CN107876261A - Concatermer turborotor thermal barrier coating Flexible Manufacture platform and spraying method - Google Patents
Concatermer turborotor thermal barrier coating Flexible Manufacture platform and spraying method Download PDFInfo
- Publication number
- CN107876261A CN107876261A CN201710948446.0A CN201710948446A CN107876261A CN 107876261 A CN107876261 A CN 107876261A CN 201710948446 A CN201710948446 A CN 201710948446A CN 107876261 A CN107876261 A CN 107876261A
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- spraying
- concatermer
- turborotor
- spray
- spray gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/10—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to temperature or viscosity of liquid or other fluent material discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Coating By Spraying Or Casting (AREA)
- Turbine Rotor Nozzle Sealing (AREA)
Abstract
A kind of concatermer turborotor thermal barrier coating Flexible Manufacture platform and spraying method,The platform is included between spraying sound insulation,Plasma spraying/supersonic flame sprayer,Two manipulators,Work transfer device and spray gun,The manipulator includes base,Arm and controller,The arm is arranged on the base and is connected with the controller,The spray gun is connected by fast quick-detach clamping device with the arm of wherein one manipulator,Grabbing device is installed on the arm of another manipulator,Two manipulators have linkage function,Plasma spraying/the supersonic flame sprayer is connected with the spray gun,Plasma spraying/the supersonic flame sprayer,Work transfer device and the grabbing device are connected with the controller respectively,With to spraying powder feeding,Spray jerk,Integrated control is realized in automatic crawl and workpiece conveying.The invention also discloses the spraying method of the platform.
Description
Technical field
The present invention relates to technical field, particularly a kind of concatermer turborotor thermal barrier coating is flexible to be added
Work platform and spraying method.
Background technology
Thermal barrier coating (Thermal Barrier Coating, TBC) is widely used in gas-turbine unit hot junction portion
Part surface, it has well heat-insulated, resistance to high temperature oxidation and corrosive nature, can significantly improve hot-end component service temperature and military service
In the life-span, it is the key of the indispensable turbo blade manufacture of modern gas turbine engines (gas turbine, aero-engine etc.)
One of technology.Thermal spraying Thermal Barrier Coating Technologies batch application from the eighties in last century is more up to now in turbine blade surface
High-pressure turbine guide vane, the low-pressure turbine guide vane of number gas-turbine unit still prepare thermal boundary using plasma spray technology
Coating, the technology of most common of which be using HVAF (High velocity oxyfuel spraying,
HVOF) prepared respectively in blade surface with air plasma spraying (Atmospheric plasma spraying, APS)
MCrAlY metal bonding coatings and 8YSZ (6~8%Y2O3Partially stabilized ZrO2) ceramic functional layer.
High and low pressure turborotor is sprayed in the form of doublet or concatermer substantially, most multi-joint guide vanes
Because blade size compared with small, type face complicated (blade Curvature varying is big), part guide vane has more than hundreds of on blade
Venturi is narrow between cooling air film hole, each connection has masking, to obtain blade diverse location coating layer thickness, adhesion and quality
Stable high-performance coating, difficulty are very big.Angle is closer to 90 ° from hot-spraying technique angle, spraying process and control is suitable
Spray distance, uniform suitable flutter rate, the coating of high quality and high uniformity could be obtained.Still adopt domestic part at present
Manually spraying method, it is difficult to ensure blade coatings quality conformance and stability, manipulator clamping spray gun is used even if improving
Further raising coating quality uniformity is sprayed with reference to the mode of revolving-turret angle adjustment, however it remains following limitation：1)
Platform precision deficiency, two independent individual (manipulator and turntable) mutual alignments do not fix, can not be formed Three-dimension process model and
Realize quick off-line programing；2) spray gun clamping manipulator has the higher free degree, but piece-holder turntable normally only has rotation
Rotating function, cause part difficulty spraying area relative freedom deficiency, it is impossible to obtain optimal control spray angle, distance and rail
Mark；3) original precision such as turntable or manipulator mounting surface and the repetitive positioning accuracy deficiency used for a long time, can cause coating matter
Amount uniformity is difficult to reach higher controlled level；4) a kind of concatermer guide vane of specification is changed, it is necessary to carry out journey again
Sequence is worked out and system checking, produces spraying profile and program using the mode of artificial teaching, often plans curved surface almost plane
Path is sprayed, precision is low, low production efficiency and ineffective.
It is thereby achieved that concatermer turborotor thermal barrier coating Flexible Manufacture and high quality processing, it is necessary to overcome above-mentioned
The shortcomings that technology, exploitation flexible high-precision manipulator spraying platform, and establish corresponding spraying method.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of high-precision concatermer turborotor thermal barrier coating
Flexible Manufacture platform and spraying method, to realize different workpieces surface heat barrier coating flexible spray processing platform；Concatermer turbine
It is prepared by the quality coating of guide vane；Based on the quick automated procedures establishment of platform and spraying method.It can ensure to spray
Quality, quality conformance, ensure that spray efficiency, realize that concatermer turborotor flexible spray is processed.
