Hydropower station volute fixed guide vane modularized electric arc spraying system and control method

Abstract

The invention provides a modularized electric arc spraying system for a volute fixed guide vane of a hydropower station and a control method. The modularized electric arc spraying system comprises a crawler-type moving module, a control module, a sensor module, a robot execution module and an electric arc spraying gun, and a quick disassembly and assembly module is detachably connected with the two adjacent modules; the sensor module comprises a first distance measuring sensor, a 3D point cloud sensor and a second distance measuring sensor which are installed on the same side, the 3D point cloud sensor is used for scanning information of the fixed guide vane and generating a three-dimensional environment map, and the first distance measuring sensor and the second distance measuring sensor are used for detecting the distance between the equipment and the fixed guide vane at the same time; the control module is configured to control the crawler-type moving module to adjust the advancing direction according to distance values detected by the first distance measuring sensor and the second distance measuring sensor so that the arc spray gun can be perpendicular to the to-be-sprayed face of the fixed guide vane all the time. The equipment is divided into all the modules which are sequentially carried into the volute and then rapidly assembled, the working efficiency can be remarkably improved, and the advancing direction of the equipment can be controlled based on the sensor module.

Description

Technical Field

[0001] This application relates to the field of automated arc spraying technology, and in particular to a modular arc spraying system and control method for fixed guide vanes of hydropower station spiral casing. Background Technology

[0002] Hydropower stations have been vigorously developed as a clean energy source. However, during the operation of hydropower stations, the fixed guide vanes of the flow passage components in the spiral casing are subjected to the impact of water flow, silt and other substances, resulting in severe corrosion on the surface of the fixed guide vanes.

[0003] During the maintenance of hydropower station units, corrosion-resistant materials can be sprayed onto the surface of fixed guide vanes using an electric arc spraying method to improve their corrosion resistance. Currently, manual electric arc spraying is inefficient, labor-intensive, and difficult to complete on time. Therefore, automated electric arc spraying equipment can improve the efficiency of electric arc spraying.

[0004] However, the entry point for the generator set's volute is narrow, measuring only 640mm × 750mm. The internal space of the volute is cramped, and existing automated spraying equipment is bulky and heavy, making it impossible to transport to the construction site for spraying operations. Therefore, there is an urgent need to research a spraying system suitable for generator set volutes. Summary of the Invention

[0005] This application provides a modular electric arc spraying system and control method for fixed guide vanes of hydropower station spiral casing, aiming to solve the problems of low efficiency, high workload, large size, and difficulty in handling and operating automated spraying equipment in the confined space of the spiral casing, so as to realize large-area, high-efficiency automated electric arc spraying operation of fixed guide vanes.

[0006] In the first aspect, this application provides a modular arc spraying system for fixed guide vanes of hydropower station spiral casings, which adopts the following technical solution: A modular arc spraying system for fixed guide vanes of hydropower station spiral casing includes a tracked mobile module, a control module, a sensor module, a robot execution module, and an arc spray gun arranged sequentially from bottom to top. The maximum size of each module does not exceed 500mm and the total height does not exceed 1200mm. The tracked mobile module and the control module, as well as the control module and the sensor module, are detachably connected through quick-disassembly modules. The sensor module includes a first ranging sensor, a 3D point cloud sensor, and a second ranging sensor installed on the same side. The first ranging sensor and the second sensor are arranged on both sides of the 3D point cloud sensor. The 3D point cloud sensor is used to scan the fixed guide vane information and generate a three-dimensional environment map. The first ranging sensor and the second ranging sensor are used to simultaneously detect the distance between the device and the fixed guide vane. The control module is configured to control the tracked mobile module to adjust its direction of travel based on the distance values ​​detected by the first and second distance sensors, so that the distance values ​​detected by the first and second distance sensors are both equal to the set values, and so that the arc spray gun is always perpendicular to the surface to be sprayed on the fixed guide vane.

[0007] Furthermore, the robot execution module includes a multi-axis robotic arm and a connecting plate, with the arc spray gun mounted at the output end of the multi-axis robotic arm; The base of the multi-axis robotic arm is connected to the connecting plate. The top surface of the sensor module near the first ranging sensor has a groove that fits into the connecting plate, and the connecting plate is bolted and fixed in the groove.

