Parallel coupled robotic arm apparatus for gas turbine combustor component removal and installation and method of use

Abstract

The application relates to the technical field of gas turbine maintenance, in particular to a parallel coupling mechanical arm device for dismounting and mounting a combustion chamber component of a gas turbine and a use method. The device comprises a ring-shaped clamp and a parallel five-axis coupling mechanical arm; the ring-shaped clamp is fixed on the gas turbine, and the parallel five-axis coupling mechanical arm is slidingly connected to the ring-shaped clamp; the parallel five-axis coupling mechanical arm comprises two turning bases, a rotating joint I, a rotating joint II, a rotating joint III, a rotating joint IV, a moving joint and a clamp assembly; the turning bases are slidingly connected to the ring-shaped clamp; the clamp assembly is used for connecting the combustion chamber component; the rotating joint I, the rotating joint II, the rotating joint III, the rotating joint IV and the moving joint are coupled to adjust the pose of the clamp assembly, so that the combustion chamber component can be dismounted and mounted.

Description

Technical Field

[0001] This invention relates to the field of gas turbine maintenance technology, and in particular to a parallel coupled robotic arm device and its usage method for disassembling and assembling gas turbine combustion chamber components. Background Technology

[0002] A gas turbine compressor exhaust cylinder has multiple combustion chambers evenly arranged circumferentially. Combustion chamber components (such as the premixer and assembly) require regular maintenance and replacement. There are two main existing solutions for disassembling and assembling combustion chamber components: one uses a ground-mounted robotic arm; the other uses a crane in conjunction with manual labor. However, these existing solutions and the equipment used have several shortcomings. First, for gas turbines with a high-positioned bottom intake, the ground-mounted robotic arm can only disassemble and assemble the combustion chamber components at the bottom of the turbine. Furthermore, the equipment occupies a significant amount of space at the bottom of the turbine during operation, preventing the entire unit from being brought into the on-site maintenance area. It must be disassembled into individual components and transported in batches to the turbine's bottom platform for reassembly. Second, the crane-and-manual approach can only disassemble and assemble the combustion chamber components on the upper and sides of the turbine. This solution has low automation, low equipment utilization efficiency, and requires substantial manpower and time. In addition, existing solutions generally lack the ability to accurately align the installation angle of combustion chamber components, making it difficult to achieve precise alignment between the axis of the combustion chamber component and the axis of the installation position. In actual use, it is necessary to rely on the operator's experience to adjust the axis direction of the combustion chamber component multiple times to align with the gas turbine installation position.

[0003] Therefore, there is an urgent need for a combustion chamber component disassembly and assembly equipment and corresponding efficient disassembly and assembly methods that can adapt to the compact space of a gas turbine with a high-positioned lower air intake, do not require large-scale dismantling of on-site pipelines, have a high degree of automation and high positioning accuracy. Summary of the Invention

[0004] To address the aforementioned shortcomings of existing technologies, this invention provides a parallel coupled robotic arm device and its usage method for disassembling and assembling gas turbine combustion chamber components, which can move on a circular track. The aim is to solve the technical problems of existing combustion chamber component disassembly and assembly equipment, such as high requirements for on-site space, large-scale dismantling of pipelines, low degree of automation, and insufficient positioning accuracy.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A parallel coupled robotic arm device for disassembling and assembling combustion chamber components of a gas turbine includes a ring clamp and a parallel five-axis coupled robotic arm; the ring clamp is fixed to the gas turbine, and the parallel five-axis coupled robotic arm is slidably connected to the ring clamp; The parallel five-axis coupled robotic arm includes two rotating bases connected by a fixing member. The rotating bases are slidably connected to a ring clamp. A joint connector I is fixed on the rotating base. A rotating joint I is rotatably connected to the joint connector I. A joint connecting segment I is fixedly connected to the rotating joint I. A rotating joint II is rotatably connected to the joint connecting segment I. A joint connecting segment II is fixedly connected in parallel between the two rotating joints II. A rotating joint III is rotatably connected to the middle of the joint connecting segment II. A fixed base I is fixedly connected to the rotating joint III. A fixed base II is slidably connected above the fixed base I. A composite moving joint is connected to the fixed base II. A fixed base III is slidably connected to the composite moving joint. A rotating joint IV is rotatably connected between the fixed base III and the fixed base IV. A clamp assembly is fixedly connected to the fixed base IV. The clamp assembly is used to connect the combustion chamber components.

