具有自主定位功能的水轮机叶片坑内修焊机器人  

On-site turbine blade repairing robot with self-positioning function

作　　者：马献德[1] 陈强[1] 孙振国[1] 张文增[1] 

机构地区：[1]清华大学先进成形制造教育部重点实验室,北京100084

出　　处：《焊接学报》2012年第8期21-24,114,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50875147);国家863高技术研究计划资助项目(2007AA04Z258);2009年中国焊接学会预研奖学金A类创新课题资助项目(09-09-002)

摘　　要：以实现大型水电站机坑内的相对封闭环境下、具有复杂曲面形貌的水轮机叶片自主修焊作业为目标,研制了具有自主定位功能的移动式修焊机器人.该机器人由间隙吸附式移动平台、多自由度作业臂和多功能作业单元组成,既能可靠吸附又能灵活运动于叶片表面,完成全位置焊接、气刨、磨削作业.构建了自主定位硬件平台,采用倾角传感单元修正惯导法获取机器人姿态信息,采用叶片表面几何特征修正平面航迹法获取机器人位置信息.结果表明,姿态定位误差约为0.5°,位置定位误差约为35 mm,满足叶片修焊作业对机器人系统定位精度的要求.A type of mobile robot with self-positioning function was developed to accomplish the task of repairing large turbine blades with complex curved surface in closed on-site environment.The robot system consisted of a gapped-adhesive mobile platform,a multi-degree-of-freedom manipulator and a multi-functional operation unit.It can reliably adhere to the blade while flexibly moving on the blade surface,and complete all-position welding,air gouging and grinding tasks.The hardware platform of the self-positioning system was built using the inclinometer to adjust the pose information acquired by the inertial navigating method,and using the geometric feature of the blade surface to adjust the position information acquired by the odometry method.The experiments on the simulating blade showed that the pose error was less than 0.5° and the position error was around 35 mm,which can satisfy the self-positioning precision requirement of the blade-repairing tasks.

关 键 词：水轮机叶片 修焊 移动机器人 自主定位 几何修正 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]