Hydraulic machinery runner thermal spraying method

Abstract

The present invention provides a hydraulic machine runner thermal spraying method that allows for easy thermal spraying of runners, including those with narrow sections. [Solution] The hydraulic runner spraying method according to the embodiment includes: a definition step of defining teaching point information including a plurality of teaching points for defining the movement path of the spraying position in a state in which at least a part of a virtual spray gun corresponding to a spray gun is inserted into the runner flow path in a first electronic virtual space; a teaching step of taking the teaching point information into a robot controller and teaching the robot; and a spraying step of inserting at least a part of the spray gun into the runner flow path and performing spraying at the spraying position by having the robot controller operate the robot based on the teaching point information. The teaching point information includes spraying position information indicating the spraying position and the movement speed of the spraying position.

Description

Technical Field

[0001] The embodiment relates to a method for spraying a hydraulic machine runner.

Background Art

[0002] A Francis turbine as an example of a hydraulic machine is known. The Francis turbine includes a runner that converts the energy of flowing water into rotational energy, and power generation is performed by a generator connected to the runner. Spraying may be applied to the flowing water surface of the runner as a measure against wear by sediment. As shown in FIG. 7, the spraying is performed by a spraying gun 30 from the inlet of the runner flow path 5 located outside the runner 1.

[0003] However, on the outlet side of the runner flow path 5, there is a narrow portion 5a where the flow path is narrow. Therefore, it has been difficult to apply spraying to the narrow portion 5a that is difficult to directly visually recognize from the outside of the runner 1. Also, as shown in FIG. 1, even if the spraying gun 30 is arranged at the outlet of the runner flow path 5, it is difficult to apply spraying to the narrow portion 5a.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] To apply thermal spraying to the narrow section 5a, it is conceivable to insert the thermal spray gun 30 into the runner channel 5, as shown in Figure 8. However, when inserting the thermal spray gun 30 into the runner channel 5, it was difficult to position the thermal spray gun 30 so that the thermal spray distance, thermal spray angle, movement speed of the thermal spray position 7, and separation distance (see Figure 2) each meet the desired tolerance range. Here, the thermal spray distance is the distance between the thermal spray position on the thermal spraying surface and the tip of the barrel 31 of the thermal spray gun 30. The thermal spray angle is the angle between the thermal spraying surface at the thermal spray position and the direction of radiation of the thermal spray material 37 emitted from the thermal spray gun 30. The movement speed is the speed at which the thermal spray position moves as the thermal spray gun 30 moves. The separation distance is the distance between the thermal spray gun 30 and the runner 1.

[0006] The embodiment aims to provide a hydraulic machine runner thermal spraying method that allows for easy thermal spraying of runners, including narrow sections. [Means for solving the problem]

[0007] The hydraulic machine runner thermal spraying method according to this embodiment is a method of applying thermal spraying to a thermal spraying surface in a narrow part of the runner flow path of a hydraulic machine runner using a thermal spray gun attached to a robot operating under the control of a robot controller. The hydraulic machine runner thermal spraying method includes a definition step of defining teaching point information including a plurality of teaching points for defining the movement path of the thermal spray gun's thermal spray position relative to the thermal spraying surface, in a first electronic virtual space, with at least a portion of a virtual thermal spray gun corresponding to the thermal spray gun inserted into the runner flow path; a teaching step of taking the teaching point information into the robot controller and teaching the robot; and a thermal spraying step of having the robot controller operate the robot based on the teaching point information so that at least a portion of the thermal spray gun is inserted into the runner flow path and the thermal spray gun applies thermal spraying to the thermal spray position. The teaching point information includes thermal spray position information indicating the thermal spray position at each teaching point, and the movement speed of the thermal spray position at each teaching point. [Effects of the Invention]