[0008] Furthermore, the quick-assembly / disassembly module includes: The upper magnetic block is installed on the side wall of the upper module; The lower magnetic block is installed on the side wall of the lower module, and the upper module is adjacent to the lower module. A magnet array is distributed between the upper magnetic block and the lower magnetic block; and Quick-release knobs are located at both ends of the upper magnetic block to lock the upper and lower magnetic blocks.

[0009] Furthermore, the quick-release knob includes: The knob body is disposed through the upper magnetic block, and its upper part is connected to the upper magnetic block by a spring; Two locking protrusions are provided and fixedly connected to opposite sides of the lower part of the knob body; The upper surface of the lower magnetic block is provided with a lock groove and a rotating groove that are connected in sequence. The lock groove is adapted to be inserted into the knob body and the two lock protrusions. The rotating groove is a circular groove and the diameter is not less than the maximum distance between the two lock protrusions. When the locking protrusion is in the rotating groove and not fully aligned with the locking groove, the spring is in a compressed state, and the upper magnetic block is locked onto the lower magnetic block.

[0010] Furthermore, the lower end face of the upper magnetic block is provided with a concave portion, and the upper end face of the lower magnetic block is provided with an outward convex portion, the outward convex portion and the concave portion fitting together; The magnet array is distributed between the convex and concave portions, and the two quick-release knobs are located at both ends of the concave portion.

[0011] Secondly, this application provides a control method for a modular arc spraying system for a fixed guide vane of a hydropower station spiral casing, which, based on the aforementioned modular arc spraying system for a fixed guide vane of a hydropower station spiral casing, includes the following steps: S1. Equipment installation: Transport each module of the equipment sequentially into the turbine casing through the volute access door, and quickly assemble them near the fixed guide vanes; S2. Equipment positioning: The robot execution module moves to the work origin, the sensor module acquires environmental information, and the equipment navigates to the start position of the operation; S3. Spraying operation: The tracked mobile module moves equidistantly along the fixed guide vane, and the robot execution module carries the arc spray gun to perform the spraying operation; S4. Navigation Position: After completing the spraying of one fixed guide vane, the equipment navigates to the starting position of the next fixed guide vane operation to prepare for the spraying operation.

[0012] Furthermore, in step S1, in order to enable the equipment to be moved into the volute through the access door, the maximum handling size of each module of the equipment shall not exceed 500mm, and the handling weight of each module shall not exceed 30Kg; after the equipment is installed, the length and width of the equipment shall not exceed 500mm, the height shall not exceed 1200mm, and the working radius shall reach 1550mm, which meets the requirements for spraying large-sized workpieces with fixed guide vanes in the narrow space of the turbine volute.

[0013] Furthermore, in step S2, The origin of the robot execution module's movement is: when the equipment program starts, the multi-axis robotic arm of the robot execution module moves from the handling posture to the spraying operation posture at the origin. The sensor module acquires environmental information by: the 3D point cloud sensor of the sensor module scanning the fixed guide vane information and generating a three-dimensional environmental map; and the first ranging sensor and the second ranging sensor of the sensor module assisting in determining the distance between the device and the fixed guide vane. The distance from which the equipment is navigated to the start of the operation is: after determining the distance between the equipment and the fixed guide vane, the tracked mobile module will navigate the equipment to the start of the operation position.

[0014] Furthermore, in step S3, The tracked mobile module moves equidistantly along the fixed guide vane such that: the first and second ranging sensors of the sensor module detect the distance between the device and the fixed guide vane, such that: ,in The target value is to move at equal intervals. These are the detection values ​​from the first and second ranging sensors, respectively; the tracked mobile module adjusts the forward direction of the equipment in real time to ensure that the arc spray gun is perpendicular to the surface of the fixed guide vane, thus ensuring the spraying quality; The robot execution module, equipped with an arc spray gun, performs the spraying operation as follows: the tracked mobile module moves to the spraying operation position, the robot execution module moves to the starting point of the spraying operation and starts the spraying operation from top to bottom, then performs a second spraying from bottom to top, and returns to the starting point of the operation; the mobile device moves forward to the next spraying operation position and continues the spraying operation until the entire surface of the spraying operation is completed; The robot's execution module has a single spray width of 30-50mm, and the tracked moving module advances 10-30mm each time, allowing multiple sprays to overlap, which is equivalent to four sprays at each position, thus improving the quality of the spraying operation.

