CN106624583A - Recovering machine for installing marine assembling pipes and recovering method - Google Patents
Recovering machine for installing marine assembling pipes and recovering method Download PDFInfo
- Publication number
- CN106624583A CN106624583A CN201611215709.9A CN201611215709A CN106624583A CN 106624583 A CN106624583 A CN 106624583A CN 201611215709 A CN201611215709 A CN 201611215709A CN 106624583 A CN106624583 A CN 106624583A
- Authority
- CN
- China
- Prior art keywords
- headstock
- arm
- chuck
- roll
- over table
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
Abstract
The invention discloses a recovering machine for installing marine assembling pipes. The recovering machine for installing the marine assembling pipes comprises a base, a guiding rail is installed on the base, a head frame rotating shaft is arranged at one end of the base, a head frame is installed on the head frame rotating shaft, a head frame overturning table is hinged to the head frame, a head frame chuck rotating shaft is arranged on the head frame overturning table, a head frame chuck is installed on the head frame chuck rotating shaft, and a clamping mechanism is arranged on the head frame chuck; a robot arm base moving along the guiding rail is arranged on the guiding rail, a chuck rotating shaft is installed on the robot arm base, a robot arm bottom frame is installed on the chuck rotating shaft, a mechanical arm is installed on the robot arm bottom frame, the overturning table is installed at the top end of the mechanical arm, and a robot-arm screw rod clamping jaw is installed on the overturning table. According to the recovering machine for the assembling pipes, flanges are shifted through the recovering machine for the assembling pipes, the flanges and the pipes are accurately assembled, and the aim that the assembling pipes are efficiently and accurately processed with low cost is achieved.
Description
Technical field
The present invention relates to a kind of reproduction machine installed for gathering pipe peculiar to vessel and reproducting method, are applied to the processing of gathering pipe
Manufacture, belongs to material shaping automation technical field.
Background technology
Pipeline it has been covered with ship everywhere, design, making and inspection after installation etc. in board of these pipe fittings are
The operation of row is referred to as " pipe laying ".Generally ship is sectional construction, is accomplished by segment folding time-division intersegmental pipeline
Gathering pipe cannot produce gathering pipe miscellaneous connecting by pipeline designs drawing, and the making of gathering pipe is generally adopted
Take type method and site welding connection.
The type method of taking is that two existing flanges are fixed on the flange of two long tubes for needing connection, then will with angle bar
Two flange weldings are an entirety, are then transported on pipeline processing platform, measure the position relationship of two flanges, Ran Houxian
Field workman also has bend pipe quantity by the empirically determined general length of straight pipe and bend pipe angle of oneself, waits straight tube and bend pipe processing
After good, beginning is assembled with two flanges, is needed constantly according to actual conditions when assembling, and straight tube and bend pipe are entered
Row on-site cutting, change, entirely appropriate formal welding could be started until each junction coordinates.Such process is past
It is big toward the randomness without regular processing drawing, manufacture, it is repeatable poor, and also the processing experimental technology level of workman is serious
Affect the quality of processing, time-consuming for process, waste of material than more serious, this work to the technical requirements of workman very
Height, the gathering pipe accuracy so made in addition is not high, often occurs bolt hole when gathering pipe is installed out of alignment
Really, flange sealing surface laminating not closely, close up length of tube it is improper situations such as, once these problems occur gathering pipe will be hung
Go out cabin to remodify, delay the shipbuilding time, while there is very big potential safety hazard.
Site welding connection is referred to draws in advance the local sketch for closing up place, then makes the relatively slightly long tubing of local sketch,
In the method that erecting bed is cut and then welded.This method is only suitable for the flange locus of two pipes that need to close up and compares
Simple situation.
Both approaches are suffered from the drawback that：
(1) accuracy is not high, the defective work that can have 10%；
(2) activity duration is long, and when carrying, contingency is multiple, there are many potential safety hazards；
(3) aids such as flange and angle bar are needed, material serious waste is caused；
(4) in ship there is disaster hidden-trouble in the operation such as welding, cutting；
(5) needs are skilled in technique, veteran skilled worker can just complete this work.
