On-site robot in-situ measurement and milling repair integrated process and system

Abstract

The invention discloses an on-site robot in-situ measurement and milling repair integrated system. The system comprises a mechanical motion system, an electrical control system, a robot milling machining system, a three-dimensional vision measurement and machining track generation system, and a machining process online monitoring and self-adaptive regulation and control system. By means of modulardesign and lightweight design, equipment move-in is achieved, and the space of a to-be-machined area of a large curved surface closed structure can be reached by virtue of an annular guide rail, a moving trolley, a lifting platform and a robot. Automatic measurement and trajectory planning of the robot are achieved through the three-dimensional vision measurement and machining trajectory generation system. The machining process real-time three-dimensional visual motion simulation, and real-time monitoring and self-adaptive regulation of signals such as force / vibration / spindle current are achieved through the machining process online monitoring and self-adaptive regulation and control system, and the automatic and intelligent machining of the large curved surface closed structure by the robot is achieved.

Description

Technical field [0001] The invention belongs to the field of robot processing, and more specifically, relates to an integrated process method and system of on-site robot measurement-milling repair. Background technique [0002] After a period of service, the blades and runner chambers of large power generation turbines such as the Three Gorges will have corrosion spots and pits on the surface. The existing repair method is generally to use manual welding or laser cladding to fill the defects at the turbine work site, and then pass Manual polishing is used to remove the remaining height of the solder joints to complete the repair. This method has high manual labor intensity, low efficiency, poor quality consistency, and has a certain hazard to the health of operators. Therefore, hydraulic turbine maintenance companies have put forward an urgent need for robots to repair in place. However, to realize the on-site robotic processing and measurement of hydraulic turbines, great chall...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the defect that large-scale mechanical structures cannot be repaired and processed on site in the prior art, the present invention proposes an integrated process method and system for on-site robot on-site measurement-milling and repairing

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