气轮机叶片未知曲面的机器人自动搜寻技术

Robot Automatic Search Technology for Complicated Unknown Curve Surface of Steam Turbine Vane

气轮机叶片淬火时未知曲面的机器人自动搜寻,结合激光非接触检测实现。系统由主控计算机、机器人、等离子淬火焊机、2套叶片定位夹紧装置和激光位移传感器等组成。通过机器人法兰盘中心点与传感器检测点的坐标变换,经寻找叶片淬火区域边点→寻找叶冠淬火区域边点→计算边点坐标→搜寻背部型线→搜寻叶片轨迹型线→计算叶片坐标点等步骤,由主控制器按搜寻空间数据点阵规划机器人作业轨迹。从而实现对未知曲面的自动搜寻。

Combined with the non-touch laser detecting method, the Robot auto-searching which used for steam turbine vane quenching was realized. The system consists of main controller, robot, plasma quenching welder, two fixing-clamping devices for vane, laser shift sensor and so on. Through the coordinates conversion of robot＇s pad center between sensor＇s check point, performing these steps include searching edge point of vane and leaf quenching region, computing back type curve, searching vane track type curve, computing vane coordinate and so on; the main controller realized planning of robot trajectory based on spatial data lattice of searching result. So, the auto-searching for unknown curve surface was realized.