The Design And Manufacturing Of The Repair Robot’s Mechanical Arm For Hydraulic Turbine Blade

There are about300hydropower stations of large and medium-sized in china.The cavitations phenomenon of the turbine blade seriously affected the powergeneration efficiency in the process of running; blade repair techniques are widelyused. Some universities and research institutions carry out a lot of research work toblade repair robot. Higher cost of the repair robot’s manipulator, structure is complex,the stiffness and strength of the structure can not fully meet the need for repair of thepit. In order to complete the blade repair work in the machine pit to ensure rigidityand operational flexibility of the robot arm structure, the task of this paper is to designa multi-joint robotic arm, installed in the existing mobile platforms, completed in themachine pit on the blade cavitations parts of the grinding work.This article in accordance with the principle of mechanical design, robot designprinciples of the structural design of the turbine blade repair robot manipulator, eachjoint transmission mode, the model of the DC motor, reducer, joint force and othercalculations and choose. The design of the robotic arm has four active joints andpassive joints, active joint application rotation and move in two forms of passive jointspring mechanism, and the use of CATIA3D modeling and motion simulationsoftware on the robot arm, important transmission parts of the strength check. Theprototype test prove that, the robot arm meet the design and use requirements.