CN105479184A - Ellipsoidal tank bottom flange hole milling/flange plate welding assembly - Google Patents

Ellipsoidal tank bottom flange hole milling/flange plate welding assembly Download PDF

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Publication number
CN105479184A
CN105479184A CN201511032771.XA CN201511032771A CN105479184A CN 105479184 A CN105479184 A CN 105479184A CN 201511032771 A CN201511032771 A CN 201511032771A CN 105479184 A CN105479184 A CN 105479184A
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CN
China
Prior art keywords
milling
welding
ellipsoid
vessel
store
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201511032771.XA
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Chinese (zh)
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CN105479184B (en
Inventor
杜正勇
宋建岭
宋宗贤
赵瑞峰
孙志鹏
刘心刚
李紫涵
李�昊
金�一
陈乃玉
刘静
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin Aerospace Changzheng Rocket Manufacturing Co Ltd
China Academy of Launch Vehicle Technology CALT
Original Assignee
Tianjin Aerospace Changzheng Rocket Manufacturing Co Ltd
China Academy of Launch Vehicle Technology CALT
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Application filed by Tianjin Aerospace Changzheng Rocket Manufacturing Co Ltd, China Academy of Launch Vehicle Technology CALT filed Critical Tianjin Aerospace Changzheng Rocket Manufacturing Co Ltd
Priority to CN201511032771.XA priority Critical patent/CN105479184B/en
Publication of CN105479184A publication Critical patent/CN105479184A/en
Application granted granted Critical
Publication of CN105479184B publication Critical patent/CN105479184B/en
Active legal-status Critical Current
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/04Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23CMILLING
    • B23C3/00Milling particular work; Special milling operations; Machines therefor
    • B23C3/02Milling surfaces of revolution
    • B23C3/04Milling surfaces of revolution while revolving the work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23CMILLING
    • B23C9/00Details or accessories so far as specially adapted to milling machines or cutter
    • B23C9/005Details or accessories so far as specially adapted to milling machines or cutter milling heads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0211Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/52Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism a single rotating pair
    • B23Q1/522Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism a single rotating pair which is perpendicular to the working surface
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06Work-clamping means
    • B23Q3/062Work-clamping means adapted for holding workpieces having a special form or being made from a special material
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06Work-clamping means
    • B23Q3/08Work-clamping means other than mechanically-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/04Tubular or hollow articles
    • B23K2101/12Vessels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2703/00Work clamping
    • B23Q2703/02Work clamping means
    • B23Q2703/04Work clamping means using fluid means or a vacuum

Abstract

The invention provides an ellipsoidal tank bottom flange hole milling/flange plate welding assembly; a clamping fixture of the ellipsoidal tank bottom flange hole milling/flange plate welding assembly comprises a clamping fixture base fixed on a cross positioner; a plurality of axial hold-down blocks capable of holding down an outer edge of a stepped fork ring on the bottom of an ellipsoidal tank in an axis direction of the clamping fixture base are arranged on the clamping fixture base; further, a plurality of radial tightly-propping devices for tightly propping against an inner wall of the stepped fork ring on the bottom of the ellipsoidal tank are further arranged; and a welding manipulator and a milling head both are arranged on a gantry. The ellipsoidal tank bottom flange hole milling/flange plate welding assembly guarantees, by means of the dual functions of the axial hold-down blocks and the radial tightly-propping devices, guarantees secure clamping positioning of the tank of the ellipsoidal tank without loosening easily; by means of once clamping, all flange hole milling and flange plate welding operations on the bottom of the ellipsoidal tank can be completed; convenient operations and low labor intensity are realized; assembling positioning errors caused by multiple clamping positioning are avoided, and the accuracy and efficiency of milling and welding are overall improved.

Description

The milling of ellipsoid store-vessel bottom flange hole, ring flange welding assembly
Technical field
The present invention relates to rocket ellipsoid tank process technology, particularly relate to the milling of a kind of ellipsoid store-vessel bottom flange hole, ring flange welding assembly.