So, the gathering pipe flange bolt hole malposition for often occurring producing using both above method is led
The situation that cause cannot be installed.
Patent 201110247475.7 proposes a kind of solution, invents a kind of positioner to install gathering pipe, can be fast
Speed accurately according to measurement data adjustment flange position in gathering pipe measuring system, reproduces the space bit of to be closed up two flange
Put, improve operating efficiency and accuracy.But there is also certain limitation：Two flanges must in the same plane, its headstock
Can only adjustable range with tailstock, it is impossible to realize change spatially, cause designed and assembling gathering pipe complex, for
Three-dimensional gathering pipe is installed, can only in two dimensional surface a group by a group carry out assembling spot welding, for complicated gathering pipe, reproduce
Work is complicated, and last welding is difficult to control to welding deformation, and precision is not high.Especially complex, conjunction is laid in the marine piping of reality
Hold together the quantity of pipe typically no less than four, and four gathering pipes are not at grade, need to lay in three dimensions, such as
Fruit using patent 201110247475.7 device, need first weld two gathering pipes, then welding other two close up
Pipe, is then welding two groups of soldered gathering pipes, because four gathering pipes are not in same plane, using existing dress
Put, need to be related to clamping device again, it be not disposable welding fabrication to be additionally, since, and welding precision is poor, cause to be welded
Gathering pipe is arranged on the pipeline of ship and well may not couple together in two pipelines to be connected, causes to make
With.
The content of the invention
Technical problem to be solved：Not high for the gathering pipe accuracy of manufacture, technique is loaded down with trivial details, the problem of manufacturing time length,
The invention provides a kind of closed tube reproduction machine, is conjugated flange by this closed tube reproduction machine, with pipe accurate assembly, realize
Efficiently, accurately, the purpose of low cost processing gathering pipe.
The present invention is realized by the following technical programs：A kind of reproduction machine installed for gathering pipe peculiar to vessel, for peculiar to vessel
The reproduction machine that gathering pipe is installed, including base, on the base guide rail is provided with, and in one end of base headstock gyroaxis is provided with,
The headstock is installed on the headstock gyroaxis, headstock roll-over table is hinged with the headstock, headstock roll-over table is provided with the rotation of headstock chuck
Rotating shaft, is provided with headstock chuck in headstock chuck rotary shaft, headstock chuck is provided with clamping device；It is provided with along guide rail on guide rail
Mobile robot arm base, is provided with chuck rotary shaft on robot arm base, installs organic in chuck rotary shaft
Device human arm underframe, is provided with mechanical arm on robot arm underframe, and the top of mechanical arm is provided with roll-over table, is turning over
Robot arm screw mandrel claw is installed on turntable.
Base is notch cuttype, and the headstock is connected by headstock gyroaxis with the upper ladder of base, and headstock roll-over table passes through the headstock
Trip shaft is connected with the headstock, and headstock chuck is fixed on headstock roll-over table by chuck rotary shaft, and headstock chuck is installed above to be had
Individual headstock screw mandrel claw, 4 headstock locating pieces are arranged on headstock screw mandrel claw, and screw mandrel turning handle passes through silk with headstock screw mandrel claw
The connected headstock locating piece of the screw thread of bar can be moved forward and backward by rotary screw rod turning handle on headstock screw mandrel claw, 4 headstocks
Screw mandrel claw is engaged by bevel gear case, as long as any one rotated in 4 screw mandrel turning handles is capable of achieving 4 headstock positioning
The radial direction of block is synchronized with the movement, and on headstock chuck, along vertical headstock tumble rotation direction installing locating slot, zero point is housed on locating slot
Locating piece.
Preferably, the mechanical arm includes the first arm, the second arm and the 3rd arm, first arm is fixed on robot
On arm underframe, the first arm is hinged with the second arm, and the second arm is hinged with the 3rd arm, and the 3rd arm is fixedly connected with roll-over table.