To achieve these goals, the invention provides a kind of concatermer turborotor thermal barrier coating Flexible Manufacture to put down
Platform, wherein, including：Spray sound insulation between, plasma spraying/supersonic flame sprayer, two manipulators, work transfer devices
And spray gun, every manipulator include manipulator base, mechanical arm and Manipulator Controller, the mechanical arm is arranged on
It is connected in the manipulator base and with the Manipulator Controller, the spray gun passes through fast quick-detach clamping device and wherein one
The mechanical arm of manipulator described in platform is connected, and grabbing device, two institutes are provided with the mechanical arm of another manipulator
Stating manipulator has linkage function, and the plasma spraying/supersonic flame sprayer is connected with the spray gun, the grade from
Sub- spraying/supersonic flame sprayer, work transfer device and the grabbing device connect with the Manipulator Controller respectively
Connect, to realize integrated control to spraying powder feeding, spraying jerk, automatic crawl and workpiece conveying.
Above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, it is additionally provided with off-line programing mould
Intend module, the plasma spraying/supersonic flame sprayer, work transfer device and the grabbing device use PLC
Controller controls.
Above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, in addition to dust arrester, it is described
Dust arrester is arranged on the metope between the spraying sound insulation.
Above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, the mechanical arm has six
The individual free degree, the loading capacity of the mechanical arm are more than or equal to 16Kg, the repetitive positioning accuracy of the mechanical arm be more than or
Equal to ± 0.1mm, the manipulator base has six-freedom degree regulation and horizontal direction movement regulatory function, the manipulator
The repetitive positioning accuracy of base is ± 0.1mm.
Above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, the work transfer device is set
Six stations are equipped with, locating piece is provided with the blade frock of the work transfer device, the positioning precision of the locating piece is
± 0.2mm, the work transfer device are provided with the dust cover of automatic opening.
Above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, include between the spraying sound insulation
Between separately positioned operation room and processing, the work transfer device, plasma spraying/supersonic flame sprayer and described
Manipulator Controller is arranged in the operation room, and the manipulator base and mechanical arm are arranged in the processing, are treated
Processing concatermer blade is loaded and taken out in the operation room, and the mechanical arm is in the processing with automatic crawl side
Formula meets continuous spray.
Above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, the front end surface of the spray gun
It is ± 1mm with repetitive positioning accuracy of any point on locus on concatermer blade to be processed, posture resetting is smart
Spend for ± 1 °.
In order to which above-mentioned purpose is better achieved, present invention also offers a kind of concatermer turborotor thermal barrier coating is soft
The spraying method of property processing platform, wherein, comprise the following steps：
S100, with reference to Flexible Manufacture platform threedimensional model, input concatermer guide vane to be processed and its protecting tool set-up three
Dimension module；
S200, Affirming Principle optimized according to concatemer guide vane programming rule and spraying profile, determine different spraying areas
Domain, spray gun and workpiece are put with respect at start angle, spray angle, spray distance, starting/end point, stepping, spray gun different tracks
The constraint rule of dynamic speed, workpiece direction of rotation and spray gun direction of travel；
S300, spraying profile and spray procedure set according to the constraint rule；
S400, treated using the concatermer turborotor thermal barrier coating Flexible Manufacture platform and the spray procedure
Process prepares coating on concatermer guide vane.
The spraying method of above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, in step
Also comprise the following steps after S300：
S350, real part verification, controlled according to spraying temperature, area thickness control and transition continuous control, verify the spray
Program is applied, and determines to optimize the segmentation of the spray procedure, spraying pass and transitional region run trace.
The spraying method of above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, it is described to connect more
Body guide vane programming rule and spraying profile optimization Affirming Principle include：
1. first spraying the blade of the concatermer turborotor, the edge of the concatermer turborotor is sprayed afterwards
Plate, the blade spraying order determine according to the feature of the concatermer turborotor；
2. according to optimum results, in non-obstructing region, supersonic spray gun flutter rate is 400mm~500mm/s, etc.
