CN106624583B - A kind of reproduction machine and reproducting method for gathering pipe peculiar to vessel installation - Google Patents

A kind of reproduction machine and reproducting method for gathering pipe peculiar to vessel installation Download PDF

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Publication number
CN106624583B
CN106624583B CN201611215709.9A CN201611215709A CN106624583B CN 106624583 B CN106624583 B CN 106624583B CN 201611215709 A CN201611215709 A CN 201611215709A CN 106624583 B CN106624583 B CN 106624583B
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head frame
arm
roll
over
chuck
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CN106624583A (en
Inventor
邹家生
许祥平
严铿
黄晓龙
叶友利
施志强
高飞
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JIANGSU YANGMING SHIP-EQUIPMENT MANUFACTURING TECHNOLOGY Co Ltd
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JIANGSU YANGMING SHIP-EQUIPMENT MANUFACTURING TECHNOLOGY Co Ltd
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    • 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
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053Auxiliary 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
    • 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
    • B23K2101/06Tubes

Abstract

The invention discloses a kind of reproduction machines for gathering pipe peculiar to vessel installation, for the reproduction machine of gathering pipe peculiar to vessel installation, including pedestal, guide rail is installed on the pedestal, head frame rotating shaft is equipped in one end of pedestal, a frame is installed on the head frame rotating shaft, a frame roll-over table is hinged on head frame, head frame roll-over table is equipped with head frame chuck rotation axis, and a frame chuck is equipped in head frame chuck rotation axis, and head frame chuck is equipped with clamping device;The robot arm pedestal moved along guide rail is equipped on guide rail, chuck rotation axis is installed on robot arm pedestal, robot arm chassis is installed in chuck rotation axis, mechanical arm is installed on robot arm chassis, the top of mechanical arm is equipped with roll-over table, and robot arm screw claw is equipped on roll-over table.A kind of closed tube reproduction machine of the present invention, is conjugated flange by this closed tube reproduction machine, with pipe accurate assembly, realizes the purpose of efficient, accurate low cost processing gathering pipe.