Background technology
Rocket ellipsoid store-vessel bottom is generally all formed by eight melon lobes and fork ring assembly welding, it has highly different flange holes as required, after flange hole milling completes, coupling carries out welding flange operation again, during welding, use special fixture by rocket ellipsoid store-vessel bottom clamping and positioning, by the relative position be strained and fixed at the bottom of ring flange and case by upper and lower pressing plate, again by workman's hand torch, " weldering of three layers, two sides " technique is adopted to weld.
Open in the process of flange hole and welding flange and there is following problem:
Beat round by hand-held air drill, the mode of reaming opens flange hole, efficiency is very low, and flange hole and ring flange quality of fit low, the large local postwelding in gap discharges due to remaining welding stress, easy drawing crack; Part weld pitch elliposoidal case feather edge is comparatively far away, and workman is difficult to carry out welding operation under more comfortable body posture; Manual back welding is medial surface operation at the bottom of case, and working environment is particularly severe; The manual welding starting the arc, receipts arc often, easily produce defect; Welding quality relies on the operant level of operating personnel and has had experience, weldquality poor stability.
Summary of the invention
For the problems referred to above, the present invention aims to provide a kind of milling of ellipsoid store-vessel bottom flange hole, the ring flange welding assembly that can overcome or improve existing problem.
The technical scheme of this ellipsoid store-vessel bottom flange hole milling, ring flange welding assembly is achieved in that
The milling of described ellipsoid store-vessel bottom flange hole, ring flange welding assembly, comprise welding manipulator, milling head, cross positioner and the frock that is installed; The frock that is installed is installed on cross positioner, and the frock that is installed clamps for the location of ellipsoid store-vessel bottom; Milling head is installed on above the frock that is installed, and milling head is used for the milling in ellipsoid store-vessel bottom upper flange hole; Welding manipulator is installed on above the frock that is installed, and welding manipulator is for being welded as a whole at the bottom of the case of ring flange and ellipsoid store-vessel bottom flange hole place;
The described frock that is installed comprises the tool pedestal that is installed, the tool pedestal that is installed is fixed on cross positioner, the tool pedestal that is installed is furnished with the axial compression block that step-like for ellipsoid store-vessel bottom fork ring outer rim can compress along the tool pedestal axis direction that is installed by several, axial compression block is apart from being installed tool pedestal central point apart from equal;
The tool pedestal that is installed also is provided with some can radially movement around its central point, by the radial holding device that step-like for ellipsoid store-vessel bottom fork ring inwall holds out against.
Further, described radial holding device and cylinders connect, and it is consistent that Telescopic-cylinder direction and this radial holding device move radially direction.
Further, described cylinder has two, and radial holding device slides and is arranged on guide post, and it is consistent that guide post setting direction and this radial holding device move radially direction.
Further, described welding manipulator comprises welding manipulator ram, welding manipulator cantilever, welding robot and welding gun, described milling head comprises milling arm ram, milling arm sling arm, milling regulon and milling spindle, welding manipulator and milling head are all arranged on gantry, gantry can move in parallel, gantry is provided with line slideway and tooth bar perpendicular to its moving direction, welding manipulator ram and milling arm ram are all movably set on line slideway by slide block, welding manipulator ram, milling arm ram is all by the corresponding drive welding manipulator of the engagement between driving mechanism to tooth bar ram, milling arm ram moves along tooth bar, welding manipulator cantilever, milling arm sling arm is all movably connected on welding manipulator ram by screw mechanism, on milling arm ram, welding manipulator cantilever afterbody is provided with welding robot, welding robot afterbody is provided with welding gun, milling arm sling arm afterbody arranges milling regulon, milling regulon is provided with milling spindle.
Further, described welding manipulator and milling head all mate corresponding line slideway and tooth bar.
Further, described welding manipulator and milling head are all arranged on identical guide rail and tooth bar.
Further, described welding robot people is the IRB/. profile shaft robot of ABB AB.
Further, described milling regulon comprises Y-direction milling mobile device and X to milling mobile device, Y-direction milling mobile device is connected with milling arm sling arm afterbody, X is connected to milling mobile device with Y-direction milling mobile device, milling spindle is connected to milling mobile device with X, Y-direction milling mobile device can drive X to do the motion being parallel to line slideway to milling mobile device and milling spindle by driving mechanism, and X can drive milling spindle to do the motion being parallel to gantry-travelling direction to milling mobile device by driving mechanism.