[0008] According to this embodiment, thermal spraying can be easily applied to the runner, including narrow sections. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic diagram showing a hydraulic mechanical runner spraying system according to this embodiment. [Figure 2] Figure 2 is a schematic diagram showing the thermal spray gun shown in Figure 1. [Figure 3] Figure 3 is a configuration diagram showing the processing apparatus shown in Figure 1. [Figure 4] Figure 4 is a schematic diagram illustrating the definition of teaching point information in the first electronic virtual space created by the processing device shown in Figure 3. [Figure 5] Figure 5 is a schematic diagram illustrating offline teaching performed in the second electronic virtual space created by the processing device shown in Figure 3. [Figure 6] Figure 6 is an example of a flowchart illustrating the hydraulic machine runner spraying method according to this embodiment. [Figure 7] Figure 7 is a schematic plan cross-sectional view of a runner to illustrate a typical runner spraying method. [Figure 8] Figure 8 is a schematic plan cross-sectional view of a runner to illustrate a typical runner spraying method. [Figure 9] Figure 9 is an example of a flowchart illustrating a modified example of the hydraulic runner spraying method according to this embodiment. [Figure 10] Figure 10 is a schematic diagram illustrating the modified example shown in Figure 9. [Figure 11] Figure 11 is an example of a flowchart illustrating another modification of the hydraulic runner spraying method according to this embodiment. [Modes for carrying out the invention]

[0010] The following describes a hydraulic machine runner thermal spraying method according to an embodiment of the present invention, with reference to the drawings. The runner thermal spraying method according to this embodiment is a method for applying thermal spraying to the water flow surface of a hydraulic machine runner as a measure against abrasion caused by sediment. The following explanation will use the runner of a Francis turbine, which is an example of a hydraulic machine, as an example.

[0011] The Francis turbine runner (hereinafter simply referred to as Runner 1) is configured to convert the fluid energy of flowing water into rotational energy. A generator is connected to Runner 1, and the generator (not shown) is driven by the rotational drive of Runner 1 by the flowing water, thereby generating electricity.

[0012] As shown in Figure 1, the runner 1 is configured to rotate around the rotation axis RA. The runner 1 includes a crown 2 connected to the generator via a main shaft (not shown), a band 3 positioned on the outer circumference of the crown 2, and a plurality of runner blades 4 provided between the crown 2 and the band 3. The runner blades 4 are arranged at predetermined intervals in the circumferential direction of the runner 1. A runner channel 5 (see also Figures 7 and 8) through which water flows is formed between two adjacent runner blades 4 in the circumferential direction D.

[0013] The inlet of the runner channel 5 is formed on the outside of the runner 1, and the outlet of the runner channel 5 is formed on the inside of the runner 1. The runner channel 5 narrows from the inlet to the outlet, and the runner channel 5 includes a narrow section 5a (see Figures 4, 7, and 8) located on the outlet side. When the Francis turbine 1 is operating as a pump, the outside of the runner 1 becomes the outlet of the runner channel 5, and the inside of the runner 1 becomes the inlet of the runner channel 5. In this case, the inlet of the runner channel 5 becomes the narrow section 5a.

[0014] A runner spraying system 10 for performing the runner spraying method according to the present embodiment is configured to be able to perform spraying on the flowing water surface (spraying construction surface 6) of the narrow portion 5a in the runner flow path 5 of the runner 1 with a spraying gun 30 attached to a robot 20 under the control of a robot controller 40. The flowing water surface is a surface that defines the runner flow path 5 and is composed of the surface of the crown 2, the surface of the band 3, and the surface of the runner blade 4. Hereinafter, the runner spraying system 10 will be described.

[0015] As shown in FIG. 1, the runner spraying system 10 according to the present embodiment may include a robot 20, a spraying gun 30, a robot controller 40, and a processing device 50.

[0016] The robot 20 includes a robot base portion 21, a robot arm 22 attached to the robot base portion 21, and a robot hand 23 attached to the tip of the robot arm 22. The robot arm 22 constitutes a link mechanism. The configuration of the robot 20 is arbitrary as long as the spraying gun 30 can be moved to a desired position.

[0017] As shown in FIGS. 1 and 2, the spraying gun 30 includes a cylindrical barrel 31. From the tip of the barrel 31, the spraying material 37 is radiated as a flame axis, and the spraying construction surface 6 of the runner 1 is sprayed. More specifically, the spraying material 37 and a supersonic combustion gas are supplied to the barrel 31, and the spraying material 37 is accelerated by the flow of the combustion gas and burned and melted inside the barrel 31. As a result, a flame axis is radiated from the tip of the barrel 31, and the spraying material 37 adheres to the spraying construction surface 6. The spraying material 37 contains particulate tungsten carbide such as tungsten carbide (WC). The spraying material 37 adhering to the spraying construction surface 6 forms a hard film layer (not shown) that functions as a countermeasure against wear by earth and sand.