Description

A kind of reproduction machine and reproducting method for gathering pipe peculiar to vessel installation
Technical field
The present invention relates to a kind of reproduction machine and reproducting method for gathering pipe peculiar to vessel installation, the processing applied to gathering pipe Manufacture, belongs to material shaping automation technical field.
Background technology
Be covered with pipeline in ship everywhere, the designs of these pipe fittings, make and in board install after a system such as inspection The operation of row is referred to as " pipe laying ".Usual ship is sectional construction, is just needed in segment folding time-division intersegmental pipeline Gathering pipe can not produce miscellaneous gathering pipe to connect by pipeline designs drawing, and the making of gathering pipe is usually 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 to connect, 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 worker also has bend pipe quantity by the empirically determined general length of straight pipe and bend pipe angle of oneself, and straight tubes and bend pipe is waited to process After good, start to be assembled with two flanges, when assembling needs constantly according to actual conditions, to straight tube and bend pipe into Row on-site cutting is replaced, and could start formal welding until the cooperation of each junction is entirely appropriate.Such process is past Toward without regular processing drawing, manufacture arbitrariness is also big, repeatability it is poor, and worker processing experimental technology level seriously The quality of processing is influenced, time-consuming for process, waste of material requires very the technology of worker than more serious, this work Height, the gathering pipe accuracy in addition made in this way is not high, and often will appear spiro keyhole position when gathering pipe is installed puts not just Really, flange sealing surface fitting is not close, closes up situations such as length of tube is improper, once gathering pipe will be hung by these problems occur Go out cabin to remodify, delay the shipbuilding time, exist simultaneously very big security risk.
Site welding connection refers to that the local sketch at place is closed up in drafting in advance, then makes the slightly long tubing of more local sketch, In the method that erecting bed is cut and then welded.Compare the flange spatial position that this method is only suitable for need to close up two pipes Simple situation.
Both methods has the following disadvantages:
(1) accuracy is not high, can there are 10% defective work;
(2) activity duration is long, and when carrying, contingency is multiple, and there are many security risks;
(3) auxiliary tools such as flange and angle bar are needed, cause material serious waste;
(4) there are fire hazards for the operations such as welding, cutting in ship;
(5) needs are skilled in technique, veteran skilled worker could complete this work.
So often will appear the gathering pipe flange bolt hole malposition produced using both above method, lead Cause situation about can not install.
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 two flanges to be closed up It puts, improves working efficiency and accuracy.But there is also certain limitations:Two flanges must in the same plane, frame With tailstock can only adjustable range, can not realize variation spatially, cause gathering pipe that is designed and assembling complex, for Three-dimensional gathering pipe installation, 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 welding deformation, and precision is not high.Especially complex, conjunction is laid in the marine piping of reality Hold together the quantity generally no less than four of pipe, and four gathering pipes are not in the same plane, need to lay in three dimensions, such as Fruit use patent 201110247475.7 device, need first weld two gathering pipes, then welding other two close up Then pipe is welded by soldered two groups of gathering pipes, since four gathering pipes are not in same plane, using existing dress It puts, needs to be related to clamping device again, moreover, because not being disposable welding fabrication, welding precision is poor, causes to be welded Gathering pipe is mounted on the pipeline of ship and may not well connect two pipelines to be connected, and causes to make With.
Invention content
Technical problem to be solved:For the problem that the gathering pipe accuracy of manufacture is not high, technique is cumbersome, manufacturing time is long, The present invention provides a kind of closed tube reproduction machines, are conjugated flange by this closed tube reproduction machine, with pipe accurate assembly, realize Efficiently, accurately, low cost processing gathering pipe purpose.
The present invention realizes by the following technical programs:A kind of reproduction machine for gathering pipe peculiar to vessel installation, for peculiar to vessel The reproduction machine of gathering pipe installation, including pedestal, guide rail is equipped on the pedestal, and head frame rotating shaft is equipped in one end of pedestal, A frame on the head frame rotating shaft is installed, a frame roll-over table is hinged on head frame, head frame roll-over table is revolved equipped with head frame chuck Shaft, a frame chuck is equipped in head frame chuck rotation axis, and head frame chuck is equipped with clamping device;It is equipped on guide rail along guide rail Mobile robot arm pedestal is equipped with chuck rotation axis on robot arm pedestal, is installed in chuck rotation axis organic Device human arm chassis is equipped with mechanical arm on robot arm chassis, and the top of mechanical arm is equipped with roll-over table, is turning over Robot arm screw claw is installed on turntable.
Pedestal is step type, and head frame is connected by head frame rotating shaft with the upper ladder of pedestal, and head frame roll-over table passes through head frame Torsion shaft is connected with head frame, and head frame chuck is fixed on by chuck rotation axis on a frame roll-over table, and head frame chuck is installed above to be had Head frame screw claw, 4 head frame locating pieces are mounted on head frame screw claw, and screw turning handle passes through silk with head frame screw claw The screw thread of the bar frame locating piece that is connected can be moved forward and backward by rotary screw rod turning handle on head frame screw claw, 4 head framves Screw claw is engaged by bevel gear case, as long as the positioning of 4 head framves can be realized in any one of 4 screw turning handles of rotation The radial direction of block is synchronized with the movement, and on head frame chuck, along perpendicular head frame tumble rotation direction installing locating slot, zero is housed on locating slot Locating piece.
Preferably, the mechanical arm includes the first arm, the second arm and third arm, first arm is fixed on robot On arm chassis, the first arm is hinged with the second arm, and the second arm is hinged with third arm, and third arm is fixedly connected with roll-over table.