[0015] Furthermore, in step S4, after the first working surface of the fixed guide vane is coated, the equipment is navigated to the next working surface on the back of the fixed guide vane to continue the coating operation based on the three-dimensional environment map created by the 3D point cloud sensor.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. The tracked mobile module, control module, and sensor module of the spraying system of this application are connected and fixed through quick-assembly and disassembly modules. The robot execution module is fixed to the square groove on the sensor module by bolts, and the arc spray gun is fixed to the end flange of the multi-axis robotic arm by bolts. This allows the equipment to be disassembled into various modules, which are then moved into the volute housing and quickly assembled at the appropriate position on the guide vane to be sprayed. The assembled equipment meets the requirements for large-area intelligent and automated spraying operations on the guide vane in confined spaces, reducing the intensity of operation and improving work efficiency. 2. The sensor module of this application includes two ranging sensors and a 3D point cloud sensor, which enables the device to obtain the distance between the device and the fixed guide vane in real time during operation, calculate the curvature of the fixed guide vane, determine the relative position between the device and the fixed guide vane, plan the movement path of the tracked mobile module and the spraying operation path of the robot execution module, realize automated spraying of the device, improve the efficiency of arc spraying, and reduce the intensity of manual labor. 3. The distance between the device and the fixed guide vane is detected by the first and second distance sensors of the sensor module, and compared in real time with the target value that moves at equal distances. The forward direction of the device is adjusted in real time by the tracked moving module so that the arc spray gun is perpendicular to the surface of the fixed guide vane, thus ensuring the spraying quality. 4. The robot performs a second spraying operation from bottom to top using an arc spray gun, and then returns to the starting point. The mobile device moves forward to the next spraying position and continues the spraying operation until the entire surface is sprayed. The robot's single-pass spraying width is 30-50mm, and the tracked mobile module advances 10-30mm each time, allowing multiple sprays to overlap, which is equivalent to four sprays at each position. This improves the uniformity and coverage of the sprayed coating, increases coating adhesion and durability, improves spraying efficiency, and ultimately improves the quality of the spraying operation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 This is a schematic diagram of the tracked mobile module structure according to an embodiment of this application; Figure 3 This is a schematic diagram of the sensor module and robot execution module structure in an embodiment of this application; Figure 4 This is a schematic diagram of the quick-assembly / disassembly module structure according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure when the quick-release knob locks the upper and lower magnetic blocks according to an embodiment of this application; Figure 6 This is a schematic diagram of the workflow of an embodiment of this application; Figure 7 This is a schematic diagram of the navigation path during spraying according to an embodiment of this application. Figure 8 This is a schematic diagram of the spraying operation path in an embodiment of this application.

[0019] Figure label: 1. Tracked mobile module; 101. Synchronous track; 102. Servo motor; 103. Housing; 104. Servo drive; 105. Heat dissipation vent; 2. Control module; 3. Sensor module; 301, First ranging sensor; 302, 3D point cloud sensor; 303, Second ranging sensor; 4. Robot execution module; 401. Multi-axis robotic arm; 402. Connecting plate; 5. Arc spray gun; 6. Quick-release module; 601. Upper magnetic block; 602. Lower magnetic block; 6021. Locking slot; 6022. Rotating slot; 603. Magnet array; 604. Quick-release knob; 6041, Knob body; 6042, Spring; 6043, Locking protrusion; 6044, Groove. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] Reference Figure 1 and Figure 2 This application discloses a modular arc spraying system for fixed guide vanes of hydropower station spiral casings. It includes, from bottom to top, a tracked mobile module 1, a control module 2, a sensor module 3, a robot execution module 4, and an arc spray gun 5. The maximum size of each module does not exceed 500mm, and the total height of the equipment does not exceed 1200mm. The tracked mobile module and control module 2, as well as the control module 2 and sensor module 3, are detachably connected via quick-release modules 6. The tracked mobile module 1 includes: a synchronous belt 101, a servo motor 102, a housing 103, a servo drive 104, and multiple heat dissipation vents 105 on the housing 103. The servo drive 104 is electrically connected to the control module 2.

