JP2002254187A - Welding device for tip plug - Google Patents

Abstract

PROBLEM TO BE SOLVED: To contrive rapid and correct positioning for a welding locus by a master image and reduction in man-hours in welding a tip plung, in a tip plug welding device for plugging a tip face on the blade outer periphery in a coolant path in forming the coolant path for cooling a turbin blade inside the turbin blade. SOLUTION: The tip plug is photographed by a camera device, on the basis of the photograph data, the inclination against the reference position of the tip plug and a center position are calculated in a control device, by following the result thereof, the prescribed inclination of the welding locus and the center position are displaced and corrected, then the welding head is moved along the welding locus so as to carry out the welding of the tip plug, and make the welding locus rapidly adapt to the outer figure of the tip plug to appropriately carry out the welding of the tip plug.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tip plug for plugging a tip end of a cooling medium passage on the outer peripheral side of a blade when a cooling medium passage for cooling the blade is formed inside a gas turbine blade or the like. Related to a welding device.

[0002]

2. Description of the Related Art Blades of gas turbines, which are exposed to high-temperature working gas, need to be cooled in order to maintain the heat resistance of the material. Therefore, a cooling medium such as air flows inside the blades in the longitudinal direction thereof. A cooling passage is formed.

As described above, the cooling passage extends in the longitudinal direction of the blade, and a plurality of the cooling passages are juxtaposed in the width direction of the blade so that adjacent ones communicate with each other at the blade tip to fold the cooling medium.
One or more serpentine shapes are formed.

[0004] In the process of casting the wing, a hole necessary for the penetration of a member for supporting the core is formed at the wing tip, and a continuous passage is formed by turning the wing tip at the wing tip by plugging it. Will be.

Here, the plug is formed in an oval shape, is fitted in a processing hole formed in the oval shape at the tip side end of the wing, and is preset to have a shape along the fitting line. The welding head is moved by NC control or the like in accordance with the welding locus, and the plug is fixed by welding in an oval shape by laser welding or the like, and the cooling medium passage is sealed.

At this time, in the conventional apparatus, the external shape of the plug fitted into the processing hole is photographed by a camera to obtain image data of a captured image, and the image data of the captured image is used as the welding locus. A pattern matching method for comparing a preset master image has been adopted.

[0007] That is, the arrangement of the machining holes is different for each blade installed in the turbine, and even in the same blade, due to the twist of the blade itself and a change in the cross-sectional shape of the blade, different positions in the blade width direction. There is a slight shift for each one corresponding to the cooling passage formed in the cooling path, and the image data taken by the camera has a different inclination with respect to the reference of each processing hole, so that it is usually the same as the welding locus of the master image. Misalignment occurs individually without matching.

Therefore, in such a conventional apparatus, matching is repeated by changing the inclination of the master image or the captured image in any number of ways, and the image data captured by the camera and each welding locus match as much as possible. They try to find something and perform the welding process.

[0009]

However, as described above, when the master image is rotated by a small number of arbitrary angles in order to select the position that best matches the captured image, the step to be changed is finely divided. If the accuracy increases, the work requires a great deal of labor and man-hours, and it takes a long processing time.

[0010] In addition, the accuracy is limited by the accuracy of the rotation angle which determines the rotation pitch of the step to be changed, and the accuracy is not further improved.

The present invention solves such problems in the conventional apparatus, and can quickly and accurately position a welding trajectory based on a master image when welding a tip plug on the outer peripheral tip surface of a blade, and reduce man-hours. It is an object of the present invention to provide a tip plug welding device that improves work efficiency and further contributes to quality improvement.

[0012]

Means for Solving the Problems The present invention has been made to solve the above-mentioned problems, and as a first means, a tip plug is provided on a tip end surface on the outer peripheral side of a blade of a cooling medium passage formed inside the blade. In a tip plug welding device for welding and plugging a tip side of the cooling medium passage, a camera device for photographing the tip plug moves along a welding locus set in advance corresponding to an outer peripheral shape of the tip plug. A welding device having a welding head for welding the tip plug to the outer peripheral end face of the blade, and calculating a tilt and a center position of the tip plug with respect to a reference position based on photographing data of the camera device; Provided is a tip plug welding device provided with a control device for controlling a welding head so as to correct a welding trajectory based on the inclination and the center position and change the welding locus following the inclination and the center position. It is intended.

