Abstract: A welding apparatus of an embodiment includes: a welding torch and a shape sensor attached to a welding robot; a shape data extraction unit extracting, from measured data measured by the shape sensor, shape data representing an outline of an object to be welded; a transformation data calculation unit calculating, based on a position and a posture of the shape sensor, coordinate transformation data for correcting the shape data; a shape data correction unit correcting the shape data based on the coordinate transformation data; an angle calculation unit calculating, based on the corrected shape data, an inclination angle of a groove of the object to be welded; and a welding position and posture determination unit determining, based on the inclination angle of the groove, a position and a posture of the welding torch.

Abstract: A method for manufacturing a blade for fluid machinery from a plate-shaped component which is first machined to make a blade preform. The preform is then worked to obtain a blade in its final form. The shape of the preform is determined by one of two analytical methods.

Abstract: A multistage hydraulic machine in which respective pressure stages are connected in series through return passages and the highest and lowest pressure stages of the hydraulic machine are provided with movable guide vanes the degrees of openings of which are variable is controlled for load regulation or water flow rate regulation under a normal operation condition of the hydraulic machine by controlling degrees of openings of the movable guide vanes of the highest and lowest pressure stages in accordance with several control modes.

Abstract: A multi-stage hydraulic machine includes a rotatable shaft, a plurality of runners fixed to the shaft and arranged from a highest-pressure stage to a lowest-pressure stage, runner chambers which respectively house the runners, a return channel for connecting adjacent ones of the runner chambers with each other, movable wicket gates provided at least in the runner chamber of the highest-pressure stage and capable of moving between a position in which the movable wicket gates block the channel and a position in which said movable wicket gates open the channel, and a draft tube connected to the runner chamber of the lowest-pressure stage.

Abstract: A multi-stage hydraulic machine comprises a rotatable shaft, a plurality of runners fixed to the shaft and arranged from a highest-pressure stage to a lowest-pressure stage, runner chambers which, respectively, house the runners, a return channel for connecting adjacent ones of the runner chambers with each other, movable wicket gates provided at least in the highest-pressure stage and capable of moving between a position in which the movable wicket gates block the channel and a position in which the movable wicket gates open the channel, a casing connected to the highest-pressure stage, and an inlet valve disposed between the casing and a penstock.

Abstract: A multistage hydraulic machine in which respective pressure stages are connected in series through return passages and the highest and lowest pressure stages are provided with movable guide vanes the degrees of openings of which are variable is controlled in load adjustment or in response to the change of a static head under a steady operation condition by controlling the degrees of openings of the movable guide vanes of the highest and lowest pressure stages in accordance with several modes.

Abstract: A multi-stage hydraulic machine comprises a rotatable shaft; a plurality of runners fixed to the shaft and arranged from a highest-pressure stage to a lowest-pressure stage; runner chambers in which are respectively housing the runners; a return channel for connecting adjacent ones of said runner chambers with each other; movable wicket gates provided at least in the highest-pressure stage and capable of moving between a position in which the movable wicket gates block the channel and a position in which the movable wicket gates open the channel; and a casing connected to the highest-pressure stage. In a control method for the hydraulic machine, the wicket gates are closed and highly pressurized water is fed through a feed pipe in an outer circumferential portion of the runner chamber of the highest-pressure stage defined inside of the movable wicket gates, said water sequentially reaching the lower pressure stages through the return channels.