[0006] Furthermore, the composite moving joint includes guide rail assembly I and guide rail assembly II. A support plate is provided above the guide rail assembly I, a fixed base II is fixedly connected to the side of the support plate, the guide rail assembly II is fixedly connected above the support plate, and a fixed base III is slidably connected above the guide rail assembly II.

[0007] Furthermore, the annular clamp is assembled from a left annular clamp, a right annular clamp, and an upper annular clamp to form a complete ring. Each segment of the annular clamp includes an annular plate, an annular guide rail, and an annular rack. The annular plate is fixedly connected to the gas turbine. An annular rack is provided on the outer periphery of the annular plate. A gear is provided below the rotating base. The gear is connected to the output shaft of the drive motor I fixed on the rotating base. The gear meshes with the annular rack. An annular guide rail is provided on the annular plate. The rotating base is slidably connected to the annular guide rail.

[0008] Rotary joint I, rotary joint II, rotary joint III and rotary joint IV have the same structure, each including drive motor II and worm gear turntable, with drive motor II connected to worm gear turntable via planetary gear reducer.

[0009] Furthermore, the clamp assembly includes a fastener fixed to the fixed base IV, and multiple connecting plates are evenly distributed around the outer periphery of the fastener. The connecting plates are used to connect combustion chamber components.

[0010] Furthermore, the parallel five-axis coupled robotic arm also includes a vision positioning system, which is used to identify the installation position of combustion chamber components and guide the robotic arm to complete precise positioning.

[0011] A method for using a parallel coupled robotic arm device for disassembling and assembling combustion chamber components of a gas turbine includes the following steps: a ring clamp is installed on the gas turbine, and a parallel five-axis coupled robotic arm is installed on the ring clamp; when removing the combustion chamber component from the gas turbine, drive motor I drives the rotating base to slide on the ring clamp, causing the parallel five-axis coupled robotic arm to stop near the combustion chamber component to be removed, and drive rotating joints I, II, III, and IV to rotate, so that the clamp assembly is positioned above the combustion chamber component to be removed, with the clamp assembly coinciding with the axis of the combustion component to be removed, and the composite moving joint moves to clamp... The component clamps the combustion chamber component to be removed, and after clamping, drives the compound moving joint to pull out the combustion chamber component to be removed; then, drives rotating joint I, rotating joint II, and rotating joint III to pull the combustion chamber component to be removed towards the inside of the annular clamp; then, the rotating base slides on the annular clamp, transporting the pulled-out combustion chamber component to be removed to the top or bottom of the gas turbine, while simultaneously driving rotating joint I, rotating joint II, rotating joint III, compound moving joint, and rotating joint IV to move, and finally the clamping assembly places the combustion chamber component to be removed on the crane above or the moving vehicle below, completing the removal of the combustion chamber component; When installing the combustion chamber components of a gas turbine, a parallel five-axis coupled robotic arm slides on a ring clamp, moving to above or below the gas turbine. The clamp assembly grips the combustion chamber component to be installed from an upper crane or a lower moving vehicle, driving rotating joints I, II, III, and IV to rotate, causing the combustion chamber component to be installed to retract inside the ring clamp. Then, the parallel five-axis coupled robotic arm slides on the ring clamp, positioning the combustion chamber component above the installation position, with the axis of the combustion chamber component coinciding with the installation position. The composite moving joint is then driven to insert the combustion chamber component into the installation position. After installation, the parallel five-axis coupled robotic arm moves to a suitable position for the next installation or removal of combustion chamber components.