That is, according to the first means, the camera device captures an image of the chip plug, and the control device calculates the inclination and the center position of the chip plug with respect to the reference position based on the captured data. Displacement and correction of the inclination and center position of the welding trajectory set in advance by following, and welding of the tip plug by moving the welding head along the welding trajectory, so that the welding head travel path A certain welding trajectory quickly adapts to the outer shape of the tip plug captured by the camera device, and the tip plug is appropriately welded to the tip surface on the outer peripheral side of the blade.

According to a second aspect of the present invention, in the first aspect, the welding locus calculated and changed by the control device based on photographing data of the camera device in the first means is a photographed tip plug. And a tip plug welding apparatus which is determined by recognizing the inclination and the center position of the long side by image processing.

That is, according to the second means, the control device calculates the inclination of the long side of the oval shape with respect to the reference position in the oval type chip plug photographed by the camera device, for example. The position of the tip plug is determined by the center position of the oval shape, and the welding locus is photographed by a camera device by displacing the welding locus set in advance by image processing. The tip plug is quickly adapted to the outer shape of the tip plug, and the tip plug is appropriately welded to the tip surface on the outer peripheral side of the blade.

Further, according to the present invention, as a third means, in the first means, in the control device, the welding trajectory calculated and changed based on photographing data of the camera device is a photographed tip. It is determined by recognizing the inclination of the scribe line drawn as an auxiliary line for recognition at the horizontal center and the vertical center of the plug, and the center position where the vertical and horizontal center scribe lines intersect by image processing An object of the present invention is to provide a tip plug welding device.

That is, according to the third means, the control device calculates the inclination of a scribe line described as an auxiliary line when the oval chip plug itself, which is photographed by the camera device, is manufactured. Determine the tilt of the tip plug, grasp the position of the tip plug from the center position where the vertical and horizontal intersections of the scribe line intersect, and displace the welding locus set in advance according to this by image processing Thereby, the welding locus is quickly adapted to the outer shape of the tip plug photographed by the camera device, and the tip plug is appropriately welded to the tip surface on the blade outer peripheral side.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an explanatory view schematically illustrating the whole appearance of a tip plug welding apparatus according to the present embodiment, FIG. 2 shows a modification of the main part, (a) is a partial front view, and (b) is a partial side view. FIGS. 3A and 3B are explanatory diagrams sequentially showing an example of a procedure for recognizing a chip plug according to the present embodiment in the order of (a) to (c), and FIG. 4 is another example corresponding to FIG. It is explanatory drawing shown in order to d).

That is, in the present embodiment, reference numeral 1 denotes a rotary table, which has a structure that is intermittently rotated by a fixed angle by a drive device (not shown), and has an upper surface having an angular interval corresponding to the intermittent rotation angle. Are provided with a plurality of fixing tools 2, and the wings 3 are fixed to the respective fixing tools 2 with the front end surface 3 a facing the chip side facing upward.

Reference numeral 4 denotes a welding head driving device, which is disposed close to the outer periphery of the rotary table 1 and supports a welding device having a welding head 5 as a main component, which will be described later, and makes it movable three-dimensionally. An X-axis traveling unit 4X, a Y-axis traveling unit 4Y, and a Z-axis traveling unit 4Z are provided.

The welding head 5 supported by the welding head driving device 4 may be, for example, a welding head of a laser welding machine, and is configured such that the tip thereof can be moved to face the tip surface 3a of the wing 3. .

Further, a camera device 6 for putting the tip surface 3a of the wing 3 into view with a slight offset distance on the side of the welding head 5, and a tip surface 3a of the wing 3 on the opposite side. A chip pressing device 7 capable of pressing a chip plug fitted into the cooling hole is disposed.