Ion spray gun flutter rate is 300mm/s, and stepping is respectively HVAF metal bonding coating 5mm, and plasma spraying is made pottery
Porcelain facing layer 3mm, when spray gun is from starting point into spray-coating surface and the movement of spray-coating surface wall scroll track, spray gun flutter rate is 500mm/s；
Throat region between blade duplex, blade and spray gun are servo-actuated, and setting spray gun revolves with upper inframarginal parallel position close to inframarginal face
Spindle central is starting spraying position, sets the concatermer turborotor with around the tooling shaft of the work transfer device
± 15 ° uniformly swing, the spray gun and the servo-actuated spraying of the concatermer turborotor, relative velocity 400mm/s, from institute
Inframarginal original position to the supramarginal plate close to the concatermer turborotor for stating concatermer turborotor terminates
Position, stepping are HVAF metal bonding coating 4mm, plasma sprayed ceramic layer 2mm；
3. during the different zones spraying of the concatermer turborotor, use oxygen-kerosene HVAF gold
Spray distance when belonging to tack coat is set as 300~330mm, using during oxygen-fuel HVAF metal bonding coating
Spray distance is set as 180~220mm, and the distance sprayed during plasma spraying surface layer is set as 75~95mm, and set angle is
90°；
4. the blade of the concatermer turborotor is away from starting of the both sides listrium 5mm positions as wall scroll spraying profile
And final position；
5. put for the different spraying areas setting start/end of the concatermer turborotor, the starting/
End position is more than 3cm apart from the frock of the concatermer turborotor, concurrently sets the spray gun and is oriented parallel to institute
State the listrium of concatermer turborotor；The spray gun is removed to the start/end from spray-coating surface and put, and sets spray-coating surface
Upper spray gun speed is 500mm/s, after leaving spray-coating surface, sets to the start/end and puts that speed is slow to be down to 0, to avoid machine
Tool arm inertia influences on system accuracy；
6. all band curvature surface tracks of concatermer turborotor, set the concatermer turborotor spray
Apply different zones and adjust to by the axis of rotation of the work transfer device and rotate, the concatermer turborotor respectively joins
Between throat region spray gun and blade be servo-actuated, be servo-actuated by spray gun posture and around frock axis of rotation pose adjustment；Single spray
Region is applied, according to the actual curvature of the concatermer turborotor, the spray gun is adjusted and the concatermer turbine is oriented to
The movement locus of blade profile, the spray gun are no more than ± 45 ° in vertical deduster fan housing center position, deviation angle；
7. data are influenceed to coating layer thickness according to the spray distance of accumulation, angle and spray gun flutter rate, spraying pass, if
Provisioning request thickness, to obtain initial different zones spraying pass provisional value.
The spraying method of above-mentioned concatermer turborotor thermal barrier coating Flexible Manufacture platform, wherein, according to setting
After spraying profile generation, real part checking procedure includes：
When a) ensuring HVAF, spray-coating surface temperature is not to be exceeded 200 DEG C, and during plasma spraying, temperature does not surpass
300 DEG C are crossed, prepared by special construction coating is no more than 700 DEG C；If it exceeds the temperature, single spraying area spraying profile is according to temperature
Degree monitoring situation is split, and spraying process returns back to starting/final value point, sets the residence time, after workpiece temperature reduction again
It is secondary to return to track cut-point starting spraying；
B) surface coating answers continuous uniform to be met the requirements without step, thickness, to region transfers section spraying profile amendment
After use, to each region spraying pass verification to meet the spraying requirement of the concatermer turborotor.
The technical effects of the invention are that：
Compared with prior art, while the present invention realizes double-manipulator collaboration spraying, high-accuracy mechanical is made full use of
At hand seat, realize high repetitive positioning accuracy and establish Flexible Manufacture platform three-dimensional visualization model on this basis, fully profit
With the function of off-line programing simulation softward, with reference to using frock turn kelly as axle center, using concatermer guide vane surface-type feature as pair
As, it is determined that programming rule and spraying profile optimization principles under, can fast facilitate establish the servo-actuated spraying profile of double-mechanical and
Program, the platform free degree, precision and flexibility are improved, different workpieces surface heat barrier coating can be achieved and quickly prepare.This other hair
The bright I/O interfaces for taking full advantage of manipulator, realize the linkage of work transfer device, automatic grabbing device and spray equipment,
The Flexible Manufacture platform building of different type concatermer guide vane is not only realized, while realizes the blade in units of group
Continuous automatic spray process, while coordinated signals reduce system emergency risk, effectively protect the blade of high value.The present invention
Cost is low, characteristics of compact layout, flexible high, and control mode is simply and safe, at the same be greatly improved development and production efficiency,
Deposition accuracies, layer thickness uniformity and quality conformance, there is preferable social and economic benefit.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Brief description of the drawings
Fig. 1 is the concatermer turborotor thermal barrier coating Flexible Manufacture platform schematic diagram of one embodiment of the invention；
Fig. 2A is the work transfer device structural representation of one embodiment of the invention；
Fig. 2 B are Fig. 2A outside drawing；
Fig. 3 is the doublet guide vane schematic diagram to be processed of one embodiment of the invention；
Fig. 4 is the doublet guide vane and its pivot position view of one embodiment of the invention；
Fig. 5 is doublet guide vane the first spraying area schematic diagram of one embodiment of the invention；
Fig. 6 is doublet guide vane the second spraying area schematic diagram of one embodiment of the invention；
Fig. 7 is the spraying area schematic diagram of doublet guide vane the 3rd of one embodiment of the invention；
Fig. 8 is the pose adjustment schematic diagram that the spray gun of one embodiment of the invention changes with vane curvature.