[0012] The beneficial effects of this invention are: 1. The ring clamp of the present invention is fixed at the flange of the exhaust cylinder of the gas turbine compressor without damaging or removing the on-site pipeline. It has minimal impact on the surrounding equipment and pipelines of the gas turbine. It is especially suitable for compact space environments with high-level bottom air intake and can effectively achieve obstacle avoidance.

[0013] 2. The parallel five-axis coupled robotic arm of the present invention is slidably connected to the annular clamp, and realizes 360° full circumferential operation through the annular clamp for replacing combustion chamber components at different positions. At the same time, the parallel five-axis coupled robotic arm realizes multi-degree-of-freedom coupled motion through the cooperation of its rotation joint I, rotation joint II, rotation joint III, compound moving joint and rotation joint IV, realizing the installation and removal of combustion chamber components. During the installation and removal process, the combustion chamber components are gathered inside the annular clamp to prevent collision with the external structure of the gas turbine and realize agile obstacle avoidance.

[0014] 3. The parallel five-axis coupled robotic arm of the present invention can achieve precise alignment between the axis of the combustion chamber component and the axis of the installation position, meeting the requirements of small gap and high alignment accuracy between the combustion chamber component and the installation position.

[0015] 4. This invention has a high degree of automation. When combined with a visual positioning system, it can achieve automatic identification and accurate positioning, greatly reducing manpower input and disassembly and assembly time. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention. Figure 2 This is a schematic diagram of a ring clamp for a parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention; Figure 3 This is a schematic diagram of the parallel five-axis coupled robotic arm structure of a parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention; Figure 4 This is a schematic diagram of the assembly relationship between the parallel five-axis coupled robotic arm device and the ring clamp, which is a parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention. Figure 4 (a) is a schematic diagram of the left annular clamp; Figure 4 (b) is a schematic diagram of the right-hand ring clamp; Figure 4 (c) is a schematic diagram of the connection between the parallel five-axis coupled robotic arm device and the upper ring clamp; Figure 5 This is a schematic diagram of the disassembly and assembly process of a parallel five-axis coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components on a ring clamp according to the present invention. Figure 5 (a) is a schematic diagram of the gas turbine structure; Figure 5 (b) is a schematic diagram of the installation of the gas turbine and the left annular clamp; Figure 5 (c) is a schematic diagram of the installation of the gas turbine with the left and right annular clamps; Figure 5 (d) is a schematic diagram of the installation of the gas turbine with the left annular clamp, the right annular clamp, the upper annular clamp and the parallel five-axis coupled robotic arm; Figure 6 This is a schematic diagram of the turnover base of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention; Figure 7This is a schematic diagram of the connection between rotating joint I and rotating joint II of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention. Figure 8 This is a schematic diagram of the rotating joint III of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention; Figure 9 This is a schematic diagram of the composite moving joint, rotating joint IV, and clamping assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention. Figure 10 This is an exploded view of the composite moving joint, rotating joint IV, and clamping assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention. Figure 11 This is a schematic diagram of the visual positioning system layout of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention. Figure 12 This is a schematic diagram of the clamping assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention, showing the combustion chamber components being clamped. Figure 12 (a) is a schematic diagram of the clamping assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention; Figure 12 (b) is a schematic diagram of the clamping assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components of the present invention, which clamps the premixer; Figure 13 This is a schematic diagram of the process for removing combustion chamber components (premixer or assembly) using the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to the present invention. Figure 13 (a) is a schematic diagram of the parallel coupling robotic arm device for disassembling and assembling gas turbine combustion chamber components of the present invention moving to the vicinity of the disassembled combustion chamber component and the clamping assembly being fixedly connected to the disassembled combustion chamber component (premixer or assembly); Figure 13 (b) is a schematic diagram of the clamp assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components of the present invention pulling out combustion chamber components (premixer or assembly); Figure 13 (c) A schematic diagram of the clamping assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components of the present invention, showing how the combustion chamber component (premixer or assembly) is pulled out and its posture is adjusted to be retracted into the inner side of the annular clamp. Figure 1 ; Figure 13(d) A schematic diagram of the clamping assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components of the present invention, showing how the combustion chamber component (premixer or assembly) is pulled out and its posture is adjusted to be retracted into the inner side of the annular clamp. Figure 2 ; Figure 13 (e) is a schematic diagram of the clamp assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components of the present invention, which gathers the combustion chamber components (premixer or assembly) inside the annular clamp. Figure 13 (f) is a schematic diagram of the clamp assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components of the present invention, which carries the combustion chamber components (premixer or assembly) to the bottom of the gas turbine; Figure 13 (g) is a schematic diagram of the parallel coupling robotic arm device of the present invention for disassembling and assembling gas turbine combustion chamber components adjusting the attitude of combustion chamber components (premixer or assembly) at the bottom of the gas turbine; Figure 13 (h) is a schematic diagram of the clamp assembly of the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components of the present invention placing the combustion chamber components (premixer or assembly) onto the mobile vehicle; In the diagram, 1. Ring clamp; 2. Parallel five-axis coupled robotic arm; 3. Left ring clamp; 4. Right ring clamp; 5. Upper ring clamp; 6. Turning base; 7. Joint connector I; 8. Rotary joint I; 9. Joint connecting section I; 10. Rotary joint II; 11. Joint connecting section II; 12. Rotary joint III; 13. Fixed base I; 14. Composite moving joint; 15. Guide rail assembly I; 1501. Lead screw and nut assembly I; 1502. Linear guide rail I; 1503. Transmission gear I; 16. Guide rail assembly II; 1601, Screw and nut assembly II; 1602, Linear guide rail II; 1603, Transmission gear II; 17, Fixed base II; 18, Rotating joint IV; 19, Fixed base III; 20, Clamp assembly; 21, Drive motor I; 22, Drive motor III; 23, Drive motor IV; 24, Gas turbine; 25, Drive motor V; 26, Drive motor VI; 27, Drive motor VII; 28, Drive motor VIII; 29, Assembly; 30, Premixer; 31, Fixed base IV. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] The accompanying drawings are schematic or conceptual, and the dimensional relationships and proportions of the parts may not be the same as in reality. Even when representing the same part, the dimensions and proportions of each part may be represented differently depending on the accompanying drawings.