[0018] As shown in Figure 1, the thermal spray gun 30 is attached to the robot hand 23 described above. More specifically, the side surface 33 of the body 32 of the thermal spray gun 30 may be attached to the robot hand 23. A material hose 35 for supplying the thermal spray material 37 and a gas hose 36 for supplying combustion gas may be connected to the end surface 34 of the thermal spray gun 30.

[0019] The robot controller 40 is configured to control the robot 20. The robot controller 40 operates the robot 20 based on teaching point information, which will be described later, to move the thermal spray gun 30. As a result, thermal spraying is applied to the thermal spraying surface 6 shown in Figure 2. The robot controller 40 receives and receives teaching point information from the communication unit 56 of the processing unit 50, which will be described later.

[0020] As shown in Figure 3, the processing unit 50 may include a definition processing unit 51, a teaching processing unit 52, an input unit 53, a display unit 54, a storage unit 55, and a communication unit 56. The processing unit 50 may be configured as, for example, a personal computer.

[0021] The definition processing unit 51 may be configured to define teaching point information, which includes a plurality of teaching points for defining the movement path of the thermal spray position 7 of the thermal spray gun 30 relative to the thermal spraying surface 6, in the first electronic virtual space VA shown in Figure 4. The definition processing unit 51 executes application software stored in the storage unit 55, thereby creating and displaying the first electronic virtual space VA on the display unit 54. The application software may be, for example, CAD software.

[0022] By operating the input unit 53, a virtual runner 1V (see Figure 4) may be displayed in the first electronic virtual space VA by loading pre-created shape data. By operating the input unit 53, a virtual thermal spray gun 30V corresponding to the thermal spray gun 30 described above may be created in the first electronic virtual space VA. Furthermore, by operating the input unit 53, the virtual thermal spray gun 30V may be made movable within the runner flow path 5 of the virtual runner 1V. By operating the input unit 53, teaching point information may be defined. The input unit 53 may consist of a keyboard and a mouse.

[0023] The defined teaching point information may be stored in the storage unit 55. The shape data of the virtual runner 1V and the shape data of the virtual thermal spray gun 30V may also be stored in the storage unit 55. However, the teaching point information, the shape data of the virtual runner 1V and the shape data of the virtual thermal spray gun 30V may be stored in an external storage unit (not shown), such as a cloud, via the communication unit 56.

[0024] The teaching point information includes multiple teaching points, thermal spray position information indicating the thermal spray position 7 at each teaching point, and the movement speed of the thermal spray position 7 at each teaching point. The thermal spray position 7 and movement speed are associated with the corresponding teaching point.

[0025] Teaching points are discretely defined points used to define the movement path of the virtual spray gun 30V's spray position 7 relative to the spray surface 6 of the virtual runner 1V. The positions of the teaching points are arbitrary, as long as the virtual spray gun 30V can be moved along the spray surface 6. Figure 4 shows an example where three teaching points P1, P2, and P3 are schematically defined. The more teaching points that are defined, the easier it becomes to move the virtual spray gun 30V faithfully to the shape of the spray surface 6. However, an appropriate number of teaching points may be defined, taking into consideration the workload involved in defining them.

[0026] The thermal spray position information indicates the position where the thermal spray material 37 (flame axis) emitted from the virtual thermal spray gun 30V at the corresponding teaching point reaches the thermal spraying surface 6. For example, as shown in Figure 4, thermal spray position information is defined for each teaching point P1, P2, and P3.

[0027] The thermal spray position 7 indicated by the thermal spray position information described above may be defined such that the thermal spray distance, thermal spray angle, and separation distance shown in Figure 2 are all within the desired allowable range. As shown in Figure 2, the thermal spray distance is the distance between the thermal spray position 7 on the thermal spraying surface 6 and the tip of the barrel 31 of the virtual thermal spray gun 30V, and is denoted by the symbol d1. The thermal spray angle is the angle between the thermal spraying surface at the thermal spray position and the direction of radiation of the thermal spray material 37 emitted from the virtual thermal spray gun 30V, and is denoted by the symbol θ. The separation distance is the shortest distance between the end of the virtual thermal spray gun 30V and the water flow surface of the virtual runner 1V facing the thermal spraying surface 6, and is denoted by the symbol d2. Note that in Figure 2, the material hose 35 and gas hose 36 are omitted for clarity.

[0028] The movement speed is the speed at which the thermal spray position 7 described above moves at the corresponding teaching point. For example, as shown in Figure 4, a movement speed is defined for each teaching point P1, P2, and P3.