Wherein, reference
Between 1 spraying sound insulation
2 plasma sprayings/supersonic flame sprayer
3 Manipulator Controllers
4 work transfer devices
41 locating pieces
42 dust covers
43 tooling shafts
44 frocks are loaded axis center position
5 manipulator bases
6 mechanical arms
7 spray guns
8th, grabbing device
9th, dust arrester
10 concatermer blades to be processed
101 close to exhaust border area domain, opposing straight region
102 close to leading edge region, and Curvature varying is larger and radius of curvature smaller area
103 doublets are oriented to throat region
104 supramarginal plates
105 inframarginals
106 leaf pelvics surface of sacrum
107 leaf backs
The 108 doublet blade first line of a couplet
The 109 doublet blade second lines of a couplet
110 leading edges
111 exhaust sides
Embodiment
The structural principle and operation principle of the present invention are described in detail below in conjunction with the accompanying drawings：
Referring to Fig. 1, Fig. 1 is that the concatermer turborotor thermal barrier coating Flexible Manufacture platform of one embodiment of the invention shows
It is intended to.The concatermer turborotor thermal barrier coating Flexible Manufacture platform of the present invention, including：1, plasma spray between spraying sound insulation
2, two manipulators of painting/supersonic flame sprayer, work transfer device 4 and spray gun 7, every manipulator include machinery
At hand seat 5, mechanical arm 6 and Manipulator Controller 3, the mechanical arm 6 be arranged on the manipulator base 5 on and with it is described
Manipulator Controller 3 connects, the mechanical arm that the spray gun 7 passes through fast quick-detach clamping device and wherein one manipulator
6 are connected, and grabbing device 8 is provided with the mechanical arm 6 of another manipulator, and two manipulators have linkage work(
Can, the plasma spraying/supersonic flame sprayer 2 is connected with the spray gun 7, the plasma spraying/supersonic speed fire
Flame spray equipment 2, work transfer device 4 and the grabbing device 8 are connected with the Manipulator Controller 3 respectively, with to spraying
Integrated control is realized in powder feeding, spraying jerk, automatic crawl and workpiece conveying.Wherein, it is described spraying sound insulation between 1 include it is separately positioned
Operation room and processing between, the work transfer device 4, plasma spraying/supersonic flame sprayer 2 and the manipulator
Controller 3 is arranged in the operation room, and the manipulator base 5 and mechanical arm 6 are arranged in the processing, to be processed
Concatermer blade 10 is loaded and taken out in the operation room, and the mechanical arm 6 is in the processing with automatic crawl side
Formula meets continuous spray, avoids people in spraying process from causing dust inhalation hazard between entering processing.
In the present embodiment, off-line programing analog module, the plasma spraying/supersonic flame sprayer are additionally provided with
2nd, work transfer device 4 and the grabbing device 8 are controlled using PLC.Also include dust arrester 9, the dedusting dress
Put 9 be arranged on it is described spraying sound insulation between 1 wall on.
In the present embodiment, preferably described mechanical arm 6 has six-freedom degree, and the loading capacity of the mechanical arm 6 is more than
Or it is more than or equal to ± 0.1mm equal to 16Kg, the repetitive positioning accuracy of the mechanical arm 6, the manipulator base 5 has six
Individual free degree regulation and horizontal direction movement regulatory function, have the relative spatial location data test in tri- directions of X, Y, Z
Distance and angular transducer (three groups), base are furnished with the human-computer interaction interface of embedded mobile GIS, and positional information and position pair can be achieved
Quasi- adjustment suggests that the repetitive positioning accuracy of itself of manipulator base 5 is ± 0.1mm.
Referring to Fig. 2A, 2B, Fig. 2A is the work transfer device structural representation of one embodiment of the invention, and Fig. 2 B are Fig. 2A's
Outside drawing.The work transfer device 4 of the present embodiment is provided with six stations, the blade frock of the work transfer device 4
On be provided with locating piece 41, the one end of locating piece 41 contacts and positioned with rotating disk, one end be used for mechanical arm 6 automatically crawl positioning,
The positioning precision of the locating piece 41 is ± 0.2mm, and the work transfer device 4 is provided with the dust cover 42 of automatic opening, kept away
Exempt from pollution of the dust to blade to be sprayed between spraying.It is any in the front end surface of the spray gun 7 and concatermer blade 10 to be processed
Some repetitive positioning accuracy on locus is ± 1mm, and posture repetitive positioning accuracy is ± 1 °.
Referring to Fig. 3-Fig. 8, Fig. 3 is the doublet guide vane schematic diagram to be processed of one embodiment of the invention, and Fig. 4 is this hair
The doublet guide vane and its pivot position view of a bright embodiment, Fig. 5 are the doublet of one embodiment of the invention
Guide vane the first spraying area schematic diagram, Fig. 6 are that the spraying area of doublet guide vane second of one embodiment of the invention shows
It is intended to, Fig. 7 is the spraying area schematic diagram of doublet guide vane the 3rd of one embodiment of the invention, and Fig. 8 is implemented for the present invention one
The pose adjustment schematic diagram that the spray gun of example changes with vane curvature.Wherein, in Fig. 3 concatermer blade 10 to be processed multiple processing
The different zones of position are described as follows：Curvature close to the opposing straight region 101 in exhaust border area domain, close to leading edge region becomes
Change larger and radius of curvature smaller area 102, doublet is oriented to throat region 103, supramarginal plate 104, inframarginal 105, leaf pelvic surface of sacrum
106th, leaf back 107, the doublet blade first line of a couplet 108, the doublet blade second line of a couplet 109, leading edge 110 and exhaust side 111.
