Robot relief grinding water turbine fixed guide vane tool

Abstract

The utility model belongs to the technical field of water turbine machining, and particularly relates to a robot relief grinding water turbine fixed guide vane tool which comprises a first adjusting mechanism and a second adjusting mechanism, the first adjusting mechanism and the second adjusting mechanism each comprise two bases, adjusting plates are vertically installed on the two bases, sliding supports are connected to the adjusting plates, and the sliding supports are connected to the first adjusting mechanism and the second adjusting mechanism. A bearing plate is connected between the two sliding supports, two adjusting bottom plates are symmetrically arranged on the bearing plate, and a vertically-arranged movable baffle is further arranged on the outer side of the first adjusting mechanism. The tool is suitable for robot relief grinding pumped storage and installation of the fixed guide vane of the mixed-flow water turbine. And through limiting of the tool, the number of times of manual teaching of the robot tool path is effectively reduced, and the working efficiency of automatic relief grinding of the guide vane is improved. Through limiting of the tool, the focusing accuracy of scanning of the three-dimensional camera is improved, then the optimization difficulty after the planning relief grinding path is generated is reduced, and the overall machining quality of the robot for relief grinding of the fixed guide vane is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of water turbine processing, and in particular relates to a robot-assisted grinding tool for fixed guide vanes of a water turbine. Background Art

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

[0003] Low installation efficiency: When the fixed guide vanes are hoisted on the wooden piles, the placement of the fixed guide vanes can only be checked by naked eyes. This method will lead to inaccurate positioning problems, and long-term repeated placement will also waste the crane's occupation time.

[0004] Poor positioning accuracy: When placing fixed guide vanes in batches, the traditional positioning method is prone to misjudging the spacing between adjacent workpieces, resulting in interference in the normal operation of the grinding robot. At the same time, the traditional method of placing wooden stakes will cause the height of both ends of the fixed guide vane to be unable to be adjusted to an absolute level. Even if the height of the wooden stakes can be adjusted appropriately when the wooden stakes are selected, the wooden stakes will deform after long-term use due to their material, resulting in inconsistent heights at both ends of the fixed guide vane, reducing the overall surface quality of the robot's grinding. Summary of the invention

[0005] In order to overcome the above problems existing in the prior art, a robot tool for grinding fixed guide vanes of a water turbine is now proposed, which is specially designed to provide support for fixed guide vanes of a water turbine.

[0006] In order to achieve the above technical effects, the technical solution of this application is as follows:

[0007] A robot tool for grinding fixed guide vanes of a turbine includes a first adjustment mechanism and a second adjustment mechanism. The first adjustment mechanism and the second adjustment mechanism each include two bases, and adjustment plates are vertically installed on the two bases. Sliding brackets are connected to the adjustment plates, and a load-bearing plate is connected between the two sliding brackets. Two adjustment base plates are symmetrically arranged on the load-bearing plates. A vertically arranged movable baffle is also arranged on the outer side of the first adjustment mechanism.

[0008] Furthermore, each adjusting bottom plate is connected to an adjusting vertical plate; the adjusting vertical plate can be applied to fatter fixed guide vanes, and the adjusting bottom plate can be applied to thinner fixed guide vanes.

[0009] 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.

[0010] Furthermore, a connection block threaded hole is provided at the connection point between one end of the connection block and the movable baffle, and a fixing structure such as a bolt can be connected to the connection block threaded hole to realize the connection between the two.

[0011] Furthermore, a plurality of rib plates are arranged between the adjustment plate and the base.

[0012] Furthermore, the adjustment plate is provided with a plurality of positioning pin holes, and the corresponding sliding bracket is also provided with a plurality of rows of positioning pin holes, the adjustment plate is provided with a slide groove, the sliding bracket is located in the slide groove, and the adjustment plate and the sliding bracket are fixed by bolts and positioning pin holes.

[0013] Furthermore, the adjustment base plate is L-shaped, the bottom edge of the adjustment base plate is connected to the load-bearing plate by a bolt and nut structure, a U-shaped through groove is provided on the side of the adjustment base plate, a U-shaped through groove is provided in the middle of the adjustment vertical plate, and the adjustment plate and the adjustment vertical plate are connected by a bolt and nut structure.

[0014] Furthermore, the base is provided with a plurality of handle holes, and the handle holes are used to fix the base.

[0015] Furthermore, the surface of the load-bearing plate is provided with a plurality of positioning pin holes for adjusting different positions of the bottom plate.

[0016] The advantages of this application are:

[0017] 1. The tooling used in this application is suitable for the installation of fixed guide vanes of pumped storage and Francis turbines by robot shoveling and grinding.

[0018] The tooling limit effectively reduces the number of manual teaching of the robot tool path, and improves the efficiency of automatic guide vane grinding. The tooling limit improves the focus accuracy of the 3D camera scan, thereby reducing the optimization difficulty after generating the planned grinding path, and improving the overall processing quality of robot grinding of fixed guide vanes.