[0022] Among them, reference Figure 3 The sensor module 3 includes a first ranging sensor 301, a 3D point cloud sensor 302, and a second ranging sensor 303 mounted on the same side. The first ranging sensor 301 and the second sensor are arranged on both sides of the 3D point cloud sensor 302. The 3D point cloud sensor 302 is used to scan the fixed guide vane information and generate a three-dimensional environment map. The first ranging sensor 301 and the second ranging sensor 303 are used to simultaneously detect the distance between the device and the fixed guide vane.

[0023] The control module 2 is configured to control the tracked mobile module 1 to adjust its direction of travel based on the distance values ​​detected by the first distance sensor 301 and the second distance sensor 303, so that the distance values ​​detected by the first distance sensor 301 and the second distance sensor 303 are both equal to the set values, so that the arc spray gun 5 is always perpendicular to the surface to be sprayed on the fixed guide vane.

[0024] Among them, reference Figure 3The robot execution module 4 includes a multi-axis robotic arm 401 and a connecting plate 402, and the arc spray gun 5 is installed at the output end of the multi-axis robotic arm 401. The base of the multi-axis robotic arm 401 is connected to the connecting plate 402. The top surface of the sensor module 3 near the first ranging sensor 301 is provided with a groove that fits into the connecting plate 402. The connecting plate 402 is bolted and fixed in the groove.

[0025] Among them, reference Figure 4 and Figure 5 The quick-release module 6 includes: The upper magnetic block 601 is long and strip-shaped and is installed on the side wall of the upper module; The lower magnetic block 602 is elongated and installed on the side wall of the lower module, with the upper module adjacent to the lower module. A magnet array 603 is distributed between the upper magnetic block 601 and the lower magnetic block 602; Quick-release knobs 604 are located at both ends of the upper magnetic block 601 to lock the upper magnetic block 601 and the lower magnetic block 602.

[0026] Specifically, the quick-release knob 604 includes: The knob body 6041 is disposed through the upper magnetic block 601, and its upper part is connected to the upper magnetic block 601 by a spring 6042; the upper part of the knob body 6041 is provided with a groove 6044 for easy rotation. Two locking protrusions 6043 are provided and fixedly connected to the opposite sides of the lower part of the knob body 6041; The upper surface of the lower magnetic block 602 is provided with a lock groove 6021 and a rotating groove 6022 connected in sequence. The lock groove 6021 is inserted and adapted to the knob body 6041 and two locking protrusions 6043. The rotating groove 6022 is a circular groove and its diameter is not less than the maximum distance between the two locking protrusions 6043. When the locking protrusion 6043 is located in the rotating groove 6022 and is not fully aligned with the locking groove 6021, the spring 6042 is in a compressed state, and the upper magnetic block 601 is locked onto the lower magnetic block 602.

[0027] Therefore, the tracked mobile module 1, control module 2, and sensor module 3 of the spraying system of this application are connected and fixed through the quick-release module 6. The robot execution module 4 is fixed to the square groove on the sensor module 3 by bolts, and the arc spray gun 5 is fixed to the end flange of the multi-axis robotic arm 401 by bolts. This allows the equipment to be disassembled into various modules, which are then sequentially moved into the volute and quickly assembled at the appropriate position on the guide vane to be sprayed. The assembled equipment meets the requirements for large-area intelligent and efficient spraying of guide vanes in confined spaces, reducing the intensity of operation and improving work efficiency.

[0028] Furthermore, the sensor module 3 of the equipment includes two ranging sensors and a 3D point cloud sensor 302, which enables the equipment to obtain the distance between the equipment and the fixed guide vane in real time during operation, calculate the curvature of the fixed guide vane, determine the relative position of the equipment and the fixed guide vane, plan the movement path of the tracked mobile module 1 and the spraying operation path of the robot execution module 4, realize automated spraying of the equipment, improve the efficiency of arc spraying, and reduce the intensity of manual labor.