Preferably, the headstock gyroaxis is driven by headstock gyroaxis motor, headstock roll-over table passes through first
Upset motor drives the upset of headstock roll-over table, headstock chuck rotary shaft to drive by headstock chuck rotary shaft motor, chuck
Rotary shaft is driven by chuck rotary shaft motor, and the second arm is driven by the first servomotor and rotated, and the 3rd arm is by the
Two servomotors drive and rotate, and roll-over table drives roll-over table upset, the headstock gyroaxis to drive electricity by the second upset motor
Machine driving, the first upset motor, headstock chuck rotary shaft motor, chuck rotary shaft motor, the first servomotor,
Two servomotors and the second upset motor are connected with controller, displacement transducer are provided with robot arm base, in head
Frame roll-over table, roll-over table, headstock chuck rotary shaft, chuck rotary shaft, the drive shaft of the first servomotor and the second servomotor
Drive shaft on be equipped with angular transducer.
In the present invention, the downstairs of base are provided with guide rail, and robot arm floor installation, can be along guide rail on guide rail
Motion, robot arm underframe is connected by chuck rotary shaft with robot arm base, and mechanical arm is mechanical connection, machine
Human arm chuck is connected on roll-over table, and chuck is installed above 4 robot arm screw mandrel cards, and 4 locating pieces are arranged on machine
On device human arm screw mandrel claw, screw mandrel turning handle is connected with screw mandrel claw by the screw thread of screw mandrel, 4 robot arm screw mandrel claws
Engaged by bevel gear case, along vertical headstock tumble rotation direction installing locating slot on robot arm chuck, on locating slot
Equipped with zero-point positioning block.
In the present invention, the screwed hole of a diameter 10mm is opened on described locating piece, it is straight that this screwed hole is equipped with bottom
Footpath is the alignment pin of 10mm screw threads.
In the present invention, described base total length is 4000mm；Headstock gyroaxis can be with ± 90 ° of revolutions；The headstock overturns
The upset scope of axle is real 0 °～90 °；Headstock chuck and robot arm diameter of chuck 1300mm, the rotation of headstock chuck rotary shaft
Scope is ± 45 °, and the rotating range of robot arm chuck rotary shaft is ± 180 °.Described one kind is for gathering pipe peculiar to vessel peace
The reproduction machine of dress, overall structure is welded using Q235 steel plates.
In the present invention, also including 5 servomotors of PLC controls, 5 servomotors are respectively:Headstock gyroaxis drives
Dynamic motor, headstock trip shaft motor, headstock chuck rotary shaft motor, robot arm gyroaxis motor, watch
It is robot arm travel driving motor to take motor.
In the present invention, described reproduction machine special-purpose software, is divided into maintenance interface and operation interface, and maintenance interface supplies equipment
Zero point correction and it is upper electricity after first run before equipment rezero operation when use, maintenance interface is that every axle is all provided with just
Negative crawl, zero, data write and start button, can individually control the crawl of each axle, zero, data and write and open
It is dynamic, facilitate equipment debugging, wherein the function phase of positive and negative inching function and hand operation box is same, must always be pressed with mouse during crawl
Firmly inching button, servomotor just meeting action, once mouse leaves inching button, servomotor stops at once, while limiting dimension
Each axle inching button on shield interface and the switch on the SERVO CONTROL part of servomotor can not be used simultaneously, be to avoid many
Axle action simultaneously brings risk of collision；Each axle is returned by maintenance interface before running first after device power
Z-operation, after each axle zero operation interface is switched to.
A kind of described reproduction machine installed for gathering pipe peculiar to vessel, its control section is also equipped with flashing warning light.