Further, described welding robot tailing axle is connected with fine-adjusting unit, fine-adjusting unit comprises WidFin device and vertical micromatic setting, WidFin device is connected with welding robot tailing axle, vertical micromatic setting is connected with WidFin device, welding gun is connected with vertical micromatic setting, WidFin device can drive vertical micromatic setting and welding gun to do the motion being parallel to the tool pedestal that is installed by driving mechanism, and vertical micromatic setting can drive welding gun to do motion perpendicular to the tool pedestal that is installed by driving mechanism.
Further, described driving mechanism is linear electric motors.
Ellipsoid store-vessel bottom is placed in after in the tool pedestal that is installed by the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, by axial compression block, the fork ring outer rim on ellipsoid store-vessel bottom is compressed, drive radial holding device along being installed tool pedestal radial outward movement simultaneously, fork ring inwall on ellipsoid store-vessel bottom is held out against, double action ensures that ellipsoid store-vessel bottom clamping and positioning is firm, not easily produce and loosen, avoid mismachining tolerance loosely caused due to clamping in follow-up milling and welding process; During work, by the compound motion of cross positioner, gantry, milling arm ram, milling arm sling arm, milling regulon, driving the operation of milling spindle cutter, the milling of all flange holes on ellipsoid store-vessel bottom can be completed when being once installed; By the compound motion of cross positioner, gantry, welding manipulator ram, welding manipulator cantilever, welding robot, drive welding gun operation, the ring flange welding of all flange holes on ellipsoid store-vessel bottom can be completed when being once installed, both overcome existing milling, weld job had operated the shortcoming inconvenient, labour intensity is large, turn avoid repeatedly is installed locates the assembling and positioning error brought, improves milling and welding precision and efficiency on the whole.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is ellipsoid store-vessel bottom structural representation;
Fig. 2 is the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly structure schematic diagram;
Fig. 3 is the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly decomposing schematic representation;
Fig. 4 is gantry, welding manipulator, milling head structural representation;
Fig. 5 is welding manipulator partial enlarged drawing;
Fig. 6 is milling head partial enlarged drawing;
Fig. 7 is the tool structure schematic diagram that is installed;
Fig. 8 is inner supporting device structural representation;
Fig. 9 is cross positioning unit structural representation;
Figure 10 is the bearing unit structural representation of external compression device;
Figure 11 is the compressing unit structural representation of external compression device;
Figure 12 is inner supporting device, external compression device coordinates compression locating flange dish view to be welded.
Description of reference numerals:
In figure: 1. melon lobe, 2. ring flange, 3. fork ring, 101. gantry, 102. welding manipulator, 103. milling head, 104. cross positioners, 105. are installed frock, 106. ellipsoid store-vessel bottom, 201. line slideway, 202. tooth bar, 203. milling arm rams, 204. milling arm sling arms, 205. welding manipulator rams, 206. welding manipulator cantilevers, 207. welding robot, 208. welding gun, 209. milling regulons, 210. milling spindle, 301. WidFin devices, 302. vertical micromatic settings, 401.Y is to milling mobile device, 402.X is to milling mobile device, 501. axial compression blocks, 502. radial holding devices, 503. are installed tool pedestal, 601. turntable, 602. servo control mechanism, 603. gradient slides, 604. supporting disk, 605. hold-down column, 606. flange platens, 607. radial sledge, 608. cross positioning units, 609. clamp nut, 610. screwed hole, 611. weldering bakies, 701. hydraulic cylinder, 702. articulated slab, 703. arc guide rail, 704. are connected platform, 705. slide plate, 706. external compression seats, 707. linking springs, 708. external compression rings, 709. external compression blocks.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " etc. only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, one or more these features can be expressed or impliedly be comprised to the feature being limited with " first ", " second " etc.In describing the invention, except as otherwise noted, the implication of " multiple " is two or more.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood by concrete condition.
Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Ellipsoid store-vessel bottom flange hole of the present invention milling, ring flange welding assembly, comprise welding manipulator 102, milling head 103, cross positioner 104 and the frock 105 that is installed; The frock that is installed 105 is installed on cross positioner 104, the frock that is installed 105 clamps for the location of ellipsoid store-vessel bottom 106, cross positioner 104 is common apparatus, and have a pitch freedom and a circumference rotary freedom, the frock that is installed 105 can be moved thereupon;
Milling head 103 is installed on above the frock 105 that is installed, and milling head 103 is for the milling in ellipsoid store-vessel bottom 106 upper flange hole;
Welding manipulator 102 is installed on above the frock 105 that is installed, and welding manipulator 102 is for being welded as a whole ring flange 2 with at the bottom of the case at ellipsoid store-vessel bottom 106 flange hole place.
The milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly also comprise inner supporting device, comprise turntable 601 and some support units, turntable 601 is coupled to by servo control mechanism 602 axle and is installed in frock 105, support unit is laid on turntable 601, support unit comprises the radial sledge 607 that can move radially along turntable 601, radial sledge 607 1 side and turntable 601 setting in a certain angle, this side is provided with and can climbs along this side or the gradient slide 603 of descending motion, gradient slide 603 is provided with supporting disk 604;
The flange hole one_to_one corresponding that described support unit and ellipsoid store-vessel bottom 106 differing heights are offered, according to highly different, the angle that support unit is provided with between the side of gradient slide 603 and turntable 601 also need not, support unit is after radial sledge 607 and gradient slide 603 compound motion, and the supporting disk 604 of this support unit is closely against on ellipsoid store-vessel bottom 106 inwall with the flange hole surrounding corresponding to this support unit;
Described supporting disk 604 offers screwed hole 610 along its axis direction, and supporting disk 604 also mates the hold-down column 605 that can screw in screwed hole 610, can overlap the flange platen 606 be through on hold-down column 605 and the clamp nut 609 that can screw on hold-down column 605.
During welding flange 2, according to flange hole position, by driving turntable 601, the support unit corresponding to this flange hole is made to be in relevant position, moved by control radial sledge 607 and gradient slide 603 again, supporting disk 604 is made to be closely against on ellipsoid store-vessel bottom 106 inwall of this flange hole surrounding, again ring flange 2 is placed in this flange hole place, by hold-down column 605, cooperatively interacting of flange platen 606 and clamp nut 609, flange platen 606 is made to press ring flange 2, and the even weld between ring flange 2 and flange hole, namely the quality of fit of flange hole and ring flange 2 can be ensured, and then the welding precision both ensureing.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, described supporting disk 604 is provided with weldering bakie 611, immediately below the weld seam of weldering bakie 611 between ellipsoid store-vessel bottom 106 upper flange hole and the ring flange 2 that matches with it, the setting of weldering bakie 611, can realize the welding effect of single-side welding double-side forming; Simultaneously owing to welding the setting of bakie 611, during welding flange 2, supporting disk 604 is positioned at ellipsoid store-vessel bottom 106 inwall of the part outside weldering bakie 611 for supporting methods flange aperture surrounding, supporting disk 604 is positioned at the lower surface of the part inside weldering bakie 611 for pivot flange dish 2, flange platen 606 presses the upper surface of ring flange 2, the two matches, and positions ring flange 2.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, described screwed hole 610 is coaxially offered with supporting disk 604, when on ellipsoid store-vessel bottom 106 inwall that supporting disk 604 is closely against the flange hole surrounding corresponding to this support unit, screwed hole 610 need be coaxial with flange hole.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, described screwed hole 610 center is provided with cross positioning unit 608, regulates for the same shaft assignment of screwed hole 610 with flange hole.
Specifically, described cross positioning unit 608 is cross groove, and cross groove is portrayed bottom screwed hole 610, and cross groove crosspoint is positioned on screwed hole 610 axis.
Specifically, described cross positioning unit 608 also can be cross locating piece, cross locating piece is bolted in screwed hole 610, cross groove has been portrayed at cross locating piece top, cross groove crosspoint is positioned on screwed hole 610 axis, after screwed hole 610 and the same shaft assignment of flange hole have regulated, this cross locating piece is taken off, then has carried out follow-up ring flange 2 positioning compression operation.