[0019] For ease of understanding, the present invention will be further described below with reference to the accompanying drawings.

[0020] See Figures 1-11 As shown, a parallel coupled robotic arm device for disassembling and assembling combustion chamber components of a gas turbine includes an annular clamp 1 and a parallel five-axis coupled robotic arm 2. The annular clamp 1 is fixed at the flange connection of the exhaust cylinder of the gas turbine 24 compressor. An annular guide rail is formed on the outer periphery of the flange connection of the exhaust cylinder of the gas turbine 24 compressor. The parallel five-axis coupled robotic arm 2 is slidably connected to the annular clamp 1 and moves 360° in a circle along the annular guide rail. The parallel five-axis coupled robotic arm 2 includes two rotating bases 6, which are connected by a fixing member. The rotating bases 6 are slidably connected to the annular clamp 1. A joint connector I7 is fixed on the rotating base 6. A rotating joint I8 is rotatably connected to the joint connector I7. A joint connecting section I9 is ​​fixedly connected to the rotating joint I8. A rotating joint II10 is rotatably connected to the joint connecting section I9. A joint connecting section II11 is fixedly connected in parallel between the two rotating joints II10. A rotating joint III12 is rotatably connected to the middle of the joint connecting section II11. A fixed base I13 is fixedly connected to the rotating joint III12. A fixed base II17 is slidably connected above the fixed base I13. A composite moving joint 14 is connected to the fixed base II17. A fixed base III19 is slidably connected to the composite moving joint 14. A rotating joint IV18 is rotatably connected between the fixed base III19 and the fixed base IV. A clamp assembly 20 is fixedly connected to the fixed base IV. The clamp assembly is used to connect the combustion chamber components.

