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

A robot, milling and grinding technology, applied in the direction of measuring/indicating equipment, manipulators, manufacturing tools, etc., can solve the problems of inability to repair and process large-scale mechanical structures, and achieve the effect of good processing consistency and high processing accuracy

Active Publication Date: 2022-04-01
武汉数字化设计与制造创新中心有限公司
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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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  • On-site robot in-situ measurement-milling and repairing integrated process method and system

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Embodiment Construction

[0068] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0069] The on-site robot on-site measurement-milling and repairing integrated process method and system of the embodiment of the present invention includes a mechanical motion system, an electrical control system, a three-dimensional visual measurement and processing trajectory generation system, a robot milling and grinding processing system, online monitoring and automatic monitoring of the processing process. Adapt to the control system, etc.

[0070] Such as figure 1 As shown, the present invention takes the on-site robot in-situ measurement-milling and repairing integrated system of a turbine...

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Abstract

The invention discloses an on-site robot on-site measurement-milling and repairing integrated system, which includes a mechanical motion system, an electrical control system, a robot milling and grinding processing system, a three-dimensional visual measurement and processing trajectory generation system, and online monitoring and self-adaptation of the processing process. control system. The present invention solves the problem of equipment entering the field through modular design and lightweight design, and realizes the space accessibility of the area to be processed with a large curved surface closed structure through the way of circular guide rail + moving trolley + lifting platform + robot. Through the 3D visual measurement and processing trajectory generation system, the automatic measurement and trajectory planning of the robot are realized, and the real-time 3D visualization motion simulation, force / vibration / spindle current and other signals real-time monitoring and self-adaptation of the processing process are realized through the online monitoring and adaptive control system of the processing process. Control to realize the automatic and intelligent processing of large curved surface closed structure robots.

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 and repairing. Background technique [0002] After a period of service in the Three Gorges and other large-scale power generation turbine blades and runner chambers, defects such as corrosion spots and pits will appear on the surface. The existing repair methods generally use manual welding or laser cladding to fill the defects at the turbine work site, and then pass Manual grinding is used to remove the excess height of solder joints to complete the repair. This method is labor-intensive, low in efficiency, poor in quality consistency, and has certain hazards to the health of operators. Therefore, hydraulic turbine maintenance companies have put forward the urgent need for robots to repair in situ. However, in order to realize on-site robotic processing and measurement of hydraulic turbi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23P23/04B23Q17/09B23Q17/20B25J9/16B25J11/00
CPCB23P23/04B23Q17/09B23Q17/20B25J9/16B25J11/00B25J9/1679B25J11/0055B25J11/005B25J11/0065
Inventor 彭芳瑜周林杨岑岑唐小卫邓犇
Owner 武汉数字化设计与制造创新中心有限公司
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