Whole system is (including on headstock gyroaxis, headstock roll-over table, headstock chuck, robot arm, robot arm
Roll-over table) in robotic system software be an entirety, robot acquiescence headstock roll-over table initial position (i.e. installed in head
Flange position on frame is origin), whole system is three dimension system, and the system is main according to by three drawstring measurement apparatus and data
Data measured by fitting system carry out the reproduction of gathering pipe, and data fitting system is data fitting software, and the software is directly adjusted
The data measured with data measurin system carry out data fitting, the data lattice of data fitting software energy identification data measuring system
Formula, and call corresponding algorithm to be fitted calculating automatically in fitting.It is related to error correction in described the Fitting Calculation.Using
Mechanical arm substantially reduces error, because machinery nizhe, and gathering pipe is not positioning, the welding between simple two tubes,
Complicated gathering pipe needs four, or even more pipes are positioned, welded.Conventional reproduction machine can only be in two-dimensional space
The headstock, tailstock roll-over table are moved, changes position, position the pipe in two same planes, carry out reproduction assembling, for
Complicated closed tube reproduction, it is necessary to first position the gathering pipe in approximately the same plane, welding, then by the conjunction in itself and other planes
Hold together pipe to weld together, and welding times increase, welding deformation becomes big, and gathering pipe bulk deformation is increased, and set by fitting system
The gathering pipe of meter produces larger error.And three-dimensional machinery arm breaks through two-dimensional space in principle, reproducing processes can be optimized, be subtracted
Few welding times, complete welding under hard conditions, so as to reduce deformation, improve accuracy.
A kind of reproducting method of the above-mentioned reproduction machine installed for gathering pipe peculiar to vessel, comprises the following steps：
(1) according to existing measuring method to measure the relative position of two flanges, according to the laying side of existing pipeline
Method determines the quantity of gathering pipe, and the quantity of gathering pipe is more than two, determines the length of gathering pipe and relative to the relative of flange
Position；
(2) turn on the power, check whether each axle can normally move, after determining that each axle can be operating normally, by control
Each axle is adjusted to positive direction position by device；
(3) click each axle " zero " button on maintenance interface and zero point is arrived in the playback of each axle, carry out next step operation；
(4) flange is lifted on the headstock, suitable position is adjusted to according to the flange of step (1), while in method
Connect a gathering pipe on orchid, then lift another flange simultaneously on the roll-over table on mechanical arm, according to step (1) really
Fixed position, by flange suitable position is adjusted to, and gathering pipe is connected on flange, and two gathering pipes are welded as a whole；
(5) extract in the flange by the gathering pipe being welded from roll-over table, rotate mechanical arm, will be integrated
Gathering pipe leave, then hang oneself in roll-over table and load a gathering pipe, according to step (1) defined location, machinery is rotated again
Arm, the process of repeat step (4), until completing the welding of all gathering pipes, reproduction machine is operated using mechanical arm, can be with
So that each step welding process is all carried out under hard conditions, it is ensured that gathering pipe is indeformable, so as to improve precision.
The present invention has done larger improvement on its basis, and tailstock is adapted as into a robot arm, does not only have it
Front function, and can rotate freely in three dimensions.One flange is lifted on the headstock, while the upper conjunction of connection
Hold together pipe, then lift a flange simultaneously on mechanical arm, according to data the position that system is given is fitted, mechanical arm is carried out
Three-dimensional rotations so that the gathering pipe on the gathering pipe, mechanical arm on the headstock reaches specified location, then carries out spot welding,
Two gathering pipes are welded as a whole.When gathering pipe quantity is more than 2, now first by above-mentioned steps first two are welded, then
The pipe clamp head that closes up of headstock flange is unclamped, mechanical arm is rotated, the gathering pipe being integrated is left, then at the headstock
Next gathering pipe of lifting, again according to the position of fitting default, rotates again mechanical arm, repeat the above steps, directly
To the welding for completing all gathering pipes.Reproduction machine is operated using mechanical arm, each step welding process can be caused all firm
Carry out under the conditions of property, it is ensured that gathering pipe is indeformable, so as to improve precision.