Above-mentioned inner supporting device all plays very important effect in flange hole milling and ring flange welding.It is as follows that inner supporting device supports adjustment operation step: control cross positioner 104 and milling head 103 moves, and makes actually on milling head 103 main shaft and ellipsoid store-vessel bottom 106 to open the dead in line of flange hole place, drills through central process hole and carry out suitable reaming; By driving turntable 601, make the support unit corresponding to this flange hole be in relevant position, then moved by control radial sledge 607 and gradient slide 603, make cross positioning unit 608 and central process hole center superposition, complete inner supporting device and regulate; Carry out flange hole thereupon again and break milling, cleaning and ring flange 2 weld job.
The milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly also comprise external compression device, described external compression device 108 comprises bearing unit and compressing unit, bearing unit comprises arc guide rail 703 and slide plate 705, the circular guideway that some sections of arc guide rails 703 are spliced to form is around ellipsoid store-vessel bottom 106, be arranged at and be installed in frock 105, slide plate 705 is across ellipsoid store-vessel bottom 106, and its two ends are slidably connected on circular guideway;
Slide plate 705 has several, slide plate 705 is provided with compressing unit, slide plate 705 is installed on after on circular guideway, the all corresponding one group of ellipsoid store-vessel bottom 106 of compressing unit on each slide plate 705 is positioned at the flange hole of sustained height, when compressing unit on same slide plate 705 compresses different flange holes, only need to rotate slide plate 705 to appropriate location, compressing unit comprises external compression seat 706, linking springs 707, external compression ring 708 and external compression block 709, external compression seat 706 and external compression ring 708 are circular ring, external compression ring 708 is positioned at external compression seat 706, the two is connected by linking springs 707, external compression block 709 interlock is arranged on external compression seat 706 and external compression ring 708, external compression block 709 on compressing unit can drive external compression ring 708 to be closely against on ellipsoid store-vessel bottom 106 outer wall of the flange hole surrounding corresponding to this compressing unit.
Time on ellipsoid store-vessel bottom 106 outer wall compressing unit being pressed in flange hole surrounding corresponding to this compressing unit, slide plate 705 is driven to slide on circular guideway, compressing unit is made to be positioned at relevant position, again by adjustment external compression block 709, can realize compressing effect, by cooperatively interacting of inner supporting device and external compression device, reach the object from the inside and outside wall of the ellipsoid store-vessel bottom 106 ellipsoid store-vessel bottom 106 of fixation flange aperture surrounding simultaneously.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, external compression device and inner supporting device not only play an important role in ring flange 2 welds, and at a upper procedure of this operation, namely also play an important role during flange hole milling.Milling head 103 is on ellipsoid store-vessel bottom 106 during milled holes, power that is downward along flange hole axis and that radially outward disperse along flange hole is applied to ellipsoid store-vessel bottom 106 wall, the support force that inner supporting device provides can balance along the downward power of flange hole axis, the clamping force of the thrust that external compression device provides and the support force that inner supporting device provides can restrict the power of radially outward dispersing along flange hole, thus it is higher to obtain precision, the milling flange hole of better quality; In addition, the weldering bakie 611 in inner supporting device on supporting disk 604, in milling process, is formed milling cutter and dodges, avoid the generation of interference.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, described external compression block 709 comprises back-up block, hold-down bolt and articulated slab, back-up block is fixed on external compression seat 706, be articulated with in the middle part of articulated slab on back-up block, articulated slab one end is closely against on external compression ring 708, and articulated slab the other end is bolted with the hold-down bolt be closely against on external compression seat 706.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, described bearing unit also comprises articulated slab 702 and is connected platform 704, every section of arc guide rail 703 is arranged on an articulated slab 702, each linking platform 704 is also arranged on an articulated slab 702, articulated slab 702 is articulated with and is installed in frock 105, be connected platform 704 for connecting two sections of adjacent arc guide rails 703, arc guide rail 703 or linking platform 704 are conveniently opened by arranging of articulated slab 702, avoid interfering.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, being articulated with in the middle part of described articulated slab 702 is installed in frock 105, one end of articulated slab 702 is provided with arc guide rail 703 or is connected platform 704, the other end of articulated slab 702 is connected with hydraulic cylinder 701, and hydraulic cylinder 701 drives arc guide rail 703 by articulated slab 702 or is connected platform 704 and does open and close movement;
Described linking platform 704 is provided with supporting surface, and when hydraulic cylinder 701 drives arc guide rail 703 or linking platform 704 to be in closure state, two sections of arc guide rail 703 adjacent end portion overlap joints are pressed on the supporting surface of linking platform 704.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, the described frock 105 that is installed comprises the tool pedestal 503 that is installed, the tool pedestal that is installed 503 is fixed on cross positioner 104, the tool pedestal that is installed 503 is furnished with the axial compression block 501 that step-like for ellipsoid store-vessel bottom 106 fork ring 3 outer rim can compress along tool pedestal 503 axis directions that be installed by several, axial compression block 501 apart from tool pedestal 503 central point that is installed apart from equal;
The tool pedestal that is installed 503 is also provided with some can radially movement around its central point, by the radial holding device 502 that step-like for ellipsoid store-vessel bottom 106 fork ring 3 inwall holds out against.