[0029] The teaching processing unit 52 may be configured to teach a virtual robot 20V corresponding to the robot 20 in the second electronic virtual space VB shown in Figure 5, using teaching point information. The teaching processing unit 52 executes application software stored in the storage unit 55, thereby creating and displaying the second electronic virtual space VB on the display unit 54. The application software may be, for example, software for offline teaching. The coordinate system of the second electronic virtual space VB may be the same as the coordinate system of the first electronic virtual space VA and the coordinate system of the robot 20, eliminating the need for coordinate transformation processing.

[0030] The virtual runner 1V and virtual thermal spray gun 30V may be displayed in the second electronic virtual space VB by operating the input unit 53. The virtual runner 1V and virtual thermal spray gun 30V may be displayed by reading the shape data of the virtual runner 1V and the shape data of the virtual thermal spray gun 30V stored in the storage unit 55. The virtual robot 20V may be displayed in the second electronic virtual space VB by operating the input unit 53. The virtual robot 20V may be pre-installed in software for offline teaching. The virtual robot 20V may be taught offline by operating the input unit 53 using teaching point information stored in the storage unit 55. The teaching point information may be read from the storage unit 55 or the like.

[0031] The teaching processing unit 52 operates the virtual robot 20V as taught by the teaching point information, based on the operator's actions. In this case, the virtual thermal spray gun 30V attached to the robot hand 23 of the virtual robot 20V moves according to the teaching point information. The movement of the virtual thermal spray gun 30V is displayed on the display unit 54 and may be stored as video data in the storage unit 55 or the like.

[0032] The teaching point information stored in the memory unit 55 may be made available for transmission to the robot controller 40 via the communication unit 56. This allows the teaching point information to be received by the robot controller 40.

[0033] Next, a runner spraying method using the runner spraying system 10 configured as described above will be explained with reference to Figure 6. The runner spraying method according to this embodiment is a method for applying thermal spraying to the spraying surface 6 of the narrow portion 5a in the runner flow path 5 of the runner 1 using a thermal spraying gun 30 attached to a robot 20 under the control of a robot controller 40.

[0034] Figure 6 shows an example of a flowchart illustrating the runner spraying method according to this embodiment. The runner spraying method according to this embodiment includes a definition step S1, an offline teaching step S2, a teaching step S3, and a spraying step S4.

[0035] First, as definition step S1, the teaching point information described above is defined. The teaching point information is defined in the first electronic virtual space VA (see Figure 4). The first electronic virtual space VA is displayed on the display unit 54 by the definition processing unit 51 of the processing unit 50 described above, for example, by executing CAD software. The virtual runner 1V is defined and displayed in the first electronic virtual space VA by reading pre-created shape data through the operation of the input unit 53. The virtual thermal spray gun 30V is defined and displayed in the first electronic virtual space VA through the operation of the input unit 53.

[0036] The operator moves the virtual spray gun 30V to an arbitrary position within the runner channel 5 of the virtual runner 1V displayed in the first electronic virtual space VA, and defines teaching point information. For example, as shown in Figure 4, for each teaching point P1, P2, and P3, the teaching point information defines the spray position information indicating the spray position 7 and the movement speed of the spray position 7. Also, as shown in Figure 4, at least a part of the virtual spray gun 30V is inserted into the runner channel 5, and the teaching point information is defined even in the narrow section 5a. Since the teaching point information is defined in the first electronic virtual space VA, it can be easily defined even in the narrow section 5a by inserting at least a part of the virtual spray gun 30V into the runner channel 5. In Figure 4, etc., an example is shown in which the entire virtual spray gun 30V (or spray gun 30) is inserted into the runner channel 5, but if it is possible to spray the narrow section 5a, only a part of the virtual spray gun 30V may be inserted into the runner channel 5. The same applies to the thermal spraying step S4, which will be described later.

[0037] The thermal spray position information and travel speed may be set to satisfy the quality of the hard coating layer (not shown) formed by thermal spraying. Indicators of the quality of the hard coating layer include the hardness and thickness of the hard coating layer.

