Robotic peening apparatus
AssigneeGeneral Electric Company
InventorsSalahuddin Razi, Brian D. Albin
Life of this patent
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Abstract
Solutions for robotic fastener peening in turbine machines are disclosed. In one embodiment, an apparatus includes: a peening machine having a peening head; a robotic apparatus including: a robotic arm coupled to the peening machine; and a base member coupled to the robotic arm, the base member mounted independently of the machine element; a vision system for locating a fastener on the machine element; and a control system coupled to the vision system, the peening machine and the robotic apparatus, the control system configured to control movement of the robotic apparatus and the peening machine based upon vision system data and spatial information about the fastener and the machine element.
Claims20
An apparatus for peening a fastener on a machine element, the apparatus comprising:
- a peening machine having a hammering head;
- a robotic apparatus including:
- a robotic arm coupled to the peening machine;
- and
- a base member coupled to the robotic arm, the base member mounted independently of the machine element;
- a vision system for locating the fastener on the machine element;
- and
- a control system coupled to the vision system, the peening machine and the robotic apparatus, the control system configured to control movement of the robotic apparatus and the peening machine based upon vision system data and spatial information about the fastener and the machine element.
A machining station comprising:
- a surface;
- a portion of a turbine rotor in contact with the surface, the portion of the turbine rotor including a machine element having at least one fastener thereon;
- and
- an apparatus for peening the at least one fastener, the apparatus comprising:
- a peening machine having a hammering head;
- and
- a robotic apparatus including:
- a robotic arm coupled to the peening machine;
- a base member coupled to the robotic arm, the base member in contact with the surface independently of the portion of the turbine rotor;
- a vision system for locating the at least one fastener on the machine element;
- and
- a control system coupled to the vision system, the peening machine and the robotic apparatus, the control system configured to control movement of the robotic apparatus and the peening machine based upon vision system data and spatial information about the at least one fastener and the machine element.
A machining station comprising:
- a supportive surface;
- a stand in contact with the supportive surface;
- a portion of a turbine rotor in contact with the stand, the portion of the turbine rotor including a machine element having at least one fastener thereon;
- and
- an apparatus for peening the at least one fastener, the apparatus comprising:
- a pneumatic peening machine having a hammering head;
- a robotic apparatus including:
- a robotic arm coupled to the peening machine;
- and
- a base member coupled to the robotic arm, the base member in contact with the supportive surface independently of the stand;
- a vision system for locating the at least one fastener on the machine element;
- and
- a control system coupled to the vision system, the peening machine and the robotic apparatus, the control system configured to control movement of the robotic apparatus and the peening machine based upon vision system data and spatial information about the at least one fastener and the machine element.
Dependencies are inferred from the claim text.