Reference numeral 8 denotes a welding operation device which includes a laser oscillator when the welding head 5 is a laser welding machine, for example, and supplies a YAG fiber 9 or the like to the welding head 5 as a welding wire.

Reference numeral 10 denotes a control device which is disposed adjacent to the welding head driving device 4 and transmits photographed data photographed by the camera device 6 through a path not shown in the drawing.
Further, information of a welding locus corresponding to the outer peripheral shape of the tip plug is set in advance, image processing such as pattern matching of the welding locus and photographing data is performed, and the result is output to the welding head driving device 4 to output the welding head. 5 is controlled.

In the above description, the welding head 5 and the camera device 6 have been described as being provided with a slight offset distance between them. However, the welding head 5 and the camera device 6 are further provided with a tip pressing device 7. As a modification, for example, as shown in FIG. 2, a structure in which the welding head 5 and the camera device 6 are coaxially arranged without offset and the tip pressing device 7 is arranged on the side thereof can be adopted.

That is, in FIG. 2, for example, the welding laser optical axis of the welding head 5 and the optical axis of the camera device 6 appear to intersect at 90 °, but a mirror not shown is provided in the optical axis system of the camera device 6. The welding head 5 may be incorporated so as to be adjustable and function coaxially with the optical axis of the welding laser, so that the welding head 5 can be operated at the same position between the photographing of the image by the camera device 6 and the welding without offset movement.

In the present embodiment configured as described above, each of the plurality of cooling holes formed in the tip end surface 3a of the blade 3 is fitted with a chip plug, and, if necessary, tack-welded. In this state, the plurality of blades 3 are fixed on the hub side by the fixing tools 2 and are supported on the turntable 1.

Of the plurality of tip plugs disposed on the tip end surface 3a of the wing 3 near the welding head driving device 4, the camera device 6 photographs the tip plug from above a predetermined tip plug, and the information is obtained. Transmitted to the control device 10,
Calculate the tip plug tilt relative to a certain reference.

The control device 10 has a welding locus adapted to the shape of the tip plug, that is, a welding locus set so that welding is performed in accordance with the tip plug fitting wire fitted in the cooling hole of the tip end surface 3a. Is previously recorded, but the inclination of the welding locus with respect to a certain standard is changed and adjusted so as to follow the inclination of the photographed tip plug.

As a result, the welding trajectory adjusted by the control device 10 is photographed by the camera device 6 and conforms to the shape of the actual tip plug. The welding head 5 is moved along the welding trajectory to obtain the desired tip plug. Welding will be performed.

When welding of one tip plug on the tip surface 3a of one wing 3 is completed, the same tip surface 3a is welded.
a, the next adjacent one is welded in the same manner, and when the welding of all the tip plugs in the same front end face 3a is completed, the turntable 1 is rotated by one pitch, and the next one of the next wing 3 is similarly made. Weld.

That is, the welding trajectory, which is the moving path of the welding head 5, is quickly adapted to the outer shape of the tip plug photographed by the camera device 6, and the welding of the tip plug is quickly and appropriately performed at the tip surface on the outer peripheral side of the blade. Can be performed.

Here, the inclination of the chip plug, which is calculated by the control device 10 and image-processed by the camera device 6, will be described. As an example, FIG. 3A to FIG. As shown in the figure, in the oval type chip plug 30 having two parallel sides, the inclination angle is obtained from the two parallel sides, and the center line of the two sides and the center of both ends where the center lines intersect are obtained. There is a method of obtaining the center position of the chip plug 30.

The direction intersecting the two sides is defined as the y direction, and the direction orthogonal thereto is defined as the x direction. When the camera device 6 is scanned in the y direction, points 30a and 30b intersect with the chip plug 30 due to the change in luminance level. , 30c, and 30d are obtained, so that the points 30e and 30f are obtained as the center position in the y direction between the points 30a and 30c and between the points 30b and 30d as shown in FIG. 3A.

The difference between the y-coordinate center position of the two points obtained as described above and the difference in the x-direction when scanning is performed in the y-direction, that is,
The inclination angle of the chip plug 30 can be obtained from y / x in FIG.

