plate 5 and the adjusting vertical plate 10 are connected by bolts and nuts.

[0089] The base 4 is provided with multiple engagement holes, which are used to fix the base 4.

[0090] The surface of the load-bearing plate 7 is provided with multiple positioning pin holes 13 for adjusting different positions of the base plate 8.

[0091] Example 4

[0092] The adjustment mechanism consists of a movable baffle 9, a connecting block 11, a bracket, a load-bearing plate 7, an adjusting vertical plate 10, and an adjusting base plate 8. The connecting block 11 and the bracket are connected to the load-bearing plate 7 by welding. Figure 2 As shown.

[0093] Rib plate 12 and adjusting plate 5 are connected to base 4 by welding, such as Figure 3 As shown.

[0094] The load-bearing plate 7 contacts the bottom surface of the fixed guide vane 3, bears the weight of the fixed guide vane 3, and positions the workpiece in the Z-axis direction.

[0095] The adjusting base plate 8 is connected to the load-bearing plate 7 by bolts and nuts; the adjusting vertical plate 10 is connected to the adjusting base plate 8 by bolts and nuts, and positions the workpiece in the X-axis direction.

[0096] The movable baffle 9 is threadedly connected to the connecting block 11 by bolts to position the workpiece in the Y-axis direction.

[0097] The position of the support base 4 is arranged according to the actual length of the fixed guide vane 3. If the fixed guide vane 3 is arranged for batch processing, the workpiece spacing is set to be greater than 300mm to prevent interference between the robot and the workpiece during operation.

[0098] Adjust the installation of the sliding bracket 6 according to the actual thickness of the fixed guide vane 3 to ensure that the workpiece is at the optimal working height.

[0099] Based on the actual width of the fixed guide vane 3, adjust the position of the adjusting base plate 8 on the load-bearing plate 7 so that the gap between the adjusting vertical plate 10 and the fixed guide vane 3 in the width direction is controlled within 3-5mm, and ensure that the gap in the width direction is uniform.

[0100] A protective pad is placed on the load-bearing plate 7 to protect the workpiece. The crane lifts the fixed guide vane 3 onto the load-bearing plate 7, and the head of the fixed guide vane 3 is limited by the movable baffle 9.

[0101] Adjust the height of the upright plate 10 by using the U-shaped through groove, and remove the movable baffle 9 to ensure that the robot tool holder does not interfere with the upright plate or the movable baffle 9 when it is working.

[0102] Based on the actual needs of mass production, a single program for robotic grinding of fixed guide vanes 3 must be applicable to grinding multiple identical fixed guide vanes 3. Through the adjustment of this fixture, not only can the workpiece be placed within the optimal working range of the robot grinding, but it also effectively prevents uneven force on the grinding contact surface caused by improper placement of the fixed guide vanes 3, resulting in indentations between adjacent rows, or the formation of unpolished black skin due to insufficient grinding pressure. To facilitate the positioning of the fixed guide vanes 3, the fixture ensures that the workpiece coordinate system of the fixture where the fixed guide vanes 3 are located coincides with the robot's working coordinate system. Ultimately, the fixed guide vanes 3 are positioned within the optimal working range for the robot grinding operation, thus achieving the best surface quality after grinding.

[0103] The coordinate axes are shown in the diagram. Figure 1 As shown.

[0104] Axis adjustment methods:

[0105] 1) X-axis adjustment method:

[0106] The U-shaped groove on the bottom surface of the adjusting base plate 8 is connected to the load-bearing plate 7 by bolts and nuts. After adjusting the size in the X-axis direction by using the U-shaped groove, tighten the bolts and nuts to fix the adjusting base plate 8.

[0107] 2) Y-axis adjustment method:

[0108] The movable baffle 9 is connected to the threaded hole 15 of the connecting block by bolts for easy removal after workpiece positioning, preventing the movable baffle from interfering with the robot's grinding operation. The connecting block 11 is welded to the load-bearing plate 7. According to batch production requirements, the Y-axis direction is fitted with the head or tail of the fixed guide vane 3 through the vertical surface of the movable baffle 9. Simultaneously, the gap is measured with a feeler gauge to ensure uniformity. The purpose is to ensure that the Y-axis coordinate values ​​are consistent after loading the same batch of fixed guide vanes 3, so that one set of robot grinding programs for fixed guide vanes 3 can be applied to the grinding of multiple identical fixed guide vanes 3.