The spraying method of the concatermer turborotor thermal barrier coating Flexible Manufacture platform of the present invention, includes operating procedure
With programming rule and spraying profile optimization Affirming Principle, including following concrete operation step：
Step S100, with reference to Flexible Manufacture platform threedimensional model, input concatermer guide vane to be processed and it protects work
Fill threedimensional model；
Step S200, Affirming Principle is optimized according to concatemer guide vane programming rule and spraying profile, determines different sprays
Region, spray gun 7 and workpiece are applied with respect to start angle, spray angle, spray distance, starting/end point, stepping, 7 different rails of spray gun
The constraint rule of flutter rate, workpiece direction of rotation and the direction of travel of spray gun 7 at mark；
Step S300, spraying profile and spray procedure are set (comprising diverse location spraying rail according to the constraint rule
Mark)；
Step S400, the concatermer turborotor thermal barrier coating Flexible Manufacture platform and the spray procedure are utilized
The prepares coating on concatermer guide vane to be processed.
It may also include the steps of after step S300：
Step S350, real part verification, is continuously controlled according to the control of the spraying temperature of technological requirement, area thickness control and transition
System etc. requires, verifies the spray procedure, and determines to optimize the segmentation of the spray procedure, spraying pass and transitional region walking
Track.
Wherein, concatemer guide vane programming rule and spraying profile the optimization Affirming Principle includes：
1. first spraying the blade of the concatermer turborotor, the edge of the concatermer turborotor is sprayed afterwards
Plate, the blade spraying order determine according to the feature of the concatermer turborotor；
2. according to optimum results, in non-obstructing region, the flutter rate of supersonic spray gun 7 is 400mm~500mm/s,
The flutter rate of plasma gun 7 is 300mm/s, and stepping is respectively HVAF metal bonding coating 5mm, plasma spraying
Ceramic topcoats 3mm, when spray gun 7 is from starting point into spray-coating surface and the movement of spray-coating surface wall scroll track, the flutter rate of spray gun 7 is
500mm/s；Throat region 103 between blade duplex, blade and spray gun 7 are servo-actuated, and setting spray gun 7 is parallel with upper inframarginal 104,105
The face rotating shaft center of lower edge 105 is located proximate to as starting spraying position, sets the concatermer turborotor with around institute
The tooling shaft 43 of work transfer device 4 is stated uniformly to swing with ± 15 °, the spray gun 7 and the concatermer turborotor with
Dynamic spraying, relative velocity 400mm/s, from the original position of inframarginal 105 of the concatermer turborotor to close institute
The end position of supramarginal plate 104 of concatermer turborotor is stated, stepping is HVAF metal bonding coating 4mm, etc.
Plasma spray ceramic layer 2mm；
3. during the different zones spraying of the concatermer turborotor, use oxygen-kerosene HVAF gold
Spray distance when belonging to tack coat is set as 300~330mm, using during oxygen-fuel HVAF metal bonding coating
Spray distance is set as 180~220mm, and the distance sprayed during plasma spraying surface layer is set as 75~95mm, and set angle is
90°；
4. the blade of the concatermer turborotor is away from starting of the both sides listrium 5mm positions as wall scroll spraying profile
And final position；
5. put for the different spraying areas setting start/end of the concatermer turborotor, the starting/
End position is more than 3cm apart from the frock of the concatermer turborotor, concurrently sets the spray gun 7 and is oriented parallel to institute
State the listrium of concatermer turborotor；The spray gun 7 is removed to the start/end from spray-coating surface to be put, setting spraying
The speed of spray gun 7 is 500mm/s on face, after leaving spray-coating surface, sets to the start/end and puts that speed is slow to be down to 0, to avoid
The inertia of mechanical arm 6 influences on system accuracy；
6. all band curvature surface tracks of concatermer turborotor, set the concatermer turborotor spray
Apply different zones and adjust to by the axis of rotation of the work transfer device 4 and rotate, the concatermer turborotor is each
The spray gun 7 of throat region 103 and blade are servo-actuated between connection, are servo-actuated by the posture of spray gun 7 and around frock axis of rotation pose adjustment；
Single spraying area, according to the actual curvature of the concatermer turborotor, the spray gun 7 is adjusted to the concatermer whirlpool
Take turns the movement locus in guide vane type face, the spray gun 7 in vertical deduster fan housing center position, deviation angle is no more than ±
45°；
7. data are influenceed to coating layer thickness according to the spray distance of accumulation, angle and the flutter rate of spray gun 7, spraying pass,
Sets requirement thickness, to obtain initial different zones spraying pass provisional value.
Wherein, after according to setting spraying profile generation, real part checking procedure includes：
When step a) ensures HVAF, spray-coating surface temperature is not to be exceeded 200 DEG C, during plasma spraying, temperature
No more than 300 DEG C, prepared by special construction coating is no more than 700 DEG C；If it exceeds the temperature, single spraying area spraying profile root
Split according to monitoring temperature situation, spraying process returns back to starting/final value point, sets the residence time, treats workpiece temperature reduction
After turn again to the starting spraying of track cut-point；
Step b) surface coatings answer continuous uniform to be met the requirements without step, thickness, to region transfers section spraying profile
Used after amendment, each region spraying pass is verified to meet the spraying requirement of the concatermer turborotor.