[0019] 2. The guide vane fixture has the function of size adjustment, so it can be used in different pumped storage and Francis turbine projects, achieving sustainable use and reducing the manufacturing cost of additional fixtures. Steel fixtures replace wooden piles, reducing the loss of wood, and can be recycled many times, contributing to low-carbon environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the robot-grinding turbine fixed guide vane tooling.

[0021] Figure 2 It is a schematic diagram of the associated structure of the load-bearing plate.

[0022] Figure 3 This is a schematic diagram of the base association structure.

[0023] Figure 4 Schematic diagram of fixed guide vanes suitable for fatter adjustment of vertical plates.

[0024] Figure 5 Schematic diagram of adjusting the base plate for thinner fixed guide vanes.

[0025] In the attached drawings: 1-first adjusting mechanism, 2-second adjusting mechanism, 3-fixed guide vane, 4-base, 5-adjusting plate, 6-sliding bracket, 7-load-bearing plate, 8-adjusting bottom plate, 9-movable baffle, 10-adjusting vertical plate, 11-connecting block, 12-rib plate, 13-locating pin hole, 14-slide groove, 15-connecting block threaded hole. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the present application, it should be noted that the terms "upper", "vertical", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0030] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] Example 1

[0032] like Figure 1 As shown, a robot-grinding tool for fixed guide vanes of a turbine includes a first adjusting mechanism 1 and a second adjusting mechanism 2, wherein the first adjusting mechanism 1 and the second adjusting mechanism 2 each include two bases 4, and an adjusting plate 5 is vertically mounted on the two bases 4, a sliding bracket 6 is connected to the adjusting plate 5, a load-bearing plate 7 is connected between the two sliding brackets 6, and two adjusting bottom plates 8 are symmetrically arranged on the load-bearing plate 7, and a vertically arranged movable baffle 9 is also arranged on the outer side of the first adjusting mechanism 1.

[0033] The tooling of the present application is suitable for the installation of fixed guide vanes 3 of pumped storage and mixed flow turbines by robot shoveling and grinding.

[0034] The limit of the tooling can effectively reduce the number of manual teaching of the robot tool path, and improve the work efficiency of the automatic grinding of the guide vanes. The limit of the tooling can improve the focus accuracy of the 3D camera scanning, thereby reducing the optimization difficulty after generating the planned grinding path, and improving the overall processing quality of the robot grinding the fixed guide vanes 3. The guide vane tooling has the function of size adjustment, so it can be used in different pumped storage and mixed flow turbine projects, achieving sustainable use and reducing the manufacturing cost of additional tooling. Steel tooling replaces wooden piles, reducing the loss of wood, and can be recycled many times, contributing to low-carbon environmental protection.

[0035] Example 2

[0036] like Figure 1 As shown, a robot-grinding tooling for fixed guide vanes of a turbine comprises a first adjusting mechanism 1 and a second adjusting mechanism 2, wherein the first adjusting mechanism 1 and the second adjusting mechanism 2 each comprise two bases 4, and an adjusting plate 5 is vertically mounted on the two bases 4, a sliding bracket 6 is connected to the adjusting plate 5, a load-bearing plate 7 is connected between the two sliding brackets 6, and two adjusting bottom plates 8 are symmetrically arranged on the load-bearing plate 7, and a vertically arranged movable baffle 9 is also arranged on the outer side of the first adjusting mechanism 1.

[0037] Each adjustment bottom plate 8 is connected to an adjustment vertical plate 10; Figure 4 As shown, when the adjusting vertical plate 10 and the adjusting bottom plate 8 are set at the same time, it can be suitable for thicker fixed guide vanes 3. Figure 5 As shown, when only the adjusting base plate 8 is provided, it can be suitable for thinner fixed guide vanes 3.

[0038] like Figure 2 As shown, the movable baffle 9 is connected to the connecting block 11, and the connecting block 11 is connected to the load-bearing plate 7. The connecting block 11 is L-shaped, and the connecting block 11 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.

[0039] A connecting block threaded hole 15 is provided at the connection point between one end of the connecting block 11 and the movable baffle 9, and a fixing structure such as a bolt can be connected to the connecting block threaded hole 15 to realize the connection between the two.

[0040] like Figure 3 As mentioned above, a plurality of ribs 12 are arranged between the adjustment plate 5 and the base 4 .

[0041] The adjusting plate 5 is provided with a plurality of positioning pin holes 13 , and the corresponding sliding bracket 6 is also provided with a plurality of rows of positioning pin holes 13 . The adjusting plate 5 is provided with a slide groove 14 , the sliding bracket 6 is located in the slide groove 14 , and the adjusting plate 5 and the sliding bracket 6 are fixed by bolts and the positioning pin holes 13 .