[0109] 3) Z-axis adjustment method:

[0110] To accommodate fixed guide vanes 3 with varying valve thicknesses, the mounting fixture ensures optimal height for robotic grinding operations. The bracket features three rows of pin holes, two pin holes per row. The bracket is inserted into the groove 14 of the adjusting plate 5. After height adjustment, cylindrical pins are inserted into the pin holes between the bracket and the adjusting plate 5 to position the Z-axis coordinate.

[0111] Working principle:

[0112] Based on the material dimensions (maximum length, maximum width, maximum height) of the fixed guide vane 3 and the robot's optimal working area, the optimal placement position of the tooling is calculated. The tooling is then roughly adjusted to the optimal placement position using the X, Y, and Z axis adjustment methods.

[0113] To improve the accuracy of the alignment between the workpiece coordinate axis and the robot coordinate axis reference, the placement of the fixed guide vane 3 needs to be finely adjusted using tooling measurement methods to ensure that the fixed guide vane 3 is located precisely in the center of the distance between the two pairs of adjusting base plates 8. The method is as follows:

[0114] Measure and adjust the vertical plate 10 or the base plate 8 using a measuring tape (select the appropriate plate based on the thickness of the fixed guide vane 3: the vertical plate 10 is suitable for thicker fixed guide vanes 3, such as...). Figure 4 As shown; the adjusting base plate 8 can be used for thinner fixed guide vanes 3, such as... Figure 5 (As shown) The distance to the blunt edge of the bevel of the fixed guide vane 3. The measurement method is as follows: Figure 6 As shown. Using this measurement method, the distances from the front and rear blunt edges of the head of the fixed guide vane 3 to the adjusting plate 5, and the distances from the front and rear blunt edges of the tail of the fixed guide vane 3 to the adjusting plate 5 were determined. A total of 4 sets of measurement results were obtained. The fixed guide vane 3 was then fine-tuned using a crane to ensure that the above 4 sets of measurement data values ​​were consistent, thus completing the fine-tuning.

[0115] The fixture can be adjusted and positioned along the X, Y, and Z axes. Coarse adjustment involves adjusting the positioning pin hole 13 of the bracket, while fine adjustment involves adjusting the vertical plate 10. The reason for fine adjustment is that the fixture needs to ensure that the guide vane is centered on the load-bearing plate 7. Therefore, it is necessary to measure whether the distance between the outermost edges (bevels) of both ends of the guide vane and the vertical plate is consistent. Consistency indicates the optimal position. However, since the thickness of the guide vane varies, relying solely on adjusting the base plate 8 may result in the guide vane bevel directly opposite the base plate being higher than the adjusting base plate 8, making it impossible to measure the gap between the side bevel of the guide vane and the adjusting base plate 8. Therefore, an additional vertical plate is required structurally.

