Abstract: A robotic apparatus and system for cutting turbine bucket covers on a turbine rotor are provided. The robotic apparatus includes a grinding device operable to drive a grinding wheel, a robotic arm coupled to the grinding device, a base member coupled to the robotic arm, a vision system for locating the fastener on the turbine bucket cover, and a control system. The base member is mounted independently of the turbine bucket cover. The control system is coupled to the vision system, the grinding device, and the robotic apparatus, and configured to control movement of the robotic apparatus and the grinding device based upon vision system data and spatial information related to the turbine bucket cover. The system includes at least a portion of a turbine rotor including a turbine bucket cover having at least one fastener thereon, and a robotic device for cutting the turbine bucket cover.

Abstract: A robotic apparatus for machining tenons on turbine buckets of a steam turbine machine is disclosed. The robotic apparatus includes a machining device having a spindle head. A robotic arm is coupled to the machining device and a base member is coupled to the robotic arm. The base member is mounted independently of the machine element. A vision system is provided for locating the tenon on the turbine bucket. A control system is coupled to the vision system, the machining device and the robotic apparatus. The control system is configured to control movement of the robotic apparatus and the machining device based upon vision system data and spatial information about the tenon and the turbine bucket.

Abstract: A method system and apparatus for cutting turbine bucket covers on a turbine rotor includes marking a cut path on a surface of the turbine bucket cover. The cut path includes a plurality of finite lines defined by a pair of end points, then directing a laser at each end point of each line of the cut path, storing a set of position coordinates of each end point for every line of the cut path; generating the cut path based on the respective end points; and following the cut path on the turbine bucket cover with a grinding machine attached to a robotic device; and cutting the turbine bucket cover according to the cut path.

Abstract: A robotic apparatus for machining tenons on turbine buckets of a steam turbine machine is disclosed. The robotic apparatus includes a machining device having a spindle head. A robotic arm is coupled to the machining device and a base member is coupled to the robotic arm. The base member is mounted independently of the machine element. A vision system is provided for locating the tenon on the turbine bucket. A control system is coupled to the vision system, the machining device and the robotic apparatus. The control system is configured to control movement of the robotic apparatus and the machining device based upon vision system data and spatial information about the tenon and the turbine bucket.

Abstract: An apparatus for machining a weld tab on an article. In one embodiment, the apparatus includes: a base member including at least one rolling element for contacting an underlying surface, the base member having a leading end and a trailing end; a cutting apparatus operably connected to the base member, the cutting apparatus including: a cutting member positioned proximate the leading end of the base member, the cutting member sized to coincide with a size of the weld tab; and a handle member proximate the trailing end and operably connected to the cutting member, the handle member for modifying a position of the cutting member relative to the base member.