球阀的机器人翻新

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI:10.1109/CARPI.2012.6473369

B. Hazel, Jean-Luc Bedwani, Y. Laroche, E. Lavalle, P. Mongenot, T. Bedard-T, L. Lavoie, J. Gagne

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引用次数: 1

摘要

介绍了机器人在大型水电球阀密封面现场修复中的应用。修复包括激光扫描、加工、焊接和抛光，使用便携式履带式Scompi机器人。为了进行加工，机器人使用一个刀具导向机构，该机构精确定位加工刀具，并在大的扰动力下将其固定在工作面上。刀具的刚度得到了显著提高。该方法于2012年5月在力拓加铝的Chute-des-Passes发电站成功进行了现场测试。

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Robotic refurbishment of a spherical valve

This paper presents a robotic application for in situ repair of the seal surfaces of a large hydropower spherical valve. The repair involves laser scanning, machining, welding and polishing using the portable track-based Scompi robot. To perform the machining, the robot uses a tool guide mechanism that locates accurately the machining tool and holds it against the work surface despite large disturbance forces. The stiffness with which the tool is held is improved significantly. The method was successfully tested in the field at Rio Tinto Alcan's Chute-des-Passes generating station in May 2012.

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2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)

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