[0021] In this embodiment, the axes of rotation joint I 8 and rotation joint II 10 are parallel to each other and perpendicular to the axis of the ring clamp 1; the axis of rotation joint III 12 is perpendicular to the axis of rotation joint I 8 and rotation joint II 10, and the axis of rotation joint IV 18 is parallel to the composite moving joint 14.

[0022] In this embodiment, there are two rotating bases 6, two rotating joints I 8 and two rotating joints II 10, all symmetrically distributed along the center line of the fixed component. This reduces the size of rotating joints I 8 and II 10, while forming a coaxial parallel structure, making the entire robotic arm a closed-loop structure to complete flexible operation with high torque. This arrangement avoids the problem of excessively large size of a single joint in series arrangement, and also avoids the problem of the two joint positions overlapping with the work space for disassembling and assembling combustion chamber components.

[0023] In this embodiment, the parallel five-axis coupled robotic arm 2 can perform circular motion around the annular clamp 1, and can adjust the position of the robotic arm so that it stops near the combustion chamber component to be worked on; rotating joints I 8, II 10, III 12, and IV 18 are used to adjust the position of the clamp assembly 20 so that the clamp assembly 20 is located on one side of the combustion chamber component to be worked on. Among them, rotating joints I 8 and II 10 are used to adjust the joint connecting section II 11 and its upper component to rotate along the joint connecting section I 9, and rotating joint III 12 is used to realize the composite moving joint 14 and its upper component. Rotating joint Ⅲ12 rotates circumferentially around its central axis. Rotating joint Ⅳ18 is used to enable the clamping assembly 20 to rotate left and right along the central axis of rotating joint Ⅳ18. Composite moving joint 14 is used to drive the clamping assembly 20 to move toward the combustion chamber component and clamp the combustion chamber component. After clamping, composite moving joint 14 is driven again to pull out or install the combustion chamber component. This invention adjusts the position and posture of the large-mass combustion chamber component through the coupled movement of rotating joint Ⅰ8, rotating joint Ⅱ10, rotating joint Ⅲ12, rotating joint Ⅳ18 and composite moving joint 14 to achieve obstacle avoidance and disassembly / reassembly.

[0024] The composite moving joint 14 includes a guide rail assembly I 15 and a guide rail assembly II 16. A support plate is provided above the guide rail assembly I 15. A fixed base II is fixedly connected to the side of the support plate. The guide rail assembly II 16 is fixedly connected above the support plate. A fixed base III 19 is slidably connected above the guide rail assembly II 16.

[0025] In this embodiment, guide rail assembly I15 and guide rail assembly II16 form a two-stage moving joint. Guide rail assembly I15 can drive the fixed base II17 and guide rail assembly II16 to move, and guide rail assembly II16 can drive the fixed base III19 and the clamp assembly 20 above it to move. While compressing the space occupied, it can realize the large stroke pushing action of the robotic arm.

[0026] Guide rail assembly I and guide rail assembly II have the same structure, both including a drive motor, a lead screw and nut assembly and linear guide rails. Specifically, guide rail assembly I includes a drive motor III22, a lead screw and nut assembly I1501 and two sets of linear guide rails I1502. The output end of drive motor III22 is connected to the lead screw of lead screw and nut assembly I1501 through transmission gear I1503. The nut of lead screw and nut assembly I1501 is fixedly connected to the slider I of one of the linear guide rails I1502. Each linear guide rail I1502 has a support plate above the slider I. A fixed base II17 is fixedly connected to the support plate. A slider III is provided at the bottom of fixed base II17. A slide rail is provided above fixed base I13. The slider III slides in the slide rail. The guide rail assembly II includes a drive motor IV23, a lead screw and nut assembly IIII1601, and two sets of linear guide rails IIII1602. The output end of the drive motor IV23 is connected to the lead screw of the lead screw and nut assembly IIII1601 through a transmission gear IIII1603. The nut of the lead screw and nut assembly IIII1601 is fixedly connected to the fixed base III19. One set of linear guide rails IIII1602 is located on one side of the lead screw and nut assembly IIII1601, and the two sets are fixed above the support plate respectively. The slider of the linear guide rail II1602 is connected to the fixed base III19.