[0042] The adjusting base plate 8 is L-shaped, and the bottom edge of the adjusting base plate 8 is connected to the load-bearing plate 7 by a bolt and nut structure. A U-shaped through groove is provided on the side of the adjusting base plate 8, and 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 a bolt and nut structure.

[0043] like Figure 3 As shown, the base 4 is provided with a plurality of handle holes, which are used to fix the base 4.

[0044] The surface of the load-bearing plate 7 is provided with a plurality of positioning pin holes 13 for adjusting different positions of the bottom plate 8 .

[0045] The adjustment mechanism is composed of a movable baffle 9, a connecting block 11, a bracket, a load-bearing plate 7, an adjustment vertical plate 10, and an adjustment bottom plate 8, wherein the connecting block 11 and the bracket are connected to the load-bearing plate 7 by welding. Figure 2 shown.

[0046] The rib plate 12 and the adjusting plate 5 are connected to the base 4 by welding. Figure 3 shown.

[0047] 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 coordinate in the Z-axis direction.

[0048] 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 to position the workpiece coordinate in the X-axis direction.

[0049] The movable baffle 9 is threadedly connected to the connecting block 11 through bolts to position the workpiece coordinate in the Y-axis direction.

[0050] 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 in batches, in order to prevent the robot from interfering with the workpiece during operation, the workpiece spacing is set to be greater than 300 mm.

[0051] According to the actual thickness of the fixed guide vane 3, the sliding bracket 6 is adjusted and installed so that the workpiece is at the optimal working height value.

[0052] According to the actual width of the fixed guide vane 3, the position of the adjusting bottom plate 8 on the load-bearing plate 7 is adjusted so that the gap in the width direction from the adjusting vertical plate 10 to the fixed guide vane 3 is controlled within 3-5 mm, and the gap in the width direction is ensured to be uniform.

[0053] A protective pad is placed on the load-bearing plate 7 to protect the workpiece. The fixed guide vane 3 is hoisted to the load-bearing plate 7 by a crane, and the head of the fixed guide vane 3 is limited by the movable baffle 9.

[0054] The height of the vertical plate 10 is adjusted through the U-shaped through groove, and the movable baffle 9 is removed to ensure that the robot tool holder does not interfere with the vertical plate and the movable baffle 9 when working.

[0055] According to the actual needs of mass production, a set of fixed guide vane 3 robot grinding program should be applicable to the grinding of multiple identical fixed guide vanes 3. Through the adjustment method of the tooling, not only can the workpiece be placed in the optimal range of robot grinding, but also it can effectively prevent the uneven force on the grinding contact surface caused by the incorrect placement of the fixed guide vane 3, resulting in indentations between adjacent rows of grinding, or the formation of black skin that cannot be polished due to insufficient grinding pressure. In order to facilitate the positioning of the working position of the fixed guide vane 3, the tooling is used to ensure that the tooling positioning workpiece coordinate system of the fixed guide vane 3 coincides with the robot's working coordinate system benchmark. Finally, the position of the fixed guide vane 3 is within the working range of the robot's optimal posture for grinding work, so the surface quality of the fixed guide vane 3 after grinding is optimal.

[0056] The coordinate axis is shown as Figure 1 shown.

[0057] Coordinate axis adjustment method:

[0058] 1) X-axis adjustment method:

[0059] The U-shaped through groove on the bottom surface of the adjusting base plate 8 is connected with the load-bearing plate 7 through bolts and nuts. After the size adjustment in the X-axis direction is achieved by using the U-shaped through groove, the adjusting base plate 8 is fixed by tightening the bolts and nuts.

[0060] 2) Y-axis adjustment method:

[0061] The movable baffle 9 is connected to the threaded hole 15 of the connecting block by bolts to facilitate removal after positioning the workpiece, so as to avoid interference of the movable baffle with the robot grinding work. The connecting block 11 is connected to the load-bearing plate 7 by welding. According to the mass production requirements, the Y-axis direction is matched with the gap between the vertical surface of the movable baffle 9 and the head or tail of the fixed guide vane 3. At the same time, the gap is measured by a feeler gauge to make the gap value uniform. The purpose is to make the Y-axis coordinate value of the same batch of fixed guide vanes 3 after loading consistent, so as to achieve a set of fixed guide vane 3 robot grinding procedures to be applicable to the grinding of multiple identical fixed guide vanes 3.

[0062] 3) Z-axis adjustment method:

[0063] In order to adapt to the fixed guide vanes 3 of different valve body thicknesses, they can meet the optimal height value of robot grinding work after being installed on the tooling. The bracket is designed with three rows of pin holes vertically, with two pin holes in each row. The bracket is inserted into the slide groove 14 of the adjustment plate 5. After adjusting the height, a cylindrical pin is inserted into the row of pin holes between the bracket and the adjustment plate 5 to locate the Z-axis coordinate value.