Beneficial effect:The reproduction machine installed for gathering pipe peculiar to vessel of the present invention, Guide Rail Design is convenient to adjust two flanges
The distance between, each axle rotate can accurate flange position, a series of fixations being designed with beneficial to flange of chuck, machine
The design of human arm can in three dimensions regulating flange position, simplify the design of gathering pipe and be connected, reduction technique
Complexity, further improves the levels of precision of gathering pipe connection；The accurate connection of flange and pipe is truly realized, process is more
Plus it is efficiently accurate, greatly save duration and cost.Using servomotor as power resources, the control accuracy of action is high；Pass through
Software differentiates and hardware limit to input data, time sequential routine control and action sequence control, it is to avoid the danger that collides,
Security is good；The manufacture of the gathering pipe in suitable various industries, equipment interoperability is good.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the chuck structure figure of the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
Shown in Fig. 1 and Fig. 2, a kind of reproduction machine installed for gathering pipe peculiar to vessel of the present invention, including base 1, the bottom
Guide rail 2 is installed on seat 1, in one end of base 1 headstock gyroaxis 3 is provided with, the headstock 4, head are installed on the headstock gyroaxis 3
Headstock roll-over table 21 is hinged with frame 4, headstock roll-over table 21 is provided with headstock chuck rotary shaft 16, in headstock chuck rotary shaft 16
Headstock chuck 8 is installed, headstock chuck 8 is provided with clamping device；The robot arm along the movement of guide rail 2 is provided with guide rail 2
Base 15, is provided with chuck rotary shaft 16 on robot arm base 15, and in chuck rotary shaft 16 robot arm is provided with
Underframe 17, is provided with mechanical arm on robot arm underframe 17, and the mechanical arm includes the first arm 18, the and of the second arm 19
3rd arm 20, first arm 18 is fixed on robot arm underframe 17, and the first arm 18 is hinged with the second arm 19, the second arm 19
It is hinged with the 3rd arm 20, the 3rd arm 20 is fixedly connected with roll-over table 21, robot arm screw mandrel card is installed on roll-over table 21
Pawl 22.
Base 1 is notch cuttype, and the headstock 4 is connected by headstock gyroaxis 3 with the upper ladder of base 1, and headstock roll-over table 6 passes through
Headstock trip shaft 5 is connected with the headstock 4, and headstock chuck 8 is fixed on headstock roll-over table 6 by chuck rotary shaft 7, headstock chuck 8
It is installed above have 4 headstock screw mandrel claws, 9,4 headstock locating pieces 10 be arranged on headstock screw mandrel claw 9 on, screw mandrel turning handle 13 with
Headstock screw mandrel claw 9 is connected headstock locating piece 10 by the screw thread of screw mandrel can be by rotary screw rod turning handle 13 in headstock screw mandrel card
Move forward and backward on pawl 9,4 headstock screw mandrel claws 9 are engaged by bevel gear case 14, as long as rotating in 4 screw mandrel turning handles 13
Any one i.e. be capable of achieving 4 headstock locating pieces 10 radial direction be synchronized with the movement, on headstock chuck 8, along the vertical headstock upset
The direction installing locating slot 11 of axle 5, is equipped with zero-point positioning block 12 on locating slot 11.
In the present invention, the downstairs of base 1 are provided with guide rail 2, and robot arm base 15 is arranged on guide rail 2, can
Move along the rail, robot arm underframe 17 is connected by chuck rotary shaft 16 with robot arm base 15, and mechanical arm is
It is mechanically connected, robot arm chuck is connected on roll-over table 21, and chuck is installed above there are 4 robot arm screw mandrel claws
22,4 locating pieces 23 are arranged on robot arm screw mandrel claw, the screw thread phase that screw mandrel turning handle 13 passes through screw mandrel with screw mandrel claw
Even, 4 robot arm screw mandrel claws are engaged by bevel gear case 14, are overturn along the vertical headstock on robot arm chuck
Direction of principal axis installing locating slot 11, is equipped with zero-point positioning block 12 on locating slot.
For the ease of flange dead-center position positioning, the screwed hole 24, Ran Hougen of a diameter 10mm is opened on locating piece 12
Make that diameter is more smaller than diameter of bolt hole according to flange bolt pore diameter size, bottom is the alignment pin of diameter 10mm screw threads, protected
The positioning precision of demonstration orchid zero point.