The present invention is according to spraying coating process optimum results and off-line simulation programming software function, the concatermer guide vane of proposition
Following (the duplex blade illustrated with Fig. 3 and Fig. 4 of programming rule and spraying profile optimization Affirming Principle prepared by surface heat barrier coating
Exemplified by), wherein, cleaner is arranged between spraying sound insulation on 1 metope in Flexible Manufacture platform, manipulator and Manipulator Controller
3 are connected, spray gun 7 is connected with spraying equipment, the controller of grabbing device 8, spray equipment 2, work transfer device 4 and machinery
Hand controls 3 is connected, spray gun 7 is connected by fast quick-detach clamping device with mechanical arm 6, the turbine directing vane with frock protection
Piece is connected by grabbing device 8 and mechanical arm 6：
Blade is first sprayed, sprays listrium afterwards, blade spraying order is a) first line of a couplet 108 and the second line of a couplet 109 can optic lobe pelvics surface of sacrum 106
(referring to Fig. 5)；B) first line of a couplet leaf back 107 and second line of a couplet leaf pelvic surface of sacrum 106 (close to exhaust side 111) position between two are (from entering between two
The direction viewing area of gas side 110) (referring to Fig. 6)；C) first line of a couplet 108 and the blade back opposing straight region 101 of the second line of a couplet 109 (referring to Fig. 7)；
Listrium is sprayed into and blade intersection from outside；
According to optimize technique result, in the first spraying area and the 3rd spraying area, the flutter rate of supersonic spray gun 7
It is 300mm/s (a sections shown in Fig. 5) for 400mm~500mm/s, the flutter rate of plasma gun 7, the first spraying area and the 3rd
Spraying area is respectively HVAF metal bonding coating 5mm, plasma sprayed ceramic surface layer 3mm, the first spraying area
During the b sections and starting/end point to spray-coating surface of the 3rd spraying area, the flutter rate of spray gun 7 is 500mm/s；Second spray
Apply region, blade and spray gun 7 are servo-actuated, set spray gun 7 and upper inframarginal parallel position close to inframarginal face rotating shaft center as
Spraying position is originated, setting blade is uniformly swung with 43 ± 15 ° around tooling shaft, and spray gun 7 and the servo-actuated spraying of blade, relative velocity are
400mm/s, from inframarginal original position to close to upper limb slab end position, stepping is HVAF metal bonding coating
4mm, plasma sprayed ceramic layer 2mm (referring to Fig. 6)；
When different zones spray, optimal spray distance setting during using oxygen-kerosene HVAF metal bonding coating
For 300~330mm, it is set as 180 using optimal spray distance during oxygen-fuel HVAF metal bonding coating~
220mm, spraying optimum distance is set as 75~95mm during plasma spraying surface layer, sets best angle as 90 °；
Because blade and listrium are present compared with mitre, blade spraying and listrium spraying is avoided to spray angle boundary position
Put, cause overweight coating at this, blade is away from starting of the both sides listrium 5mm positions as wall scroll spraying profile and final position；
Each different spraying areas, 1, point 2 is put as shown in Figure 5, is put for different spraying areas setting start/end,
The position should be more than 3cm positions apart from blade frock, concurrently set the position spray gun 7 and be oriented parallel to listrium；Spray gun 7 is from spraying
Face removes to start/end and put, and should set on spray-coating surface that the speed of spray gun 7 is 500mm/s, and after leaving spray-coating surface, setting is to rising
Beginning/end position speed is slow to be down to 0, avoids manipulator inertia from influenceing system accuracy；
It is all to be set as distance, angle, speed and step as shown in figure 8, when different zones spray with curvature surface track
Enter under setting rule, axis center position 44 (rotationally-varying center) is loaded as rotary middle point and the actual song of blade with frock
Rate a, b, c, d, spray gun 7 is provided to blade profile movement locus；
Data are influenceed to coating layer thickness according to the spray distance of accumulation, angle and the flutter rate of spray gun 7, spraying pass, if
Provisioning request thickness, to obtain initial different zones spraying pass provisional value；
After being generated according to above-mentioned setting spraying profile, real part is answered to verify：
When a) ensuring HVAF, spray-coating surface temperature is not to be exceeded 200 DEG C, during plasma spraying, ordinary circumstance
Lower temperature is no more than 300 DEG C, and special construction coating is not to be exceeded 700 DEG C when preparing；If exceeding the temperature according to process goal,
Single spraying area spraying profile is split according to monitoring temperature situation, and spraying process returns back to starting/final value point, and setting stops
The time is stayed, track cut-point starting spraying is turned again to after workpiece temperature reduction；
B) surface coating answers continuous uniform to be met the requirements without step, thickness, situation is verified according to real part, to region mistake
Cross after a section spraying profile combined process requirement can be corrected suitably and use, appropriate verification is carried out to meet leaf to each region spraying pass
Piece spraying requires.
The present invention is when spraying the concatermer blades such as triplet, tetrad, according to the doublet spraying side of above-described embodiment
Method is handled, i.e., doublet blade has a throat region 103, and triplet blade is needed by two throat regions
Last spraying is carried out after spraying.
