Research On Key Technology Of Soft Robot For The Blade Crack Of Steam Turbine

With the development of society and the progress of science,human society’s demand for electrical energy continues to increase and the global energy is shifting to a new energy structure with electricity as the core.Among them,the steam turbine unit as the core power generation equipment plays a very critical role,so the overhaul and maintenance of the core components in the steam turbine unit has high economic benefits and social significance.Because traditional steam turbine blade inspection and repair methods often require open-cylinder inspection and repair of steam turbine equipment,which will cause high time costs and economic losses,it is necessary to develop a software robot that can perform detection activities in the environment of steam turbine blades.It has high economic benefits and social significance.Aiming at the configuration characteristics in the environment of steam turbine blades,this paper studies a series of key technologies for the steam turbine inspection software robot based on the existing robot body structure.The subject focuses on the research of the robot’s fixing method in the blade and the airbag preparation process,the segmented constant curvature modeling of the robot,the motion planning and passability of the robot in the blade space,and the establishment of a robot control system.Firstly,by studying the environmental characteristics of steam turbine blades,the robot fixing form is determined,and an airbag structure with a large stretch ratio is designed based on the concept of origami mechanism.The viscosity increasing method based on silicone adhesion is determined,and the appropriate airbag material is determined by Abaqus simulation software.The type and thickness of the airbag are optimized for the airbag structure design.And the preparation process of the airbag is researched,and the actual airbag that meets the engineering needs is produced.Then study the characteristics of the internal environment of the steam turbine,build a simulation model of the steam turbine blade,and determine the robot’s motion mode and the best foothold area based on the curvature,spacing and parallelism of the blades.And combined with the characteristics of the robot to carry out gait planning to establish the basis for the next robot movement.The segmented constant curvature model is used to model the robot and simulate the passage of the robot through the key points in the blade environment to determine a movement strategy.Finally,a robot control system for crack detection of steam turbine blades is built,the overall design scheme of the robot control system is introduced,and the composition of the hardware system and software system is introduced.The detailed design builds the robot’s main control chip system,motor drive system,pneumatic fixing system and power supply system,and uses the Lab VIEW platform to design the camera video extraction module,the handle command trigger module,the communication command module and the motion control interface module.Develop the software of the lower computer through the Arduino platform.Finally,experiments are carried out for the steam turbine inspection robot to verify the robot’s passing performance in the environment of conventional terrain and blades.