[0038] For example, the travel speed is defined for each teaching point so that it falls within a desired tolerance range. The spray position information may be defined according to this travel speed. In this case, the spray position information may be defined so that the spray distance, spray angle, and separation distance shown in Figure 2 are each within a desired tolerance range. The operator may position the virtual spray gun 30V in the runner flow path 5 of the virtual runner 1V displayed in the first electronic virtual space VA, and define the spray position information so that the spray distance, spray angle, and separation distance are each within a desired tolerance range.

[0039] After the definition step S1, the offline teaching step S2 is performed. In the offline teaching step S2, the virtual robot 20V is taught in the second electronic virtual space VB (see Figure 5) using teaching point information. The second electronic virtual space VB is displayed on the display unit 54 by the teaching processing unit 52 of the processing unit 50 described above, for example, by executing software for offline teaching. By operating the input unit 53, the shape data of the virtual runner 1V and the shape data of the virtual thermal spray gun 30V defined in the definition step S1 are read, and the virtual runner 1V and the virtual thermal spray gun 30V are displayed in the second electronic virtual space VB. If there is a discrepancy between the coordinate system of the first electronic virtual space VA and the coordinate system of the second electronic virtual space VB, this shape data and teaching point information may be calibrated within the processing unit 50.

[0040] Furthermore, by operating the input unit 53, the teaching point information defined in definition step S1 is read, and the virtual robot 20V is operated based on the teaching point information. This verifies whether the spraying distance, spraying angle, movement speed, and separation distance are maintained within the desired allowable range. In this case, it is possible to verify whether the spraying distance, spraying angle, movement speed, and separation distance between teaching points are maintained within the desired allowable range. The operator may also verify the operation by observing the movement of the virtual spray gun 30V displayed on the display unit 54. If the spraying distance, spraying angle, movement speed, and separation distance are maintained within the desired allowable range, it can be considered that there is no problem with the movement of the virtual spray gun 30V. Since the movement path of the spraying position 7 described above also includes the narrow section 5a of the runner flow path 5, at least a part of the virtual spray gun 30V is also inserted into the runner flow path 5, and the operation during spraying in the narrow section 5a is verified.

[0041] If it is confirmed that at least one of the spray distance, spray angle, travel speed, and separation distance is not maintained within the desired tolerance range, the teaching point information may be modified. For example, at least one of the spray position information and travel speed corresponding to an already defined teaching point may be modified. Alternatively, for example, a teaching point may be added to define the spray position information and travel speed in the first electronic virtual space VA, thereby adding the teaching point and related information. Adding teaching point information may be done in the same manner as in the definition step S1 described above. The modified teaching point information is stored in the storage unit 55. Based on the modified teaching point information, the virtual spray gun 30V may be moved and the operation may be checked again. In addition, in the offline teaching step S2, the travel speed of the teaching point information may be adjusted so that the change in the travel speed of the virtual spray gun 30V when passing through the teaching point is maintained within the desired tolerance range.

[0042] After the offline teaching step S2, teaching step S3 is performed. In teaching step S3, teaching point information is acquired by the robot controller 40 to teach the robot 20. In other words, the robot 20 in real space is taught using the teaching point information. The teaching point information is transmitted from the processing unit 50 to the robot controller 40 and acquired. If there is a discrepancy between the coordinate system of the second electronic virtual space VB and the coordinate system of the robot 20 in real space, the teaching point information may be calibrated within the robot controller 40. In teaching step S3, before performing thermal spraying on the thermal spraying surface 6 with the thermal spray gun 30, the robot controller 40 may operate the robot 20 in real space based on the teaching point information to verify its operation.

[0043] After the teaching step S3, the thermal spraying step S4 is performed. In the thermal spraying step S4, the robot controller 40 operates the robot 20 based on the teaching point information, and the thermal spray gun 30 applies thermal spray to the thermal spraying surface 6. In this case, the flame axis is emitted from the barrel 31 of the thermal spray gun 30 to the thermal spraying position 7, and the molten thermal spray material 37 adheres to the thermal spraying position 7 on the thermal spraying surface 6. As a result, the hard coating layer described above is formed on the thermal spraying surface 6. Since the movement path of the thermal spraying position 7 described above also includes the narrow section 5a of the runner flow path 5, at least a part of the thermal spray gun 30 is also inserted into the runner flow path 5. As a result, thermal spraying is also applied to the thermal spraying surface 6 in the narrow section 5a, and a hard coating layer is formed there as well.

[0044] When the thermal spray coating surface 6 is formed over the entire surface of the water flowing in runner 1, the thermal spraying work on runner 1 is completed.

