Automatic low-pressure turbine rotor assembling equipment based on vision measurement and force sense feedback

A low-pressure turbine rotor automatic assembling device based on visual measurement and force sense feedback comprises a low-pressure turbine rotor and stator unit body positioning mechanism, a folded turbine shaft automatic heating mechanism, a folded V-shaped groove positioning mechanism, a bolt automatic assembling and tightening mechanism, a turbine shaft butt joint positioning mechanism and a sensing system which are arranged on a rack. Wherein the low-pressure turbine rotor and stator unit body positioning mechanism and the folded turbine shaft automatic heating mechanism are arranged on the upper table top of the rack, the folded V-shaped groove positioning mechanism is arranged on the middle table top of the rack, the bolt automatic assembling and tightening mechanism is arranged in the middle of the rack, and the turbine shaft butt joint positioning mechanism is arranged on the lower table top of the rack. The sensing system is arranged on the rack or the mechanism to monitor equipment operation, an