Abstract: A multi-functional rotary turning and positioning apparatus and method for performing multiple service operations on a turbomachinery rotor while the rotor remains continuously supported with the apparatus. The apparatus includes a platform, a rotary headstock mounted to the platform, a spindle coupled to and rotatably supported by the headstock and adapted for coupling to a turbomachinery rotor, bearing pedestals mounted to the platform and adapted for rotatably supporting the rotor, at least one motor for turning the spindle at least two different rotational speed ranges, equipment mountable to the platform for performing multiple service operations on the rotor, and equipment for controlling the rotational speed and position of the spindle for the purpose of performing the service operation with the operating equipment.

Abstract: A multi-functional rotary turning and positioning apparatus and method for performing multiple service operations on a turbomachinery rotor while the rotor remains continuously supported with the apparatus. The apparatus includes a platform, a rotary headstock mounted to the platform, a spindle coupled to and rotatably supported by the headstock and adapted for coupling to a turbomachinery rotor, bearing pedestals mounted to the platform and adapted for rotatably supporting the rotor, at least one motor for turning the spindle at at least two different rotational speed ranges, equipment mountable to the platform for performing multiple service operations on the rotor, and equipment for controlling the rotational speed and position of the spindle for the purpose of performing the service operation with the operating equipment.

Abstract: A method of programming robotic control includes the steps of defining executable actions in a control loop, and establishing sub-programs that effect modifications of or additions to the executable actions. The sub-programs are executed according to external binary inputs. The external binary inputs are provided during execution of the control loop so that the sub-programs can be executed as part of the control loop.

Abstract: Bucket tip tenons requiring refurbishment are removed from the bucket tips by grinding. Groups of buckets are clamped on a rotatable table in positions adjacent an induction heating coil and a robotic welding arm, respectively. While one group is preheated, the other group of buckets is in a welding location, enabling the welding head on the robotic arm to sequentially apply weld buildup material to the bucket tips. After applying weld buildup material in multiple passes and sequentially to the bucket tips, the buckets are removed, stress-relieved and the weld buildup material machined to provide refurbished tenons. Upon removal of the buckets from the table, the table is rotated to locate the preheated buckets in welding locations and additional buckets are clamped to the table for preheating.

Abstract: Bucket tip tenons requiring refurbishment are removed from the bucket tips by grinding. Groups of buckets are clamped on a rotatable table in positions adjacent an induction heating coil and a robotic welding arm, respectively. While one group is preheated, the other group of buckets is in a welding location, enabling the welding head on the robotic arm to sequentially apply weld buildup material to the bucket tips. After applying weld buildup material in multiple passes and sequentially to the bucket tips, the buckets are removed, stress-relieved and the weld buildup material machined to provide refurbished tenons. Upon removal of the buckets from the table, the table is rotated to locate the preheated buckets in welding locations and additional buckets are clamped to the table for preheating.