When spraying triplet guide vane, unlike above-described embodiment doublet guide vane, its spraying order
First to spray blade, listrium is sprayed afterwards, blade spraying order can optic lobe pelvic surface of sacrum for a) three；B) between two first line of a couplet leaf back and under
Join leaf pelvic surface of sacrum (close to exhaust side 111) position (from the direction viewing area of leading edge 110, i.e. throat region 103 between two)；C) on
Connection and second line of a couplet blade back opposing straight region；Listrium is sprayed into and blade intersection from outside；The control in remaining each region and duplex
Body guide vane is basically identical, in addition to one throat region spraying of increase.
The concatermer turborotor thermal barrier coating Flexible Manufacture platform and spraying method of the present invention, is related to the special process
Technical field, the platform are mainly used in the Flexible Manufacture of gas-turbine unit turbine guide vane surface heat barrier coating, and this is
System mainly include spraying sound insulation between, air plasma spraying/supersonic flame sprayer, Manipulator Controller, workpiece conveying
Device, manipulator base, manipulator, spray gun and fast quick-detach clamping device, the turborotor with frock protection and crawl
Device, dust arrester etc.；Clamping spray gun and the double-manipulator of blade respectively has linkage function；Manipulator base has six freely
Spend position, angular transducer between regulatory function and base；Spray equipment, grabbing device, work conveyance system are based on machinery manual control
Device I/O interfaces processed realize coordinated signals.Flexible spray processing method based on above-mentioned platform, include programming rule and spraying rail
Mark optimizes Affirming Principle and operating procedure.The platform and method have low cost, characteristics of compact layout, flexible high, and control mode is simple
With it is safe, while efficiency, deposition accuracies, layer thickness uniformity and quality conformance is greatly improved
Certainly, the present invention can also have other various embodiments, ripe in the case of without departing substantially from spirit of the invention and its essence
Know those skilled in the art when can be made according to the present invention it is various it is corresponding change and deformation, but these corresponding change and become
Shape should all belong to the protection domain of appended claims of the invention.
Claims (11)
- A kind of 1. concatermer turborotor thermal barrier coating Flexible Manufacture platform, it is characterised in that including：Between spraying sound insulation, Plasma spraying/supersonic flame sprayer, two manipulators, work transfer device and spray gun, every mechanical handbag Include manipulator base, mechanical arm and Manipulator Controller, the mechanical arm be arranged in the manipulator base and with institute State Manipulator Controller connection, the mechanical arm that the spray gun passes through fast quick-detach clamping device and wherein one manipulator Connect, grabbing device is installed on the mechanical arm of another manipulator, two manipulators have linkage function, institute State plasma spraying/supersonic flame sprayer to be connected with the spray gun, the plasma spraying/HVAF dress Put, work transfer device and the grabbing device are connected with the Manipulator Controller respectively, with anxious to spraying powder feeding, spraying Stop, integrated control is realized in crawl and workpiece conveying automatically.
- 2. concatermer turborotor thermal barrier coating Flexible Manufacture platform according to claim 1, it is characterised in that also It is provided with off-line programing analog module, the plasma spraying/supersonic flame sprayer, work transfer device and described grabs Device is taken to be controlled using PLC.
- 3. concatermer turborotor thermal barrier coating Flexible Manufacture platform according to claim 1 or 2, its feature exist In, in addition to dust arrester, the dust arrester is on the metope between the spraying sound insulation.
- 4. concatermer turborotor thermal barrier coating Flexible Manufacture platform according to claim 1 or 2, its feature exist In the mechanical arm has six-freedom degree, and the loading capacity of the mechanical arm is more than or equal to 16Kg, the mechanical arm Repetitive positioning accuracy be more than or equal to ± 0.1mm, there is the manipulator base six-freedom degree regulation and horizontal direction to move Dynamic regulatory function, the repetitive positioning accuracy of the manipulator base is ± 0.1mm.
- 5. concatermer turborotor thermal barrier coating Flexible Manufacture platform according to claim 1 or 2, its feature exist In the work transfer device is provided with six stations, is provided with locating piece on the blade frock of the work transfer device, institute The positioning precision for stating locating piece is ± 0.2mm, and the work transfer device is provided with the dust cover of automatic opening.
- 6. concatermer turborotor thermal barrier coating Flexible Manufacture platform according to claim 1 or 2, its feature exist In, include between the spraying sound insulation between separately positioned operation room and processing, the work transfer device, plasma spraying/super Velocity of sound flame spray coating device and the Manipulator Controller are arranged in the operation room, the manipulator base and mechanical arm It is arranged in the processing, concatermer blade to be processed is loaded and taken out in the operation room, and the mechanical arm is in institute State in processing and meet continuous spray with automatic Grasp Modes.
- 7. concatermer turborotor thermal barrier coating Flexible Manufacture platform according to claim 1 or 2, its feature exist In repetitive positioning accuracy of any point on locus is in the front end surface of the spray gun and concatermer blade to be processed ± 1mm, posture repetitive positioning accuracy are ± 1 °.