Further, on the center line connecting the points 30e and 30f at the center position in the y direction, the center points 30g and 30h of the sides on the curved side of the oval chip plug 30 are obtained, and FIG. Thus, the center position between these two points can be determined as the point 30i at the center position of the chip plug.

These calculations and image processing are performed by the controller 1
In accordance with the inclination y / x and the center point 30i thus obtained, the controller 10 adjusts the inclination and the center position of the welding locus set in advance so as to match the inclination and the center position, and sends the instruction. It is provided to the welding head driving device 4 to control the movement of the welding head 5.

As still another example, FIGS.
As shown in (d) in order, in the oval type chip plug 30 having two parallel sides, the position of the cross scribe line drawn as an auxiliary line when processing the chip plug 30 is obtained. There is a method of obtaining the inclination angle and the center position of the plug 30.

As in the example of FIG. 3, the direction intersecting the two sides is defined as the y direction, the direction orthogonal thereto is defined as the x direction, and when the camera device 6 is scanned in the y direction, the horizontal direction is calculated based on the change in luminance level. As a point intersecting with the marking line 30m in FIG.
Points 30j and 30k are obtained as shown in FIG.

The difference between the y-coordinate center position of the two points obtained as described above and the difference in the x-direction when scanning is performed in the y-direction, that is,
The horizontal scribe line 3 is determined by y / x in FIG.
The inclination of 0 m, that is, the inclination angle of the chip plug 30 can be obtained.

Similarly, the camera device 6 is scanned in the x direction, and the vertical scribing line 30
As points intersecting n, points 30p and 3 as shown in FIG.
0q, and the slope y / x of the vertical scribe line 30n.
Ask for.

The two scribe lines 30 obtained as described above
An intersection between m and 30n is obtained, and the intersection is determined at the center coordinate position, that is, the point 3 at the center position of the chip plug 30 as shown in FIG.
0i, and the inclination of the chip plug 30 can be obtained.

As in the example of FIG. 3, these calculations and image processing are performed by the control device 10, and the inclination y thus obtained is calculated.
/ X and the center point 30i, the controller 10 adjusts the preset inclination and center position of the welding trajectory so as to match them, and gives a command to the welding head driving device 4, 5 will be controlled.

Although the present invention has been described with reference to the illustrated embodiments, the present invention is not limited to such embodiments.
It goes without saying that various changes may be made to the specific structure within the scope of the present invention.

For example, in this embodiment, the blade to which the tip plug 30 is welded is simply described as the blade 3, and it is assumed that the blade 3 is often a moving blade due to the cooling structure of the blade. However, it is needless to say that the present invention is not limited to the moving blade, but is also applicable to the stationary blade depending on the design condition of the blade structure.

[0046]

As described above, according to the first aspect of the present invention, the tip plug is welded to the tip surface of the cooling medium passage formed inside the blade on the blade outer peripheral side. A welding device for photographing the tip plug, and a welding head that moves along a preset welding trajectory corresponding to an outer peripheral shape of the tip plug. A welding device for welding to the outer peripheral end surface, and a tilt and a center position with respect to a reference position of the tip plug are calculated based on photographing data of the camera device, and the preset welding locus is corrected with the tilt and the center position. Then, a control device for controlling the welding head to follow and change the welding head is provided to constitute the tip plug welding device. Shooting, the control device calculates the inclination and the center position of the tip plug with respect to the reference position based on the imaging data, and displaces and corrects the inclination and the center position of the welding locus set in advance according to the result, Since the tip plug is welded by moving the welding head along the same welding locus, the welding locus, which is the moving path of the welding head, quickly adapts to the external shape of the tip plug captured by the camera device. In addition, the welding of the tip plug to the tip surface on the outer peripheral side of the blade is appropriately performed, whereby a suitable welding apparatus for the tip plug contributing to the improvement of work efficiency and quality can be obtained.