[0027] The annular clamp consists of three segments: a left annular clamp 3, a right annular clamp 4, and an upper annular clamp 5, each with angles of 135°, 135°, and 90° respectively, joined together to form a complete ring. Each segment includes an annular plate, an annular guide rail, and an annular rack. The annular plate is fixedly connected to the exhaust cylinder flange of the gas turbine compressor 24. An annular rack is provided on the outer circumference of the annular plate. A gear is provided below the rotating base 6. The gear is connected to the output shaft of the drive motor I21 fixed on the rotating base, and the gear meshes with the annular rack. Annular guide rails are provided on the annular plate, and the rotating base 6 is slidably connected to the annular guide rails. The annular plate is used to clamp and fix the annular clamp to the exhaust cylinder flange of the gas turbine compressor. The annular guide rails and annular racks are used to cooperate with the slider and gear below the rotating base 6 of the robotic arm, enabling the robotic arm to rotate around the gas turbine under the drive of the drive motor I21.

[0028] In this embodiment, the drive motor I21 drives the gear to rotate, and the gear moves on the ring rack to realize the parallel five-axis coupled robot arm 2 sliding on the ring clamp 1, thereby realizing the 360-degree rotation of the parallel five-axis coupled robot arm 2.

[0029] like Figures 4-5 As shown, the parallel five-axis coupled robotic arm 2 adopts a modular design. When installing the robotic arm onto the gas turbine 24, the left annular clamp 3 and the right annular clamp 4 are first fixed to the flange connection of the gas turbine compressor exhaust cylinder with locking bolts. Then, the upper annular clamp 5 and the parallel five-axis coupled robotic arm 2 are fixed as an integral module to the flange connection of the gas turbine compressor exhaust cylinder with locking bolts.

[0030] In this embodiment, the ring clamp 1 is composed of a left ring clamp 3, a right ring clamp 4 and an upper ring clamp 5. The left ring clamp 3 and the right ring clamp 4 have the same structure, which are arc-shaped retaining rings with a central angle of 135°. The upper ring clamp 5 is an arc-shaped clamp with a central angle of 90°.

[0031] The rotating joints I8, II10, III12, and IV18 have the same structure. The drive motors V25, VI26, VII27, and VIII28 of the rotating joints I8, II10, III12, and IV18 drive the worm gear turntable to rotate via planetary gear reducers, thereby realizing the rotation of the rotating joints I8, II10, III12, and IV18.

[0032] In this embodiment, drive motors I to VIII are driven by servo motors, and the controller is connected to the servo drive system via real-time industrial Ethernet communication.

[0033] The clamp assembly 20 includes a fastener fixed to the fixed base IV 31, and multiple connecting plates are evenly distributed around the outer periphery of the fastener. The connecting plates are used to connect combustion chamber components.

[0034] In this embodiment, as Figure 12 As shown, the end gripper assembly of the parallel five-axis coupled robotic arm is a replaceable gripper. Three connecting plates are set on the outer periphery of the fixing member. When the connecting plate is straight, it is used to clamp the combustion chamber component assembly 29. When the connecting plate is L-shaped, it is used to clamp the premixer 30 of the combustion chamber component.

[0035] The parallel five-axis coupled robotic arm 2 also includes a vision positioning system, which comprises four industrial cameras used to identify the installation positions of combustion chamber components and guide the robotic arm to complete precise positioning. For example... Figure 11 As shown, camera 1 and camera 2 are fixed on the robotic arm's rotating base 6, and camera 3 and camera 4 are fixed on the joint connecting section II11.