[0029] In addition, to further improve the stability of the upper and lower modules after locking by the quick-release knob 604, a concave part is provided on the lower end face of the upper magnetic block 601, and an outward protrusion is provided on the upper end face of the lower magnetic block 602, with the outward protrusion and the concave part fitting together. The magnet array 603 is distributed between the convex and concave portions, and the two quick-release knobs 604 are located at both ends of the concave portion.

[0030] Therefore, when the upper and lower modules are spliced ​​together, the protrusion on the lower magnetic block 602 is embedded in the concave part on the upper magnetic block 601, so that the upper magnetic block 601 and the lower magnetic block 602 will not shift laterally after being magnetically attracted by the magnet array 603, and the positioning is more accurate. This not only facilitates the locking of the quick-release knobs 604 at both ends, but also ensures that the gap after the upper and lower modules are spliced ​​is within the preset range, thus improving the assembly quality and stability.

[0031] When the device needs to be disassembled, simply rotate the knob body 6041 so that the two locking protrusions 6043 on it are fully aligned with the locking groove 6021. The elastic deformation force of the spring 6042 pushes the knob body 6041 upward, so that the knob body 6041 and the two locking protrusions 6043 are disengaged from the locking groove 6021. At this time, the upper magnetic block 601 and the lower magnetic block 602 can be directly separated, making the disassembly and assembly between the upper and lower modules more convenient and quick, and allowing for convenient operation in the narrow volute space.

[0032] This application also discloses a control method for a modular arc spraying system for a fixed guide vane of a hydropower station spiral casing. Based on the above-mentioned modular arc spraying system for a fixed guide vane of a hydropower station spiral casing, the following technical solution is adopted: A control method for a modular arc spraying system for fixed guide vanes of a hydropower station spiral casing, referring to Figure 6 , Figure 7 and Figure 8 This includes the following steps: S1. Equipment installation: Transport each module of the equipment sequentially into the turbine casing through the volute access door, and quickly assemble them near the fixed guide vanes; S2. Equipment positioning: Robot execution module 4 moves to the work origin, sensor module 3 acquires environmental information, and the equipment navigates to the start position of the operation; S3. Spraying operation: The tracked mobile module 1 moves equidistantly along the fixed guide vane, and the robot execution module 4 is equipped with an arc spray gun 5 to perform the spraying operation; S4. Navigation Position: After completing the spraying of one fixed guide vane, the equipment navigates to the starting position of the next fixed guide vane operation to prepare for the spraying operation.

[0033] In step S1, in order to enable the equipment to be moved into the volute through the access door, the maximum handling size of each module of the equipment shall not exceed 500mm and the handling weight of each module shall not exceed 30Kg. After the equipment is installed, the length and width of the equipment shall not exceed 500mm, the height shall not exceed 1200mm, and the working radius shall reach 1550mm, which meets the requirements for spraying large-sized workpieces of fixed guide vanes in the narrow space of the turbine volute.

[0034] In step S2, the robot execution module 4 moves to the work origin: the equipment program starts, and the multi-axis robotic arm 401 of the robot execution module 4 moves from the handling posture to the spraying operation posture at the origin. Sensor module 3 acquires environmental information as follows: the 3D point cloud sensor 302 of sensor module 3 scans the fixed guide vane information and generates a three-dimensional environmental map; the first ranging sensor 301 and the second ranging sensor 303 of sensor module 3 assist in determining the distance between the device and the fixed guide vane. The distance from which the equipment is navigated to the start of the operation is: after determining the distance between the equipment and the fixed guide vane, the tracked mobile module 1 will navigate the equipment to the start of the operation position.

