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ROBOTIC MACHINING APPARATUS, USE OF VISION TEMPLATE

IP.com Disclosure Number: IPCOM000235899D
Publication Date: 2014-Mar-28
Document File: 3 page(s) / 71K

Publishing Venue

The IP.com Prior Art Database

Abstract

The present invention proposes a technique for consistent image for a vision system on a robot. The technique includes template placed over a peened tenon for consistent image for the vision system on the robot. The template fits to swelled tenon on a bucket vane tip which is milled. Further, the template includes a feature for positive location placement. The template fits over the swelled area of the tenon and rest positively on at least two sides of the tenon. After the location of the first tenon is captured, the template is moved to subsequent tenon on the bucket group to determine remaining tenon locations.

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ROBOTIC MACHINING APPARATUS, USE OF VISION TEMPLATE

BACKGROUND

The present invention relates generally to a steam turbine and more particularly to a template applied over an existing tenon as a vision system in the steam turbine.

In a steam turbine, vision system is utilized to observe outline of a vane tip. Non-uniform wear to the vanes from bucket to bucket does not allow vision system to provide exact image from bucket to bucket. As a result, there is discrepancy in tenon location. In a conventional technique, outline of the vane tip is utilized to locate the tenon. However, the technique does not provide consistent image reference.

Another conventional technique includes a camera to locate features or target on a bucket part for purpose of positioning a nut runner over fastener on the part.

One other conventional technique includes a robotic tenon milling for estimating tenon location. 

However, the above mentioned conventional techniques include camera for viewing outline of the vane tip.

Yet another conventional technique includes target on work piece to orient a robot to bucket part to perform welding operations on the parts.

Another conventional technique includes a camera to calculate weld path based on location of the tip of the bucket.

However the above two conventional techniques do not determine coordinates of an object for purpose of overlaying a machining path onto the bucket part.


It would be desirable to have an efficient technique for accurately obtain repeatable vision image and subsequent the tenon position on the vane tip.

BRIEF DESCRIPTION OF THE DRAWING

Figure 1 depicts template placed over a peened tenon for robot machining.

DETAILED DESCRIPTION

The present invention proposes a technique for acquiring consistent image for a vision system on a robot. The technique includes a template placed over a peened tenon for acquiring consistent image for the vision system on the robot. The template fits to a swelled tenon on a bucket vane tip which is milled. Further, the template includes a feature for positive location placement. Vane outline from bucket to bucket is not consistent enough to accurately locate the tenon. Figure 1 depicts template placed over a peened tenon for robot machining.

Figure 1

When used bucket tenons are to be reconditioned for continued use with new covers, the existing swelled area of the tenon is required to be machined to original drawing size. The template fits over the swelled area of the tenon and rest positively on at least two...