Ellipsoid store-vessel bottom 106 is placed in after in the tool pedestal 503 that is installed, by axial compression block 501, fork ring 3 outer rim on ellipsoid store-vessel bottom 106 is compressed, drive radial holding device 502 along tool pedestal 503 radial outward movement that is installed simultaneously, fork ring 3 inwall on ellipsoid store-vessel bottom 106 is held out against, double action ensures that ellipsoid store-vessel bottom 106 clamping and positioning is firm, not easily produces and loosens.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, described radial holding device 502 connects with cylinders, and it is consistent that Telescopic-cylinder direction and this radial holding device 502 move radially direction.
Described cylinder has two, and radial holding device 502 slides and is arranged on guide post, and it is consistent that guide post setting direction and this radial holding device 502 move radially direction, ensures not produce offset deviation in radial holding device 502 radial displacement process.
The milling of this ellipsoid store-vessel bottom flange hole, in ring flange welding assembly, described welding manipulator 102 comprises welding manipulator ram 205, welding manipulator cantilever 206, welding robot 207 and welding gun 208, described milling head 103 comprises milling arm ram 203, milling arm sling arm 204, milling regulon 209 and milling spindle 210, welding manipulator 102 and milling head 103 are all arranged on gantry 101, gantry 101 can move in parallel, gantry 101 is provided with line slideway 201 and tooth bar 202 perpendicular to its moving direction, welding manipulator ram 205 and milling arm ram 203 are all movably set on line slideway 201 by slide block, welding manipulator ram 205, milling arm ram 203 is all by the corresponding drive welding manipulator of the engagement between driving mechanism to tooth bar 202 ram 205, milling arm ram 203 moves along tooth bar 202, welding manipulator cantilever 206, milling arm sling arm 204 is all movably connected on welding manipulator ram 205 by screw mechanism, on milling arm ram 203, welding manipulator cantilever 206 afterbody is provided with welding robot 207, welding robot 207 afterbody is provided with welding gun 208, milling arm sling arm 204 afterbody arranges milling regulon 209, milling regulon 209 is provided with milling spindle 210.
During work, by the compound motion of cross positioner 104, gantry 101, milling arm ram 203, milling arm sling arm 204, milling regulon 209, drive the operation of milling spindle 210 cutter, the milling of all flange holes on ellipsoid store-vessel bottom 106 can be completed when an ellipsoid store-vessel bottom 106 is installed; By the compound motion of cross positioner 104, gantry 101, welding manipulator ram 205, welding manipulator cantilever 206, welding robot 207, drive welding gun 208 operation, the ring flange 2 that can complete all flange holes on ellipsoid store-vessel bottom 106 when an ellipsoid store-vessel bottom 106 is installed welds.
In the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, described welding manipulator 102 and milling head 103 all mate corresponding line slideway 201 and tooth bar 202, or described welding manipulator 102 and milling head 103 are all arranged on identical guide rail and tooth bar 202.