[0035] In step S3, refer to Figure 7 and Figure 8 The tracked mobile module 1 moves equidistantly along the fixed guide vane as follows: the first ranging sensor 301 and the second ranging sensor 303 of the sensor module 3 detect the distance between the device and the fixed guide vane, such that: ,in The target value is to move at equal intervals. The values ​​are the detection values ​​of the first ranging sensor 301 and the second ranging sensor 303, respectively; the tracked moving module 1 adjusts the forward direction of the equipment in real time so that the arc spray gun 5 is perpendicular to the surface of the fixed guide vane to ensure the spraying quality; The robot execution module 4, equipped with an arc spray gun 5, performs the spraying operation as follows: the tracked mobile module 1 moves to the spraying operation position, the robot execution module 4 moves to the starting point of the spraying operation and starts the spraying operation from top to bottom, then performs a second spraying from bottom to top, and returns to the starting point of the operation; the mobile device moves forward to the next spraying operation position and continues the spraying operation until the entire surface of the spraying operation is completed; Furthermore, the width of a single spraying pass of the robot execution module 4 is 30-50mm, and the tracked moving module 1 advances 10-30mm each time, so that the multiple spraying passes overlap, which is equivalent to four spraying passes at each position. This can improve the uniformity and coverage of the sprayed coating, increase the coating adhesion and durability, improve the efficiency of the spraying operation, and thus improve the quality of the spraying operation.

[0036] In step S4, after the first working surface of the fixed guide vane is painted, the equipment is navigated to the next working surface on the back of the fixed guide vane to continue the painting operation based on the three-dimensional environment map created by the 3D point cloud sensor 302; after the entire fixed guide vane is painted, it is navigated to the starting position of the next fixed guide vane operation.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A modular electric arc spraying system for fixed guide vanes of a hydropower station spiral casing, characterized in that, It includes a tracked mobile module, a control module, a sensor module, a robot execution module, and an arc spray gun arranged sequentially from bottom to top. The maximum size of each module does not exceed 500mm and the total height does not exceed 1200mm. The tracked mobile module and the control module, as well as the control module and the sensor module, are detachably connected through quick-release modules. The sensor module includes a first ranging sensor, a 3D point cloud sensor, and a second ranging sensor installed on the same side. The first ranging sensor and the second sensor are arranged on both sides of the 3D point cloud sensor. The 3D point cloud sensor is used to scan the fixed guide vane information and generate a three-dimensional environment map. The first ranging sensor and the second ranging sensor are used to simultaneously detect the distance between the device and the fixed guide vane. The control module is configured to control the tracked mobile module to adjust its direction of travel based on the distance values ​​detected by the first and second distance sensors, so that the distance values ​​detected by the first and second distance sensors are both equal to the set values, and so that the arc spray gun is always perpendicular to the surface to be sprayed on the fixed guide vane.

2. The modular arc spraying system for fixed guide vanes of a hydropower station spiral casing according to claim 1, characterized in that, The robot execution module includes a multi-axis robotic arm and a connecting plate, and the arc spray gun is installed at the output end of the multi-axis robotic arm. The base of the multi-axis robotic arm is connected to the connecting plate. The top surface of the sensor module near the first ranging sensor has a groove that fits into the connecting plate, and the connecting plate is bolted and fixed in the groove.

3. The modular arc spraying system for fixed guide vanes of a hydropower station spiral casing according to claim 1, characterized in that, The quick-assembly / disassembly module includes: The upper magnetic block is installed on the side wall of the upper module; The lower magnetic block is installed on the side wall of the lower module, and the upper module is adjacent to the lower module. A magnet array is distributed between the upper magnetic block and the lower magnetic block; and Quick-release knobs are located at both ends of the upper magnetic block to lock the upper and lower magnetic blocks.

4. The modular arc spraying system for fixed guide vanes of a hydropower station spiral casing according to claim 3, characterized in that, The quick-release knob includes: The knob body is disposed through the upper magnetic block, and its upper part is connected to the upper magnetic block by a spring; Two locking protrusions are provided and fixedly connected to opposite sides of the lower part of the knob body; The upper surface of the lower magnetic block is provided with a lock groove and a rotating groove that are connected in sequence. The lock groove is adapted to be inserted into the knob body and the two lock protrusions. The rotating groove is a circular groove and the diameter is not less than the maximum distance between the two lock protrusions. When the locking protrusion is in the rotating groove and not fully aligned with the locking groove, the spring is in a compressed state, and the upper magnetic block is locked onto the lower magnetic block.

