无轨道式水轮机叶片坑内修复机器人

介绍了一种多功能的水轮机叶片坑内修复机器人方案和研究进展。机器人本体由可全位置行走的无导轨磁吸附移动平台和多自由度作业机械臂组成，移动平台吸附于待修复的叶片表面，机械臂安装在移动平台上，机械臂可携带检测及各类可更换的作业工具，机器人可以直接在机坑内对叶片受损情况进行自主检测和修复作业（如气刨清理、焊接、打磨等），操作人员也可通过远端监控系统时机器人的运行状况进行监控，在出现紧急情况时可以直接对机器人进行手动控制。对水轮机叶片坑内修复机器人系统涉及的关键技术进行了研究，仿真及试验结果表明本文提出的水轮机叶片坑内修复机器人方案是可行的，且利用本文研究的关键技术及究成果，可组成水轮机叶片坑内修复机器人系统，为最终实现水轮机叶片坑内修复的自动化提供了技术条件和基础。

Rail-free Robot for on-site Repair of Hydraulic Turbine Blade

This paper presents the scheme of a versatile robot for on-site repair of hydraulic turbine blade.The robot is composed of a rail-free mobile platform with magnetic absorption devices and a multiple degree-of-freedom manipulator.The mobile platform adheres to the blade's surface to be repaired,and the manipulator equipped with some kinds of changeable operation tools is mounted on the platform.The robot can carry out repairing tasks(such as measuring,air-gouging cleaning,welding,grinding) automatically without dismantling the equipments to be repaired.Furthermore,the operator can supervise the status of the robot and manipulate the robot manually on emergency through a remote monitoring system.The key techniques are studied for the robot to repair the hydraulic turbine blade on site,and the results of experiments and simulation prove the success of the scheme.An automatic hydraulic turbine blade in-situ robot repair system is then constructed utilizing the above key technologies,which will bring convenience and benefit for further investigations in the aspect of automation of turbine blade on-site repair.