[0036] A method for using a parallel-coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components includes the following steps: like Figure 4 (a) and Figure 4 As shown in (b), the left annular clamp 3 and the right annular clamp 4 are sequentially installed onto the gas turbine flange; as... Figure 4 As shown in (c), the upper ring clamp 5 and the parallel five-axis coupled robotic arm are simultaneously installed on the gas turbine flange; like Figure 5 As shown, firstly, the left annular clamp 3 and the right annular clamp 4 are fixed to the flange connection of the gas turbine compressor exhaust cylinder by locking bolts in sequence using a hoisting method. Secondly, the upper annular clamp 5 and the parallel five-axis coupled robotic arm 2 are installed as an integral module at the flange connection of the gas turbine compressor exhaust cylinder by a hoisting method.

[0037] like Figure 13As shown, when removing the combustion chamber component from the gas turbine, drive motor I21 drives the gear to rotate, and the gear meshes with the ring rack, causing the parallel five-axis coupled robotic arm 2 to move in a circle along the ring clamp 1 and stop near the combustion chamber component to be removed; drive motors V25, VI26, VII27, and VIII28 respectively drive rotating joints I8, II10, III12, and IV18 to rotate, so that the clamp assembly 20 is positioned above the combustion chamber component to be removed, and the clamp assembly coincides with the axis of the combustion chamber component to be removed. The composite moving joint 14 moves to make the clamp assembly 20 contact the combustion chamber component to be removed, and the clamp is secured by bolts. The fixture assembly 20 connects to the combustion chamber component to be removed; after clamping, the compound moving joint 14 is driven to pull out the combustion chamber component; then, rotating joints I, II, and III are driven to retract the combustion chamber component to be removed towards the inside of the annular fixture to reduce space occupation; the turnover base 6 slides on the annular fixture 1, transporting the pulled-out combustion chamber component to be removed to below the gas turbine 24, while simultaneously driving rotating joints I, II, III, 14, and IV to move, finally placing the combustion chamber component to be removed on the moving cart below, completing the removal of the combustion chamber component. The turnover base 6 slides on the annular fixture 1, similarly transporting the pulled-out combustion chamber component to be removed to above the gas turbine 24, finally placing the combustion chamber component to be removed on the crane above, completing the removal of the combustion chamber component.

[0038] The same steps can be used to remove the remaining combustion chamber components on the gas turbine. The reverse steps complete the installation process for the combustion chamber components. When installing the combustion chamber components of the gas turbine, the parallel five-axis coupled robotic arm 2 slides on the annular clamp 1 to above or below the gas turbine. The clamp assembly holds the combustion chamber component to be installed from the upper crane or lower moving vehicle, driving rotating joints I, II, III, and IV to rotate, causing the combustion chamber component to be installed to be folded inside the annular clamp to reduce space occupation. Then, the parallel five-axis coupled robotic arm slides on the annular clamp 1, positioning the combustion chamber component above the installation position, with the axis of the combustion chamber component precisely aligned with the installation position. The composite moving joint is then driven to insert the combustion chamber component into the installation position. After installation, the parallel five-axis coupled robotic arm 2 moves to a suitable position for the next installation or removal of combustion chamber components.

[0039] This invention achieves a large unfolding-to-folding ratio, enabling large-space grasping while simultaneously fulfilling obstacle avoidance and installation tasks in small spaces.

Claims

1. A parallel-coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components, characterized in that, It includes a ring clamp and a parallel five-axis coupled robotic arm; the ring clamp is fixed to the gas turbine, and the parallel five-axis coupled robotic arm is slidably connected to the ring clamp; The parallel five-axis coupled robotic arm includes two rotating bases connected by a fixing member. The rotating bases are slidably connected to a ring clamp. A joint connector I is fixed on the rotating base. A rotating joint I is rotatably connected to the joint connector I. A joint connecting segment I is fixedly connected to the rotating joint I. A rotating joint II is rotatably connected to the joint connecting segment I. A joint connecting segment II is fixedly connected in parallel between the two rotating joints II. A rotating joint III is rotatably connected to the middle of the joint connecting segment II. A fixed base I is fixedly connected to the rotating joint III. A fixed base II is slidably connected above the fixed base I. A composite moving joint is connected to the fixed base II. A fixed base III is slidably connected to the composite moving joint. A rotating joint IV is rotatably connected between the fixed base III and the fixed base IV. A clamp assembly is fixedly connected to the fixed base IV. The clamp assembly is used to connect the combustion chamber components.