The headstock gyroaxis is driven by headstock gyroaxis motor, and headstock roll-over table drives head by upset motor
Frame roll-over table overturns, and headstock chuck rotary shaft is driven by headstock chuck rotary shaft motor, and chuck rotary shaft passes through chuck
Rotary shaft motor drives, and the second arm is driven by the first servomotor and rotated, and the 3rd arm is driven by the second servomotor
Rotate, the headstock gyroaxis motor driving, upset motor, headstock chuck rotary shaft motor, chuck rotary shaft are driven
Dynamic motor, the first servomotor and the second servomotor are connected with controller.Whole system is (including headstock gyroaxis, the headstock
Roll-over table on roll-over table, headstock chuck, robot arm, robot arm) in robotic system software be an entirety,
The initial position (the flange position i.e. on the headstock is origin) of robot acquiescence headstock roll-over table, whole system is three-dimensional
System, the main data according to by measured by three drawstring measurement apparatus and data fitting system of the system carry out gathering pipe again
Existing, data fitting system is data fitting software, and the software directly invokes the data of data measurin system measurement and carries out data plan
Close, the data form of data fitting software energy identification data measuring system, and call corresponding algorithm to carry out automatically in fitting
The Fitting Calculation.It is related to error correction in described the Fitting Calculation.Error is substantially reduced using mechanical arm, because mechanical arm exists
Move in three dimensions, and gathering pipe is not positioning, the welding between simple two tubes, complicated gathering pipe needs four
Root, or even more pipe is positioned, welded.Conventional reproduction machine can only make the headstock, tailstock roll-over table in two-dimensional space
Move, change position, position the pipe in two same planes, carry out reproduction assembling, for complicated closed tube reproduction,
First the gathering pipe in approximately the same plane must be positioned, be welded, then the gathering pipe in itself and other planes is welded together, and
Welding times increase, and welding deformation becomes big, and gathering pipe bulk deformation is increased, and the gathering pipe generation designed by fitting system is larger
Error.And three-dimensional machinery arm breaks through two-dimensional space in principle, reproducing processes can be optimized, welding times be reduced, in rigidity
Under the conditions of complete welding, so as to reduce deformation, raising accuracy.
In the present invention, the power resources of equipment are 5 servomotors of PLC controls, and 5 servomotors are respectively:Head
Frame gyroaxis motor, headstock trip shaft motor, headstock chuck rotary shaft motor, robot arm gyroaxis drive
Dynamic motor, servomotor are robot arm travel driving motors.Above-mentioned all gyroaxises, trip shaft and rotary shaft are limited to institute
Place position around 360 ° of rotations of axle, therefore need not install spacing opening with being actually needed in certain limit outside its actuating range
Close, when each axle action exceeds actuating range, when touching limit switch, can stop automatically, it is ensured that equipment operation safety.
The present invention control section be divided into servomotor SERVO CONTROL part and reproduce machine special-purpose software, PLC control after
The switch of electrical equipment and opening time, so as to reach the purpose for opening and closing servo.Using a general purpose PC as data
Input and the operation platform of reproduction software, are connected, as communication port by netting twine and PLC.SERVO CONTROL part and PC are whole
It is combined into a switch board.Reproduction machine special-purpose software, is divided into maintenance interface and operation interface, maintenance interface for equipment zero point correction with
And it is upper electricity after first run before equipment rezero operation when use, maintenance interface is that every axle is all provided with positive and negative crawl, returns
0th, data write and start button, can individually control crawl, zero, data write and the startup of each axle, facilitate equipment
Debugging, wherein the function phase of positive and negative inching function and hand operation box is same, inching button must be always pinned during crawl with mouse,
Servomotor just meeting action, once mouse leaves inching button, servomotor stops at once, while limiting each on maintenance interface
Switch on the SERVO CONTROL part of axle inching button and servomotor can not be used simultaneously, to avoid multiaxis action band simultaneously
Carry out risk of collision；Rezero operation is carried out to each axle by maintenance interface before running first after device power, treat each
Operation interface is switched to after axle zero；Flashing warning light, shown in red during equipment moving, action are installed on switch board
Shown in green after stopping, in equipment moving, personnel can not be close.Emergency stop switch, function are housed on the panel of switch board
As the emergency stop switch on hand control box, the two emergency stop switch can be operated simultaneously.
The base total length of this reproduction machine is 4000mm；Headstock gyroaxis can be with ± 90 ° of revolutions；The upset of headstock trip shaft
Scope is real 0 °～90 °；Headstock chuck and robot arm diameter of chuck 1300mm, the rotating range of headstock chuck rotary shaft is ±
45 °, the rotating range of robot arm chuck rotary shaft is ± 180 °.Wherein, robot arm can be moved along track, head
It is the dead-center position of tailstock during axle center phase 2000mm of frame trip shaft and robot arm, to move as pros to the close headstock
To.After all zero points determine, by each zero-point positioning.When above-mentioned " equipment zero " function is exactly to move to zero point by each axle,
Each axle action is automatically stopped realization.
