【摘要】 本文针对某大型电站水轮发电机组的水轮机转轮遭空蚀和磨损破坏的修复问题 ,介绍了混流式水轮机叶片现场修形用机器人的行走轨道及其手臂的最佳运行轨迹 ,并给出了叶片曲面的拟合方程和最佳运行轨迹的曲线方程。该机器人在修复混流式水轮机叶片时可不受修复现场空间及条件的限制 ,不必拆卸转轮 ,操作完全在机坑中实施 ,且将改变原来手工焊的方式和工作条件 ,减轻劳动强度 ,大大缩短修复工期 ,提高修形效率和精确性。更多还原

【Abstract】 In this paper the walking track of the robot as well as the optimal moving orbit of it’s arms for the repair of a Francis turbine blade on\|the\|spot is introduced,and the equations of curve\|surface\|fitting of the blade and the curvilinear equations of optimal orbit is also presented,which is based on the turbine runner repair of the cavitation and wear erosion of one hydraulic generation unit of a power station.According to this paper it is showed that there is no restrictions on the space and condition of the spot and no needs to disassemble the runner when the Francis turbine runner is repaired on\|the\|spot with this robot.The fashion and working condition of the manual welding shall be changed.The labor intensity shall be reduced.The time limit for the repair shall be shortened notably.The efficiency and accuracy of the repair shall be improved.更多还原