热力透平2026，Vol.55Issue(1)：34-38,52,6.DOI:10.13707/j.cnki.31-1922/th.2026.01.006
平衡孔柔性打磨的混合感知与协同控制
Hybrid Perception and Collaborative Control for Flexible Grinding of Balance Holes
韩雷 1方龙年 1张懿 1范超1
作者信息
- 1. 上海电气电站设备有限公司汽轮机厂,200240上海
- 折叠
摘要
Abstract
During the grinding of balance holes,there are many difficulties in their positioning and grinding due to complex curved rotor surface,also,variable stiffness of the component leads to problems during flexible processing.In alignment with automation demands,a hybrid"vision+model+force search"localization technology based on 3D vision and Archimedean spiral force search algorithm was proposed.Initial data was acquired via stereo vision matching,and a balance hole model of turbine rotor was established through 3D point cloud localization and coordinate system unification among the robot,vision and component coordinate systems.By integrating the Archimedean spiral force search algorithm with active flexible control,the robot's path was dynamically adjusted,enabling precise grinding and hole insertion operations on the complex curved surface.Experiments conducted on turbine rotor workshop platform validated the method's effectiveness and feasibility on three aspects,namely localization accuracy,grinding efficiency and processing consistency.The results demonstrated that this technology could significantly enhance processing precision and efficiency,exhibiting robust flexible machining capabilities and reliability in practical applications.This research can provide reference for automatic machining in turbine rotor workshop.关键词
视觉定位/阿基米德螺线/主动柔顺控制/平衡孔/打磨Key words
visual positioning/Archimedean spiral/active flexible control/balance hole/polishing分类
能源科技引用本文复制引用
韩雷,方龙年,张懿,范超..平衡孔柔性打磨的混合感知与协同控制[J].热力透平,2026,55(1):34-38,52,6.