Claims

1. A positioning method for a robotic grinding turbine fixed guide vane fixture, characterized in that: Includes the following steps: Step 1). Based on the actual length of the fixed guide vane (3), arrange the relative positions of the first adjustment mechanism (1) and the second adjustment mechanism (2) in the tooling for the robot to grind the fixed guide vane (3) of the water turbine. Step 2). Adjust the height of the sliding bracket (6) according to the actual thickness of the fixed guide vane (3) to position the fixed guide vane (3) in the Z-axis direction; Step 3). Based on the actual width of the fixed guide vane (3), adjust the position of a pair of adjusting base plates (8) on the load-bearing plate (7) so that the gap between the adjusting base plate (8) or the adjusting vertical plate (10) connected to it and the fixed guide vane (3) in the width direction is controlled within 3-5mm, and ensure that the gap in the width direction is uniform, so as to achieve the positioning of the fixed guide vane (3) in the X-axis direction. Step 4). Place a protective pad on the load-bearing plate (7), and use a crane to lift and fix the guide vane (3) onto the load-bearing plate (7). Use the movable baffle (9) located outside the first adjustment mechanism (1) to limit the head or tail of the guide vane, and position the fixed guide vane (3) in the Y-axis direction. Step 5). Fine-tune the placement of the fixed guide vane (3) by measuring with tooling, so that the fixed guide vane (3) is located in the middle of the distance between the two pairs of adjusting base plates (8); Step 6). If there is an adjusting plate (10), lower the height of the adjusting plate (10) and remove the movable baffle (9) to ensure that the robot tool holder does not interfere with the adjusting plate (10) and the movable baffle (9) when it is working. The specific steps for positioning in the Z-axis direction in step 2) are as follows: slide the sliding bracket (6) into the groove (14) of the adjusting plate (5), adjust the height of the load-bearing plate (7) that is fixedly connected to the sliding bracket (6), and after adjusting to the preset height, insert a cylindrical pin into the positioning pin hole (13) at a suitable height between the sliding bracket (6) and the adjusting plate (5) to position the Z-axis coordinate value. The specific steps for positioning in the X-axis direction in step 3) are as follows: First, connect the bottom surface of the adjusting base plate (8) to the load-bearing plate (7). The surface of the load-bearing plate (7) is provided with a U-shaped through groove. Pass the bolts through the U-shaped through groove on the adjusting base plate (8) and the U-shaped through groove on the load-bearing plate (7) in sequence. Then, use nuts to connect the adjusting base plate (8) and the load-bearing plate (7). After adjusting the size in the X-axis direction using the U-shaped through groove, tighten the bolts and nuts to fix the position of a pair of adjusting base plates (8). The specific steps for positioning in the Y-axis direction in step 4) are as follows: the movable baffle (9) is connected to the threaded hole (15) of the connecting block by bolts, the connecting block (11) is fixedly connected to the load-bearing plate (7), and the Y-axis direction is fitted with the head or tail of the fixed guide vane (3) through the clearance of the movable baffle (9) vertical surface; at the same time, the clearance is measured by feeler gauge to make the clearance value uniform, so that the Y-axis coordinate value of the same batch of fixed guide vanes (3) after loading is consistent, so that a set of fixed guide vane (3) robot grinding program is applicable to the grinding of multiple identical fixed guide vanes (3); The specific steps for fine-tuning in step 5) are as follows: The distance from the adjusting plate (10) or adjusting base plate (8) to the bevel blunt edge of the fixed guide vane (3) is measured with a tape measure. The distance from the front and rear blunt edges of the head of the fixed guide vane (3) to the adjusting plate (5) and the distance from the front and rear blunt edges of the tail of the fixed guide vane (3) to the adjusting plate (5) are determined using the same measurement method. A total of N sets of data are measured. The fixed guide vane (3) is finely adjusted using a crane to ensure that the above N sets of data measurements are consistent. That is, the fine adjustment is completed and N≥4. The method for measuring the distance from the adjusting plate (10) or adjusting base plate (8) to the blunt edge of the bevel of the fixed guide vane (3) by measuring tape is as follows: First, use a measuring tape to measure the distance from the bottom surface of the load-bearing plate (7) to the outer edge of the blunt edge, with the outer surface of the load-bearing plate (7) as the reference; Second, take the end point of the measurement in the first step as the starting point of the measurement and use a measuring tape to measure the distance from that point to the adjusting plate (5).

2. The positioning method for a robotic grinding turbine fixed guide vane fixture according to claim 1, characterized in that: The tooling for the robot to grind the water turbine fixed guide vane (3) includes a first adjustment mechanism (1) and a second adjustment mechanism (2). Both the first adjustment mechanism (1) and the second adjustment mechanism (2) include two bases (4). An adjustment plate (5) is vertically installed on each of the two bases (4). A sliding bracket (6) is connected to the adjustment plate (5). A load-bearing plate (7) is connected between the two sliding brackets (6). Two adjustment base plates (8) are symmetrically arranged on the load-bearing plate (7). A vertically arranged movable baffle (9) is also provided on the outside of the first adjustment mechanism (1).

3. The positioning method for a robotic grinding turbine fixed guide vane fixture according to claim 2, characterized in that: Each adjusting base plate (8) is connected to an adjusting upright plate (10). The adjusting base plate (8) is L-shaped. The bottom edge of the adjusting base plate (8) is connected to the load-bearing plate (7) by bolts and nuts. A U-shaped through groove is provided on the side of the adjusting base plate (8). A U-shaped through groove is provided in the middle of the adjusting upright plate (10). The adjusting plate (5) and the adjusting upright plate (10) are connected by bolts and nuts.

4. The positioning method for a robotic grinding turbine fixed guide vane fixture according to claim 2, characterized in that: The movable baffle (9) is connected to the connecting block (11), the connecting block (11) is connected to the load-bearing plate (7), the connecting block (11) is L-shaped, the connecting block (11) passes through the bottom of the load-bearing plate (7), and one end of the connecting block (11) is connected to the inner side or bottom of the load-bearing plate (7); multiple stiffeners (12) are provided between the adjusting plate (5) and the base (4).

5. The positioning method for a robotic grinding turbine fixed guide vane fixture according to claim 2, characterized in that: The adjusting plate (5) is provided with multiple positioning pin holes (13), and the corresponding sliding bracket (6) is also provided with multiple rows of positioning pin holes (13). The adjusting plate (5) is provided with a sliding groove (14), the sliding bracket (6) is located in the sliding groove (14), and the adjusting plate (5) and the sliding bracket (6) are fixed by bolts and positioning pin holes (13).

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