摘要
针对传统人工加工、专用支架等座环检修方法效率低、危险程度高、成本高等问题,提出一种水轮发电机座环端面在位移动式加工机器人。该机器人集成了“测-铣”一体复用检测加工、在位移动式磁吸快速铣削加工以及“宏-微”全局统一位置引导定位等关键技术,融合移动平台、三轴铣削平台与自稳调平平台,并在实验室环境开展实际应用,验证了该方案的可行性与实际应用价值。实验结果表明:该机器人能够将座环平面度误差从0.4083 mm降低至0.1342 mm,满足安装标准(不大于0.3 mm);相较传统人工检修方式,加工效率提升约35%,且无需大型固定工装,显著降低检修难度,验证了该方案的工程可行性。该在位移动式加工机器人可进一步推广至顶盖法兰、大型平面构件等检修场景,为水轮发电机超大部件现场加工与维护提供了一种通用化解决方案。
To address the inefficiency,high risk and high cost of traditional manual repair methods and dedicated fixtures for stay ring maintenance,an in-situ mobile machining robot for stay ring face in hydroelectric generators was proposed.This robot integrated key technologies such as integrated"measure-mill"reuse for inspection and machining,in-situ magnetic-adsorption rapid milling,and"macro-micro"unified global positioning guidance.It combined a mobile platform,a three-axis milling platform and a self-stabilizing leveling platform.Practical application was carried out in laboratory environments,verifying the feasibility and practical application value of the proposed scheme.Experimental results show that the robot can reduce the flatness error of the stay ring from 0.4083 mm to 0.1342 mm,meeting the installation standard(no greater than 0.3 mm).Compared with traditional manual maintenance methods,the machining efficiency is improved by approximately 35%,and no large fixed fixtures are required,significantly reducing maintenance difficulty and verifying the engineering feasibility of the solution.This in-situ mobile machining robot can be further extended to maintenance scenarios such as head cover flanges and large-scale planar components,providing a generalized solution for the on-site machining and maintenance of oversized parts in hydroelectric generators.
作者
平少栋
成传诗
黄奎
陆磊丰
赵洪深
吴晅
PING Shaodong;CHENG Chuanshi;HUANG Kui;LU Leifeng;ZHAO Hongshen;WU Xuan(Robotics Laboratory,China Nanhu Academy of Electronics Information Technology,Jiaxing Zhejiang 314000,China;China Yangtze Power Co.,Ltd.,Yichang Hubei 443001,China)
出处
《机床与液压》
北大核心
2026年第5期79-84,共6页
Machine Tool & Hydraulics
基金
中国长江电力股份有限公司科研项目(2323020037)
国家自然科学基金联合基金项目(U22B2040)。
关键词
水轮发电机
座环端面
移动式加工机器人
在位加工
平面度
hydroelectric generator
stay ring face
mobile machining robot
in-situ machining
flatness