[0064] Working principle:

[0065] According to the incoming material size (maximum length, maximum width, maximum height) of the fixed guide vane 3 and the optimal working area of ​​the robot, the reasonable position of the tooling is calculated. Through the X, Y, and Z three-axis adjustment method, the tooling is roughly adjusted to a reasonable placement position.

[0066] In order to improve the accuracy of the workpiece coordinate axis and the robot coordinate axis datum coincidence, it is necessary to fine-tune the placement of the fixed guide vane 3 by the tooling measurement method in the future, so that the fixed guide vane 3 is located in the middle of the distance between the two pairs of adjustment base plates 8. The method is as follows:

[0067] Use a tape measure to measure and adjust the vertical plate 10 or the bottom plate 8 (specifically, the selection depends on the thickness of the fixed guide vane 3: the vertical plate 10 can be used for thicker fixed guide vanes 3, such as Figure 4 Adjustment base plate 8 can be applied to thinner fixed guide vanes 3, such as Figure 5 The distance from the front and rear blunt edges of the head of the fixed guide vane 3 to the adjustment plate 5 and the distance from the front and rear blunt edges of the tail of the fixed guide vane 3 to the adjustment plate 5 are determined by this measurement method. There are 4 sets of measurement results in total. The fixed guide vane 3 is fine-tuned using a crane to ensure that the values ​​of the above 4 sets of measurement data are consistent, that is, the fine adjustment is completed.

[0068] The tooling can adjust and position the X, Y, and Z axes. The coarse adjustment is the adjustment of the bracket positioning pin hole 13, and the fine adjustment is the adjustment of the vertical plate 10. The reason for the fine adjustment is that since the tooling needs to ensure that the guide vane is at the center of the load-bearing plate 7, it is necessary to measure whether the distance between the edge (groove) at both ends of the guide vane and the vertical plate is consistent. If they are consistent, they are in the best position. However, since the thickness of the guide vane varies, relying solely on the adjustment base plate 8 may cause the guide vane groove facing the base plate part to be higher than the adjustment base plate 8, and the gap between the guide vane side groove and the adjustment base plate 8 cannot be measured, so an additional vertical plate is required in the structure.

Claims

1. A robot tool for grinding fixed guide vanes of a turbine, characterized in that: The invention comprises a first adjustment mechanism (1) and a second adjustment mechanism (2), wherein the first adjustment mechanism (1) and the second adjustment mechanism (2) both comprise two bases (4), and an adjustment plate (5) is vertically mounted 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), and two adjustment bottom plates (8) are symmetrically arranged on the load-bearing plate (7), and a vertically arranged movable baffle (9) is also arranged on the outer side of the first adjustment mechanism (1).

2. The robot-assisted grinding tool for fixed guide vanes of a water turbine according to claim 1, characterized in that: Each adjustment bottom plate (8) is connected to an adjustment vertical plate (10).

3. The robot-assisted grinding tool for fixed guide vanes of a water turbine according to claim 2, characterized in that: The adjusting bottom plate (8) is L-shaped, the bottom edge of the adjusting bottom plate (8) is connected to the load-bearing plate (7) via a bolt and nut structure, a U-shaped through groove is provided on the side edge of the adjusting bottom plate (8), a U-shaped through groove is provided in the middle of the adjusting vertical plate (10), and the adjusting plate (5) and the adjusting vertical plate (10) are connected via a bolt and nut structure.

4. The robot-assisted grinding tool for fixed guide vanes of a water turbine according to claim 1, characterized in that: The movable baffle (9) is connected to the connecting block (11), and the connecting block (11) is connected to the load-bearing plate (7).

5. The robot-assisted grinding tool for fixed guide vanes of a water turbine according to claim 4, characterized in that: The connection block (11) is L-shaped, and passes through the bottom of the load-bearing plate (7). One end of the connection block (11) is connected to the inner side or the bottom of the load-bearing plate (7).

6. The robot-assisted grinding tool for fixed guide vanes of a water turbine according to claim 1, characterized in that: A plurality of rib plates (12) are arranged between the adjustment plate (5) and the base (4).

7. The robot-assisted grinding tool for fixed guide vanes of a water turbine according to claim 1, characterized in that: The adjustment plate (5) is provided with a plurality of positioning pin holes (13), and the corresponding sliding bracket (6) is also provided with a plurality of rows of positioning pin holes (13).

8. The robot-assisted grinding tool for fixed guide vanes of a water turbine according to claim 7, characterized in that: The adjustment plate (5) is provided with a slide groove (14), the sliding bracket (6) is located in the slide groove (14), and the adjustment plate (5) and the sliding bracket (6) are fixed by means of bolts and positioning pin holes (13).

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