According to a second aspect of the present invention, in the first aspect of the present invention, in the control device, the welding locus calculated and changed based on photographing data of the camera device is: Since the tip plug welding device is configured so as to be determined by recognizing the inclination and the center position of the long side of the captured tip plug by image processing, in the control device, the camera device is used. The inclination of the long side of the oval shape of the photographed, for example, oval type chip plug is calculated with respect to a reference position to determine the inclination of the chip plug. The welding trajectory is changed to follow this by image processing, so that the welding trajectory can be quickly adapted to the external shape of the tip plug photographed by the camera device, Welding tip plug is properly performed with respect to the circumferential side distal end surface, in which it was possible to obtain a welding apparatus suitable chip plugs contribute to work efficiency and quality Te following.

According to a third aspect of the present invention, in the first aspect of the present invention, in the control device, the welding trajectory calculated and changed on the basis of photographing data of the camera device is used. In the image processing, the inclination of the scribe line drawn as an auxiliary line for recognition at the horizontal center and the vertical center of the captured chip plug and the center position where the vertical and horizontal scribe lines intersect are recognized by image processing. The tip plug welding device is configured as determined by the above, so in the control device, for example, a scribe mark described as an auxiliary line when the oval type tip plug itself photographed by the camera device is manufactured. The inclination of the tip plug is determined by calculating the inclination of the line, and the position of the tip plug is determined based on the center position where the vertical and horizontal intersections of the scribe line intersect. By changing the trajectory to follow this by image processing, the welding trajectory is quickly adapted to the outer shape of the tip plug photographed by the camera device, and the tip plug is appropriately welded to the tip surface on the blade outer peripheral side, Thus, a suitable tip plug welding device that contributes to the improvement of work efficiency and quality was obtained.

[Brief description of the drawings]

FIG. 1 is an explanatory view schematically illustrating an entire appearance of a tip plug welding apparatus according to an embodiment of the present invention.

FIGS. 2A and 2B show a modification of a main part, in which FIG.
(B) is a partial side view.

FIG. 3 is an explanatory view showing an example of a procedure of recognizing a chip plug in the present embodiment in order of (a) to (c).

FIG. 4 is another example corresponding to FIG. 3 (a) to (d).
FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Rotary table 2 Fixture 3 Blade 3a Tip surface 4 Welding head drive unit 4X X-axis running unit 4Y Y-axis running unit 4Z Z-axis running unit 5 Welding head 6 Camera device 7 Tip holding device 8 Welding operation device 9 YAG fiber 10 Control Device 30 Tip plug

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Seiji Beppu 2-1-1 Shinhama, Araimachi, Takasago City, Hyogo Prefecture Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Inventor Hidemine Tsubota 2-1-1, Araimachi, Takarai City, Hyogo Prefecture No. 1 Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Inventor Masahiko Tsumaka 2-1-1, Niihama, Araimachi, Takasago-shi, Hyogo F-term in Takasago Works, Mitsubishi Heavy Industries, Ltd. 4E068 CA09 CC02 DA00

Claims (3)

[Claims] 1. A tip plug welding apparatus for welding a tip plug to a tip end of a cooling medium passage formed inside a blade on an outer peripheral side of the blade, and for plugging a tip end of the cooling medium passage.
A welding device for photographing the tip plug and a welding head moving along a preset welding locus corresponding to the outer peripheral shape of the tip plug, and welding the tip plug to the outer peripheral end face of the blade. And calculating a tilt and a center position of the tip plug with respect to a reference position based on photographing data of the camera device, correcting the welding locus set in advance with the tilt and the center position, and changing the welding trajectory accordingly. And a control device for controlling the welding head as described above. 2. The control device according to claim 1, wherein the welding trajectory calculated and changed based on photographing data of the camera device recognizes, by image processing, a tilt and a center position of a long side of the photographed tip plug. The tip plug welding apparatus according to claim 1, wherein the tip plug is determined by: 3. The control device according to claim 1, wherein the welding locus calculated and changed based on photographing data of the camera device is drawn as an auxiliary line for recognition at a horizontal center and a vertical center of the photographed tip plug. The slope of the scribe line,
The tip plug welding device according to claim 1, wherein the center position where the scribe lines of the vertical and horizontal centers intersect is determined by recognizing the center position by image processing.