A kind of reproduction machine installed for gathering pipe peculiar to vessel of the present invention：
(1) according to existing measuring method measuring the relative position of two flanges, such as patent No.
Data measurin system in 201110309478.9, according to the distribution method of existing pipeline the quantity of gathering pipe, this enforcement are determined
Example is four, and the length and the relative position relative to flange of gathering pipe are determined in three-dimensional software according to measurement data；
(2) turn on the power, check whether each axle can be operating normally, after determining that each axle can be operating normally, by control
Each axle is adjusted to positive direction position by device processed；
(3) click each axle " zero " button on maintenance interface and zero point is arrived in the playback of each axle, it is red when machine rezero operation is reproduced
Chromatic flicker warning lamp is lighted, and after waiting to be zeroed, warning lamp can be changed into green, then can just carry out next step operation；
(4) flange is lifted on the headstock, while the upper gathering pipe of connection, then hangs on mechanical arm simultaneously
A flange is filled, according to data the position that system is given is fitted, mechanical arm carries out three-dimensional rotations so that the conjunction on the headstock
The gathering pipe held together on pipe, mechanical arm reaches specified location, then carries out spot welding, and two gathering pipes are welded as a whole；
(5) extract in the flange by the gathering pipe being welded from roll-over table, rotate mechanical arm, will be integrated
Gathering pipe leave, then hang oneself in roll-over table and load a gathering pipe, according to step (1) defined location, machinery is rotated again
Arm, the process of repeat step (4), until completing the welding of all gathering pipes.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (5)
1. it is a kind of for gathering pipe peculiar to vessel install reproduction machine, it is characterised in that：Including base, it is provided with the base and leads
Rail, in one end of base headstock gyroaxis is provided with, and on the headstock gyroaxis headstock is provided with, and headstock upset is hinged with the headstock
Platform, headstock roll-over table is provided with headstock chuck rotary shaft, and headstock chuck is provided with headstock chuck rotary shaft, sets on headstock chuck
There is clamping device；The robot arm base along guide rail movement is provided with guide rail, card is installed on robot arm base
Spiral rotating shaft, robot arm underframe is installed in chuck rotary shaft, mechanical arm, machine are installed on robot arm underframe
The top of tool arm is provided with roll-over table, and robot arm screw mandrel claw is provided with roll-over table.
2. it is according to claim 1 for gathering pipe peculiar to vessel install reproduction machine, it is characterised in that：On the headstock chuck
Face is provided with 4 headstock screw mandrel claws, and 4 headstock locating pieces are arranged on headstock screw mandrel claw, screw mandrel turning handle and headstock screw mandrel
Claw can be advanced with after by rotary screw rod turning handle by the connected headstock locating piece of the screw thread of screw mandrel on headstock screw mandrel claw
Move back, 4 headstock screw mandrel claws are engaged by bevel gear case, as long as any one rotated in 4 screw mandrel turning handles is capable of achieving 4
The radial direction of individual headstock locating piece is synchronized with the movement, on headstock chuck, along vertical headstock tumble rotation direction installing locating slot, locating slot
It is upper that zero-point positioning block is housed.
3. it is according to claim 1 for gathering pipe peculiar to vessel install reproduction machine, it is characterised in that：The mechanical arm bag
Containing the first arm, the second arm and the 3rd arm, first arm is fixed on robot arm underframe, and the first arm is hinged with the second arm,
Second arm is hinged with the 3rd arm, and the 3rd arm is fixedly connected with roll-over table.
