Five freedoms turbine blade series-parallel repair robot

Abstract

The present invention provides a 5-degree of freedom hydraulic turbine blade series-parallel connection repair robot, which comprises a horizontal moving bracket and a trolley which is arranged on the horizontal moving bracket and consists of a road wheel, an electromagnetic plate and a road wheel moment motor. The horizontal moving bracket is provided with a horizontal moving mechanism; the horizontal moving mechanism is provided with a vertical moving mechanism; a parallel connection fixed platform is arranged on the vertical moving mechanism; one end of a parallel connection rod is articulated on the parallel connection fixed platform and the other end a parallel connection rod is connected with a parallel connection movable platform; an operating tool and a camera are arranged on the parallel connection movable platform. The blade repair robot provided by the present invention is used, which can not only ensure the blade repair quality and shorten the period, but also free workers from heavy and abominable working conditions and bring good economic benefit.

Description

(1) Technical field [0001] The invention relates to a robot, in particular to a repair robot used for repair operations such as welding and grinding of turbine blades in power stations. (2) Background technology [0002] Hydroelectric power generation is widely used. After a certain period of operation, hydro turbines will have different degrees of cavitation and abrasion, which requires regular maintenance. At present, blade repair usually adopts methods such as manual repair welding and manual grinding, which often involve heavy workload, poor working environment, high strength, and low efficiency. The shape of the blade after manual grinding is difficult to match the original design shape, and the quality is poor. At present, most domestic and foreign turbine blade repair robots are in series structure. Although they can meet the requirements of the working degree of freedom, the rigidity of the mechanical system is poor, and the mechanical structure cannot undertake larg...

AI Technical Summary

Problems solved by technology

At present, blade repair usually adopts methods such as manual repair welding and manual grinding, which often involve heavy workload, poor working environment, high strength, and low efficiency. The shape of the blade after manual grinding is difficult to match the original design shape, and the quality is poor.

At present, most of the turbine blade repair robots at home and abroad are in series structure. Although they can meet the requirements of the working degree of freedom, the rigidity of the mechanical system is poor, and the mechanical structure cannot undertake large-feed grinding work, and the efficiency needs to be improved.

On the other hand, most of the existing repair robots need to lay running tracks on the blades, which brings difficulties to the repair work, and some special positions are difficult to reach

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