- 8. a kind of spraying method of concatermer turborotor thermal barrier coating Flexible Manufacture platform, it is characterised in that including such as Lower step：S100, with reference to Flexible Manufacture platform threedimensional model, input concatermer guide vane to be processed and its protecting tool set-up three-dimensional mould Type；S200, Affirming Principle optimized according to concatemer guide vane programming rule and spraying profile, determine different spraying areas, spray Rifle and workpiece are fast with respect to being swung at start angle, spray angle, spray distance, starting/end point, stepping, spray gun different tracks The constraint rule of rate, workpiece direction of rotation and spray gun direction of travel；S300, spraying profile and spray procedure set according to the constraint rule；S400, using the concatermer turborotor thermal barrier coating Flexible Manufacture platform and the spray procedure to be processed Prepares coating on concatermer guide vane.
- 9. the spraying method of concatermer turborotor thermal barrier coating Flexible Manufacture platform as claimed in claim 8, it is special Sign is, also comprises the following steps after step S300：S350, real part verification, controlled according to spraying temperature, area thickness control and transition continuous control, verify the spraying journey Sequence, and determine to optimize the segmentation of the spray procedure, spraying pass and transitional region run trace.
- 10. the spraying side of concatermer turborotor thermal barrier coating Flexible Manufacture platform according to claim 8 or claim 9 Method, it is characterised in that concatemer guide vane programming rule and spraying profile the optimization Affirming Principle includes：1. first spraying the blade of the concatermer turborotor, the listrium of the concatermer turborotor is sprayed afterwards, The blade spraying order determines according to the feature of the concatermer turborotor；2. according to optimum results, in non-obstructing region, supersonic spray gun flutter rate is 400mm~500mm/s, plasma Spray gun flutter rate is 300mm/s, and stepping is respectively HVAF metal bonding coating 5mm, plasma sprayed ceramic face Layer 3mm, when spray gun is from starting point into spray-coating surface and the movement of spray-coating surface wall scroll track, spray gun flutter rate is 500mm/s；Blade Throat region between duplex, blade and spray gun are servo-actuated, and setting spray gun is with upper inframarginal parallel position close to inframarginal face rotary shaft Center for starting spraying position, set the concatermer turborotor with around the tooling shaft of the work transfer device ± 15 ° uniformly swing, the servo-actuated spraying of the spray gun and the concatermer turborotor, relative velocity 400mm/s, from described The inframarginal original position of concatermer turborotor to close to the concatermer turborotor supramarginal plate stop bits Put, stepping is HVAF metal bonding coating 4mm, plasma sprayed ceramic layer 2mm；3. during the different zones spraying of the concatermer turborotor, glued using oxygen-kerosene HVAF metal Spray distance when tying layer is set as 300~330mm, uses spraying during oxygen-fuel HVAF metal bonding coating Distance is set as 180~220mm, and the distance sprayed during plasma spraying surface layer is set as 75~95mm, and set angle is 90 °；4. the blade of the concatermer turborotor is away from starting of the both sides listrium 5mm positions as wall scroll spraying profile and end Stop bit is put；5. put for the different spraying areas setting start/end of the concatermer turborotor, the starting/end The frock of concatermer turborotor described in positional distance is more than 3cm, concurrently set the spray gun be oriented parallel to it is described more The listrium of conjuncted turborotor；The spray gun is removed to the start/end from spray-coating surface and put, and is set and is sprayed on spray-coating surface Rifle speed is 500mm/s, after leaving spray-coating surface, sets to the start/end and puts that speed is slow to be down to 0, to avoid manipulator Arm inertia influences on system accuracy；6. all band curvature surface tracks of concatermer turborotor, set the concatermer turborotor spraying not Adjust to by the axis of rotation of the work transfer device and rotate with region, the concatermer turborotor is respectively between connection The spray gun and blade of throat region are servo-actuated, and are servo-actuated by spray gun posture and around frock axis of rotation pose adjustment；Single spraying area Domain, according to the actual curvature of the concatermer turborotor, the spray gun is adjusted to the concatermer turborotor The movement locus in type face, the spray gun are no more than ± 45 ° in vertical deduster fan housing center position, deviation angle；7. influenceing data on coating layer thickness according to the spray distance of accumulation, angle and spray gun flutter rate, spraying pass, setting will Thickness is sought, to obtain initial different zones spraying pass provisional value.
- 11. the spraying method of concatermer turborotor thermal barrier coating Flexible Manufacture platform according to claim 10, Characterized in that, after according to setting spraying profile generation, real part checking procedure includes：When a) ensuring HVAF, spray-coating surface temperature is not to be exceeded 200 DEG C, and during plasma spraying, temperature is no more than 300 DEG C, prepared by special construction coating is no more than 700 DEG C；If it exceeds the temperature, single spraying area spraying profile is supervised according to temperature Control situation is split, and spraying process returns back to starting/final value point, sets the residence time, is returned again after workpiece temperature reduction Originate and spray to track cut-point；B) surface coating answers continuous uniform to be met the requirements without step, thickness, to making after region transfers section spraying profile amendment With to each region spraying pass verification to meet the spraying requirement of the concatermer turborotor.
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