[0045] As described above, according to this embodiment, teaching point information for moving the thermal spray gun 30 with the robot 20 is defined in the first electronic virtual space VA while inserting at least a part of the virtual thermal spray gun 30V into the runner flow path 5. This makes it easy to define teaching points for the robot 20 even in the runner flow path 5 of the runner 1, which has a complex three-dimensional shape and a narrow confined section 5a. As a result, the thermal spray gun 30 can be appropriately positioned on the thermal spraying surface 6 of the confined section 5a in the runner flow path 5 of the runner 1, and the thermal spray gun 30 can be moved along the thermal spraying surface 6. As a result, thermal spraying can be easily performed on the runner 1 including the confined section 5a.

[0046] Furthermore, according to this embodiment, prior to the teaching step S3 for the robot 20, an offline teaching step S2 is performed in which a virtual robot 20V corresponding to the robot 20 is taught in the second electronic virtual space VB using teaching point information. This allows the virtual robot 20V to be taught offline. Therefore, by operating the virtual robot 20V based on the teaching point information, the movement of the thermal spray gun 30 can be confirmed. As a result, the work efficiency of thermal spraying can be improved and the quality of thermal spraying can be ensured.

[0047] Furthermore, according to this embodiment, in the offline teaching step S2, the virtual robot 20V is operated to confirm whether the spraying distance, spraying angle, movement speed, and separation distance are maintained within the acceptable range. This makes it possible to confirm whether the spraying distance, spraying angle, movement speed, and separation distance between teaching points are maintained within the desired acceptable range. As a result, the spray gun 30 can be moved under the desired conditions, and the spraying quality can be improved.

[0048] In the above-described embodiment, an example was described in which the processing unit 50 includes a definition processing unit 51 that defines teaching point information and a teaching processing unit 52 that teaches the virtual robot 20V. However, this embodiment is not limited to this. For example, the device including the definition processing unit 51 and the device including the teaching processing unit 52 may be configured as separate devices.

[0049] Furthermore, an example of the runner spraying method according to this embodiment, which includes an offline teaching step S2, has been described. However, this embodiment is not limited to this. For example, the runner spraying method does not have to include an offline teaching step S2. In this case, in the teaching step S3 to the robot 20, the robot 20 may be operated to confirm whether the spraying distance, spraying angle, travel speed, and separation distance between the teaching points are maintained within a desired acceptable range.

[0050] Furthermore, the runner spraying method according to this embodiment described above may further include a measurement step S5 and a confirmation step S6, as shown in Figure 9.

[0051] The measurement step S5 may be performed after the teaching step S3 described above and before the thermal spraying step S4. In the measurement step S5, when the robot 20 is operated based on the teaching point information to move the thermal spray gun 30 in the absence of the runner 1 in real space, the movement speed of the target 60 shown in Figure 10 is measured by the 3D measuring instrument 61. The target 60 is placed at a position corresponding to the thermal spraying position 7 and is movable in accordance with the movement of the thermal spray gun 30.

[0052] After the measurement step S5, a verification step S6 is performed. In the verification step S6, it is confirmed whether the movement speed of the target 60 measured in the measurement step S5 is maintained within the desired tolerance range. Since the target 60 is installed at a position corresponding to the thermal spray position 7 and moves with the movement of the thermal spray gun 30, the movement speed of the target 60 corresponds to the movement speed of the thermal spray position 7. Therefore, the movement speed of the thermal spray position 7 can be confirmed, and the thermal spray quality can be improved. The configuration of the target 60 is arbitrary as long as it can be detected by the three-dimensional measuring instrument 61.

[0053] If the movement speed of target 60 is not maintained within an acceptable range, the teaching point information may be modified as described above. If the movement speed of target 60 is maintained within an acceptable range, proceed to step S4 as described above.

[0054] Furthermore, the runner spraying method according to this embodiment described above may further include an imaging step S7 and a confirmation step S8, as shown in Figure 11.

[0055] The imaging step S7 may be performed after the teaching step S3 and before the thermal spraying step S4. In the imaging step S7, when the robot 20 is operated based on the teaching point information to move the thermal spray gun 30 in the absence of the runner 1 in real space, the movement of the target 60 shown in Figure 10 is captured by the video camera 62 and a video is created.