Specifically, in the milling of this ellipsoid store-vessel bottom flange hole, ring flange welding assembly, described welding robot 207 is the IRB260020/1.65 type 6 axle robot of ABB AB, and its tailing axle working range is+400 ° to-400 °, can meet the demands.
Specifically, the milling of this ellipsoid store-vessel bottom flange hole, in ring flange welding assembly, described milling regulon 209 comprises Y-direction milling mobile device 401 and X to milling mobile device 402, Y-direction milling mobile device 401 is connected with milling arm sling arm 204 afterbody, X is connected to milling mobile device 402 with Y-direction milling mobile device 401, milling spindle 210 is connected to milling mobile device 402 with X, Y-direction milling mobile device 401 can drive X to do to milling mobile device 402 and milling spindle 210 motion being parallel to line slideway 201 by driving mechanism, X can drive milling spindle 210 to do the motion being parallel to gantry 101 moving direction to milling mobile device 402 by driving mechanism.
The milling of this ellipsoid store-vessel bottom flange hole, in ring flange welding assembly, described welding robot 207 tailing axle is connected with fine-adjusting unit, fine-adjusting unit comprises WidFin device 301 and vertical micromatic setting 302, WidFin device 301 is connected with welding robot 207 tailing axle, vertical micromatic setting 302 is connected with WidFin device 301, welding gun 208 is connected with vertical micromatic setting 302, WidFin device 301 can drive vertical micromatic setting 302 and welding gun 208 to do the motion being parallel to the tool pedestal 503 that is installed by driving mechanism, vertical micromatic setting 302 can drive welding gun 208 to do motion perpendicular to the tool pedestal 503 that is installed by driving mechanism.
For the welding of ring flange 2 corresponding to large radius method flange aperture, the general programming realization by butt welding machine device people 207, for the welding of ring flange 2 corresponding to the flange hole that radius is less, by controlling welding robot 207 angle, its tailing axle axis is overlapped with weld line, adjust WidFin device 301 and vertical micromatic setting 302 again, welding gun 208 is made to arrive operating position, drive the spinning of welding robot 207 tailing axle, the welding of weld seam volume can either be realized, reduce programing work amount, save time, improve welding efficiency.
Above-mentioned driving mechanism preferably adopts linear electric motors, and it has the straight-line displacement characteristic being better than the mechanism such as rack-and-pinion, leading screw.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. ellipsoid store-vessel bottom flange hole milling, a ring flange welding assembly, comprise welding manipulator (102), milling head (103), cross positioner (104) and the frock that is installed (105); The frock that is installed (105) is installed on cross positioner (104), and the frock that is installed (105) clamps for the location of ellipsoid store-vessel bottom (106); Milling head (103) is installed on the frock that is installed (105) top, and milling head (103) is for the milling in ellipsoid store-vessel bottom (106) upper flange hole; Welding manipulator (102) is installed on the frock that is installed (105) top, and welding manipulator (102) is for being welded as a whole ring flange (2) with at the bottom of the case at ellipsoid store-vessel bottom (106) flange hole place; It is characterized in that: described in the frock (105) that is installed comprise the tool pedestal that is installed (503), the tool pedestal that is installed (503) is fixed on cross positioner (104), the tool pedestal that is installed (503) is furnished with the axial compression block (501) that ellipsoid store-vessel bottom (106) step-like fork ring (3) outer rim can compress along tool pedestal (503) axis direction that is installed by several, axial compression block (501) is apart from being installed tool pedestal (503) central point apart from equal;
The tool pedestal that is installed (503) is also provided with some can radially movement around its central point, the radial holding device (502) held out against by ellipsoid store-vessel bottom (106) step-like fork ring (3) inwall.
2. ellipsoid store-vessel bottom flange hole according to claim 1 milling, ring flange welding assembly, it is characterized in that: described radial holding device (502) and cylinders connect, and it is consistent that Telescopic-cylinder direction and this radial holding device (502) move radially direction.
3. ellipsoid store-vessel bottom flange hole according to claim 2 milling, ring flange welding assembly, it is characterized in that: described cylinder has two, radial holding device (502) slip is arranged on guide post, and it is consistent that guide post setting direction and this radial holding device (502) move radially direction.