4. it is according to claim 3 for gathering pipe peculiar to vessel install reproduction machine, it is characterised in that：The headstock gyroaxis
Driven by headstock gyroaxis motor, headstock roll-over table drives the upset of headstock roll-over table, the headstock by the first upset motor
Chuck rotary shaft is driven by headstock chuck rotary shaft motor, and chuck rotary shaft is driven by chuck rotary shaft motor
Dynamic, the second arm is driven by the first servomotor and is rotated, and the 3rd arm is driven by the second servomotor and rotated, and roll-over table is by the
Two upset motors drive roll-over table upset, the headstock gyroaxis motor driving, the rotation of the first upset motor, headstock chuck
Axle motor, chuck rotary shaft motor, the first servomotor, the second servomotor and the second upset motor with control
Device connects, and on robot arm base displacement transducer is provided with, in headstock roll-over table, roll-over table, headstock chuck rotary shaft, card
Spiral rotating shaft, the drive shaft of the first servomotor and the second servomotor drive shaft on be equipped with angular transducer.
5. described in a kind of any one of Claims 1-4 for gathering pipe peculiar to vessel install reproduction machine reproducting method, its feature
It is to comprise the following steps：
(1) it is true according to the distribution method of existing pipeline according to existing measuring method to measure the relative position of two flanges
Determine the quantity of gathering pipe, the quantity of gathering pipe is more than two, determines the length and the relative position relative to flange of gathering pipe；
(2) turn on the power, check whether each axle can normally move, after determining that each axle can be operating normally, will by controller
Each axle is adjusted to positive direction position；
(3) click each axle " zero " button on maintenance interface and zero point is arrived in the playback of each axle, carry out next step operation；
(4) flange is lifted on the headstock, suitable position is adjusted to according to the flange of step (1), while on flange
A piece gathering pipe of connection, then lifts another flange simultaneously on the roll-over table on mechanical arm, determines according to step (1)
Position, by flange suitable position is adjusted to, and gathering pipe is connected on flange, and two gathering pipes are welded as a whole；
(5) extract in the flange by the gathering pipe being welded from roll-over table, mechanical arm is rotated, by the conjunction being integrated
Hold together pipe to leave, then hang oneself in roll-over table and load a gathering pipe, according to step (1) defined location, mechanical arm is rotated again,
The process of repeat step (4), until completing the welding of all gathering pipes.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611215709.9A CN106624583B (en) | 2016-12-26 | 2016-12-26 | A kind of reproduction machine and reproducting method for gathering pipe peculiar to vessel installation |
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| CN201611215709.9A CN106624583B (en) | 2016-12-26 | 2016-12-26 | A kind of reproduction machine and reproducting method for gathering pipe peculiar to vessel installation |
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| CN106624583B CN106624583B (en) | 2018-06-12 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107309825A (en) * | 2017-08-16 | 2017-11-03 | 江苏阳明船舶装备制造技术有限公司 | A kind of reproduction machine chuck special |
| CN108326769A (en) * | 2017-12-13 | 2018-07-27 | 上海船舶工艺研究所 | A kind of robot shows school pipe flange calibration system and its application method |
| CN109707934A (en) * | 2018-11-27 | 2019-05-03 | 渤海造船厂集团有限公司 | A kind of pipeline installation sampler and sampling method |
| CN109894726A (en) * | 2019-02-20 | 2019-06-18 | 无锡金红鹰工业自动化有限公司 | A kind of robot device for the cutting of carbon steel structure part |
| CN110666776A (en) * | 2019-10-16 | 2020-01-10 | 重庆工业职业技术学院 | Assembled electromechanical device maintenance device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2599725A (en) * | 2020-10-12 | 2022-04-13 | Bae Systems Plc | Pipe manufacturing Jig |
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| CN108326769A (en) * | 2017-12-13 | 2018-07-27 | 上海船舶工艺研究所 | A kind of robot shows school pipe flange calibration system and its application method |
| CN109707934A (en) * | 2018-11-27 | 2019-05-03 | 渤海造船厂集团有限公司 | A kind of pipeline installation sampler and sampling method |
| CN109894726A (en) * | 2019-02-20 | 2019-06-18 | 无锡金红鹰工业自动化有限公司 | A kind of robot device for the cutting of carbon steel structure part |
| CN110666776A (en) * | 2019-10-16 | 2020-01-10 | 重庆工业职业技术学院 | Assembled electromechanical device maintenance device |
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