5. The modular arc spraying system for fixed guide vanes of a hydropower station spiral casing according to claim 3, characterized in that, The lower end face of the upper magnetic block is provided with a concave portion, and the upper end face of the lower magnetic block is provided with a convex portion, wherein the convex portion and the concave portion are fitted together. The magnet array is distributed between the convex and concave portions, and the two quick-release knobs are located at both ends of the concave portion.

6. A control method for a modular arc spraying system for a fixed guide vane of a hydropower station spiral casing, based on any one of claims 1-5, characterized in that, Includes the following steps: S1. Equipment installation: Transport each module of the equipment sequentially into the turbine casing through the volute access door, and quickly assemble them near the fixed guide vanes; S2. Equipment positioning: The robot execution module moves to the work origin, the sensor module acquires environmental information, and the equipment navigates to the start position of the operation; S3. Spraying operation: The tracked mobile module moves equidistantly along the fixed guide vane, and the robot execution module carries the arc spray gun to perform the spraying operation; S4. Navigation Position: After completing the spraying of one fixed guide vane, the equipment navigates to the starting position of the next fixed guide vane operation to prepare for the spraying operation.

7. A modular arc spraying system for fixed guide vanes of a hydropower station spiral casing according to claim 6, characterized in that, In step S1, in order to enable the equipment to be moved into the volute through the access door, the maximum handling size of each module of the equipment shall not exceed 500mm, and the handling weight of each module shall not exceed 30Kg. After the equipment is installed, the length and width of the equipment shall not exceed 500mm, the height shall not exceed 1200mm, and the working radius shall reach 1550mm, which meets the requirements for spraying large-sized workpieces with fixed guide vanes in the narrow space of the turbine volute.

8. A modular arc spraying system for fixed guide vanes of a hydropower station spiral casing according to claim 6, characterized in that, In step S2 The origin of the robot execution module's movement is: when the equipment program starts, the multi-axis robotic arm of the robot execution module moves from the handling posture to the spraying operation posture at the origin. The sensor module acquires environmental information by: the 3D point cloud sensor of the sensor module scanning the fixed guide vane information and generating a three-dimensional environmental map; and the first ranging sensor and the second ranging sensor of the sensor module assisting in determining the distance between the device and the fixed guide vane. The distance from which the equipment is navigated to the start of the operation is: after determining the distance between the equipment and the fixed guide vane, the tracked mobile module will navigate the equipment to the start of the operation position.

9. A modular arc spraying system for fixed guide vanes of a hydropower station spiral casing according to claim 6, characterized in that, In step S3 The tracked mobile module moves equidistantly along the fixed guide vane such that: the first and second ranging sensors of the sensor module detect the distance between the device and the fixed guide vane, such that: ,in The target value is to move at equal intervals. These are the detection values ​​from the first and second ranging sensors, respectively; the tracked mobile module adjusts the forward direction of the equipment in real time to ensure that the arc spray gun is perpendicular to the surface of the fixed guide vane, thus ensuring the spraying quality; The robot execution module, equipped with an arc spray gun, performs the spraying operation as follows: the tracked mobile module moves to the spraying operation position, the robot execution module moves to the starting point of the spraying operation and starts the spraying operation from top to bottom, then performs a second spraying from bottom to top, and returns to the starting point of the operation; the mobile device moves forward to the next spraying operation position and continues the spraying operation until the entire surface of the spraying operation is completed; The robot's execution module has a single spray width of 30-50mm, and the tracked moving module advances 10-30mm each time, allowing multiple sprays to overlap, which is equivalent to four sprays at each position, thus improving the quality of the spraying operation.

10. The control method for a modular arc spraying system for a fixed guide vane of a hydropower station spiral casing according to claim 6, characterized in that, In step S4, after the first working surface of the fixed guide vane is coated, the equipment is navigated to the next working surface on the back of the fixed guide vane to continue the coating operation based on the three-dimensional environment map created by the 3D point cloud sensor.

Images