[0056] After the imaging step S7, a verification step S8 is performed. In the verification step S8, it is confirmed whether the movement speed of the target 60 is within an acceptable range based on the video captured in the imaging step S7. Since the target 60 is installed at a position corresponding to the thermal spray position 7 and moves along with the movement of the thermal spray gun 30, the movement speed of the target 60 corresponds to the movement speed of the thermal spray position 7. Therefore, the movement speed of the thermal spray position 7 can be confirmed, and the thermal spray quality can be improved. The configuration of the target 60 is arbitrary as long as it can be detected by the video camera 62.

[0057] If the movement speed of target 60 is not maintained within an acceptable range, the teaching point information may be modified as described above. If the movement speed of target 60 is maintained within an acceptable range, proceed to step S4 as described above.

[0058] According to the embodiments described above, thermal spraying can be easily applied to the runner 1, including the narrow portion 5a.

[0059] In the embodiment described above, a Francis turbine 1 was used as an example of a hydraulic machine, but the invention is not limited to this. The hydraulic machine according to this embodiment may also be applied to turbines other than Francis turbines, or to pumps.

[0060] While embodiments and some variations of the present invention have been described, these embodiments and variations are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments and variations can be implemented in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. Naturally, these embodiments and variations can also be combined in part as appropriate within the scope of the spirit of the invention. [Explanation of symbols]

[0061] 1: Runner, 1V: Virtual Runner, 6: Thermal Spray Application Surface, 7: Thermal Spray Position, 20: Robot, 20V: Virtual Robot, 30: Thermal Spray Gun, 30V: Virtual Thermal Spray Gun, 37: Thermal Spray Material, 40: Robot Controller, 60: Target, 61: 3D Measuring Instrument, 62: Video Imager, VA: First Electronic Virtual Space, VB: Second Electronic Virtual Space

Claims

1. A runner spraying method in which thermal spraying is applied to the sprayed surface of a narrow section in the runner flow path of a hydraulic machine runner using a thermal spray gun attached to a robot that operates under the control of a robot controller, A definition step in which teaching point information is defined, which includes a plurality of teaching points for defining the movement path of the thermal spray position of the thermal spray gun with respect to the thermal spray surface, in a state in which at least a portion of a virtual thermal spray gun corresponding to the thermal spray gun is inserted into the runner flow path in a first electronic virtual space, A teaching step in which the teaching point information is taken into the robot controller and the robot is taught, The system includes a thermal spraying step in which the robot controller operates the robot based on the teaching point information, thereby inserting at least a portion of the thermal spray gun into the runner channel, and the thermal spray gun performs thermal spraying at the thermal spraying position, The teaching point information includes thermal spray position information indicating the thermal spray position at each of the teaching points, and the movement speed of the thermal spray position at each of the teaching points. Hydraulic machine runner thermal spraying method.

2. Prior to the aforementioned teaching step, the method further includes an offline teaching step in which a virtual robot corresponding to the robot is taught in a second electronic virtual space using the teaching point information. The hydraulic machine runner thermal spraying method according to claim 1.

3. In the offline teaching step, the virtual robot is operated based on the teaching point information to confirm whether the following are maintained within an acceptable range: the spraying distance, which is the distance between the spraying position and the virtual spray gun corresponding to the spray gun; the spraying angle, which is the direction of radiation of the sprayed material from the spraying surface and the spraying material from the virtual spray gun; the movement speed; and the separation distance between the virtual spray gun and the virtual hydraulic machine runner corresponding to the hydraulic machine runner. The hydraulic machine runner thermal spraying method according to claim 2.

4. A measurement step is performed after the teaching step and before the thermal spraying step, when the robot is operated based on the teaching point information to move the thermal spray gun while the hydraulic machine runner is absent, and the moving speed of the target installed at the position corresponding to the thermal spraying position is measured using a three-dimensional measuring instrument. A confirmation step to confirm whether the movement speed of the target measured in the measurement step is within an acceptable range, It also has the following features: A method for spraying a hydraulic machine runner according to any one of claims 1 to 3.

5. After the teaching step and before the thermal spraying step, with the hydraulic runner absent, the robot is operated based on the teaching point information to move the thermal spray gun, and the movement of the target placed at the position corresponding to the thermal spraying position is captured using a video camera. A confirmation step is to confirm whether the movement speed of the target is within an acceptable range based on the video captured in the aforementioned imaging step. It also has the following features: A method for spraying a hydraulic machine runner according to any one of claims 1 to 3.

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