2. The parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to claim 1, characterized in that, The composite moving joint includes guide rail assembly I and guide rail assembly II. A support plate is provided on the top of guide rail assembly I. A fixed base II is fixedly connected to the side of the support plate. Guide rail assembly II is fixedly connected on the top of the support plate. A fixed base III is slidably connected on the top of guide rail assembly II.

3. The parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to claim 1, characterized in that, The annular clamp is composed of a left annular clamp, a right annular clamp, and an upper annular clamp to form a complete ring. Each segment of the annular clamp includes an annular plate, an annular guide rail, and an annular rack. The annular plate is fixedly connected to the gas turbine. An annular rack is provided on the outer circumference of the annular plate. A gear is provided below the rotating base. The gear is connected to the output shaft of the drive motor I fixed on the rotating base. The gear meshes with the annular rack. An annular guide rail is provided on the annular plate. The rotating base is slidably connected to the annular guide rail.

4. A parallel-coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to claim 1, characterized in that, Rotary joint I, rotary joint II, rotary joint III and rotary joint IV have the same structure, each including drive motor II and worm gear turntable, with drive motor II connected to worm gear turntable via planetary gear reducer.

5. A parallel-coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to claim 1, characterized in that, The clamp assembly includes a fastener fixed to a fixed base IV, and multiple connecting plates are evenly distributed around the outer periphery of the fastener. The connecting plates are used to connect combustion chamber components.

6. A parallel-coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components according to claim 1, characterized in that, The parallel five-axis coupled robotic arm also includes a vision positioning system, which is used to identify the installation position of combustion chamber components and guide the robotic arm to complete precise positioning.

7. A method of using a parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components, based on the parallel coupled robotic arm device for disassembling and assembling gas turbine combustion chamber components as described in claim 1, characterized in that... Includes the following steps: A ring-shaped clamp is mounted on the gas turbine, and a parallel five-axis coupled robotic arm is mounted on the ring-shaped clamp. When removing the combustion chamber component from the gas turbine, drive motor I drives the rotating base to slide on the annular clamp, causing the parallel five-axis coupled robotic arm to stop near the combustion chamber component to be removed. Rotating joints I, II, III, and IV are then rotated, positioning the clamp assembly above the combustion chamber component with its axis aligned with the component. A composite moving joint moves, clamping the component and then pulling it out. Next, rotating joints I, II, and III are driven to retract the combustion chamber component towards the inside of the annular clamp. The rotating base then slides on the annular clamp, transporting the removed combustion chamber component above or below the gas turbine. Simultaneously, rotating joints I, II, III, the composite moving joint, and IV move, finally placing the combustion chamber component on the overhead crane or the mobile trolley below, completing the removal of the combustion chamber component. When installing the combustion chamber components of a gas turbine, a parallel five-axis coupled robotic arm slides on a ring clamp, moving to above or below the gas turbine. The clamp assembly grips the combustion chamber component to be installed from an upper crane or a lower moving vehicle, driving rotating joints I, II, III, and IV to rotate, causing the combustion chamber component to be installed to retract inside the ring clamp. Then, the parallel five-axis coupled robotic arm slides on the ring clamp, positioning the combustion chamber component above the installation position, with the axis of the combustion chamber component coinciding with the installation position. The composite moving joint is then driven to insert the combustion chamber component into the installation position. After installation, the parallel five-axis coupled robotic arm moves to a suitable position for the next installation or removal of combustion chamber components.

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