4. ellipsoid store-vessel bottom flange hole according to claim 1 milling, ring flange welding assembly, it is characterized in that: described welding manipulator (102) comprises welding manipulator ram (205), welding manipulator cantilever (206), welding robot (207) and welding gun (208), described milling head (103) comprises milling arm ram (203), milling arm sling arm (204), milling regulon (209) and milling spindle (210), welding manipulator (102) and milling head (103) are all arranged on gantry (101), gantry (101) can move in parallel, gantry (101) is provided with line slideway (201) and tooth bar (202) perpendicular to its moving direction, welding manipulator ram (205) and milling arm ram (203) are all movably set on line slideway (201) by slide block, welding manipulator ram (205), milling arm ram (203) is all by engagement corresponding drive welding manipulator ram (205) between driving mechanism to tooth bar (202), milling arm ram (203) is mobile along tooth bar (202), welding manipulator cantilever (206), milling arm sling arm (204) is all movably connected on welding manipulator ram (205) by screw mechanism, on milling arm ram (203), welding manipulator cantilever (206) afterbody is provided with welding robot (207), welding robot (207) afterbody is provided with welding gun (208), milling arm sling arm (204) afterbody arranges milling regulon (209), milling regulon (209) is provided with milling spindle (210).
5. ellipsoid store-vessel bottom flange hole according to claim 4 milling, ring flange welding assembly, is characterized in that: described welding manipulator (102) and milling head (103) all mate corresponding line slideway (201) and tooth bar (202).
6. ellipsoid store-vessel bottom flange hole according to claim 4 milling, ring flange welding assembly, is characterized in that: described welding manipulator (102) and milling head (103) are all arranged on identical guide rail and tooth bar (202).
7. ellipsoid store-vessel bottom flange hole according to claim 4 milling, ring flange welding assembly, is characterized in that: the IRB260020/1.65 type 6 axle robot that described welding robot (207) is ABB AB.
8. ellipsoid store-vessel bottom flange hole according to claim 4 milling, ring flange welding assembly, it is characterized in that: described milling regulon (209) comprises Y-direction milling mobile device (401) and X to milling mobile device (402), Y-direction milling mobile device (401) is connected with milling arm sling arm (204) afterbody, X is connected to milling mobile device (402) with Y-direction milling mobile device (401), milling spindle (210) is connected to milling mobile device (402) with X, Y-direction milling mobile device (401) can drive X to do to milling mobile device (402) and milling spindle (210) motion being parallel to line slideway (201) by driving mechanism, X can drive milling spindle (210) to do the motion being parallel to gantry (101) moving direction to milling mobile device (402) by driving mechanism.
9. ellipsoid store-vessel bottom flange hole according to claim 4 milling, ring flange welding assembly, it is characterized in that: described welding robot (207) tailing axle is connected with fine-adjusting unit, fine-adjusting unit comprises WidFin device (301) and vertical micromatic setting (302), WidFin device (301) is connected with welding robot (207) tailing axle, vertical micromatic setting (302) is connected with WidFin device (301), welding gun (208) is connected with vertical micromatic setting (302), WidFin device (301) can drive vertical micromatic setting (302) and welding gun (208) to do the motion being parallel to the tool pedestal that is installed (503) by driving mechanism, vertical micromatic setting (302) can drive welding gun (208) to do motion perpendicular to the tool pedestal that is installed (503) by driving mechanism.
10. ellipsoid store-vessel bottom flange hole according to claim 9 milling, ring flange welding assembly, is characterized in that: described driving mechanism is linear electric motors.
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CN107309565A (en) * 2017-07-07 2017-11-03 天津航天长征火箭制造有限公司 A kind of whole bottom state abutted flange disk lean and correct assembly welding method of Ф 3350mm ellipsoid bottoms
CN108453356A (en) * 2018-03-29 2018-08-28 江苏新时代造船有限公司 A kind of complexity Zhong Zuli robots compression arc MAG welding methods
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CN113084560B (en) * 2021-06-10 2021-09-03 四川航天长征装备制造有限公司 Flexible supporting device for processing large thin-wall spherical part and reference alignment method

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