Preferably, the head frame rotating shaft is driven by head frame rotating shaft driving motor, head frame roll-over table passes through first Upset motor drives the overturning of head frame roll-over table, and head frame chuck rotation axis is driven by head frame chuck rotation axis driving motor, chuck Rotary shaft is driven by chuck rotation axis driving motor, and the second arm is driven by the first servo motor and rotated, and third arm passes through the The driving rotation of two servo motors, roll-over table drive roll-over table to overturn by the second upset motor, the head frame rotating shaft driving electricity Machine driving, the first upset motor, head frame chuck rotation axis driving motor, chuck rotation axis driving motor, the first servo motor, Two servo motors and the second upset motor are connect with controller, displacement sensor are equipped on robot arm pedestal, in head Frame roll-over table, roll-over table, head frame chuck rotation axis, chuck rotation axis, the drive shaft of the first servo motor and the second servo motor Drive shaft on be equipped with angular transducer.
In the present invention, the downstairs of pedestal are equipped with guide rail, and robot arm floor installation, can be along guide rail on guide rail Movement, robot arm chassis are connected by chuck rotation axis with robot arm pedestal, and mechanical arm is is mechanically connected, machine Human arm chuck is connected on roll-over table, and chuck is installed above 4 robot arm screw cards, and 4 locating pieces are mounted on machine On device human arm screw claw, screw turning handle is connected with screw claw by the screw thread of screw, 4 robot arm screw claws It is engaged by bevel gear case, in robot arm chuck upper edge perpendicular head frame tumble rotation direction installing locating slot, locating slot Equipped with zero-point positioning block.
In the present invention, the threaded hole of a diameter 10mm is opened on the locating piece, it is straight that this threaded hole is equipped with bottom Diameter is the positioning pin of 10mm screw threads.
In the present invention, the pedestal total length is 4000mm;Head frame rotating shaft can be with ± 90 ° of revolutions;Head frame overturning The overturning range of axis is 0 °~90 ° real;Head frame chuck and robot arm diameter of chuck 1300mm, the rotation of head frame chuck rotation axis Range is ± 45 °, and the rotating range of robot arm chuck rotation axis is ± 180 °.Described one kind is pacified for gathering pipe peculiar to vessel The reproduction machine of dress, overall structure are welded using Q235 steel plates.
In the present invention, 5 servo motors of PLC controls are further included, 5 servo motors are respectively:Head frame rotating shaft drives Dynamic motor, head frame chuck rotation axis driving motor, robot arm rotating shaft driving motor, is watched head frame torsion shaft driving motor It is robot arm travel driving motor to take motor.
In the present invention, the reproduction machine special-purpose software, is divided into maintenance interface and operation interface, and maintenance interface supplies equipment Zero point correction and after the power is turned on for the first time run before equipment rezero operation when use, maintenance interface for every axis all be provided with just Negative crawl, zero, data write-in and start button can individually control the crawl of each axis, zero, data write-in and open It is dynamic, facilitate equipment debugging, wherein positive and negative inching function is identical with the function of hand operation box, when crawl must always be pressed with mouse Firmly inching button, servo motor can just act, once mouse leaves inching button, servo motor stops at once, while limits dimension Each axis inching button on shield interface and the switch on the SERVO CONTROL part of servo motor not can be used simultaneously, and to avoid more Axis acts bring risk of collision simultaneously;Each axis is returned by maintenance interface before being run for the first time after device power Z-operation can switch to operation interface after each axis zero.
A kind of reproduction machine for gathering pipe peculiar to vessel installation, control section is also equipped with flashing warning light.
Whole system is (including on head frame rotating shaft, head frame roll-over table, head frame chuck, robot arm, robot arm Roll-over table) in robotic system software for an entirety, the initial position of robot acquiescence head frame roll-over table is (i.e. mounted on head Flange position on frame is origin), whole system is three dimension system, and this system is mainly according to by three drawstring measuring devices and data Data measured by fitting system carry out the reproduction of gathering pipe, and data fitting system is data fitting software, which directly adjusts The data measured with data measurin system carry out data fitting, and data fitting software can identify the data lattice of data measurin system Formula, and corresponding algorithm is called to be fitted calculating automatically in fitting.Error correction involved in the Fitting Calculation.Using Mechanical arm is substantially reduced error, because of machinery nizhe, and gathering pipe is not positioning, the welding between simple two tubes, Complicated gathering pipe needs four, and even more pipes is positioned, welded.Previous reproduction machine can only be in two-dimensional space A frame, tailstock roll-over table are moved, changes position, the pipe in two same planes is positioned, carries out reproduction assembling, for Complicated closed tube reproduction, it is necessary to first by gathering pipe positioning, the welding in approximately the same plane, then by the conjunction in itself and other planes Hold together pipe to weld together, and welding times increase, welding deformation becomes larger, set by the increasing of gathering pipe overall deformation and fitting system The gathering pipe of meter generates large error.And three-dimensional machinery arm breaks through two-dimensional space in principle, can optimize reproducing processes, subtracts 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 for gathering pipe peculiar to vessel installation, includes 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 opposite of flange Position;
(2) power supply is opened, checks whether each axis can normally move, after determining that each axis can be operating normally, passes through control Each axis is adjusted to positive direction position by device;
(3) it clicks each axis " zero " button on maintenance interface each axis playbacks to zero, carries out next step operation;
(4) flange is lifted on a frame, suitable position is adjusted to, while in method according to the flange of step (1) A gathering pipe is connected on orchid, then lifts another flange simultaneously on the roll-over table on mechanical arm, it is true according to step (1) Flange is adjusted to suitable position, gathering pipe is connected on flange by fixed position, and two gathering pipes are welded as a whole;
(5) gathering pipe being welded from the flange on roll-over table is extracted, rotates mechanical arm, will be integrated Gathering pipe leave, then hang oneself in roll-over table and load a gathering pipe, according to step (1) determine position, again rotation machinery Arm repeats the process of 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 all carries out under hard conditions, ensure 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 a robot arm, not only there is it Preceding function, and can be rotated freely in three dimensions.One flange is lifted on a frame, while connects a conjunction Hold together pipe, then lift a flange simultaneously on mechanical arm, according to the position that data fitting system is given, mechanical arm carries out Three-dimensional rotations so that the gathering pipe on the gathering pipe, mechanical arm on head frame reaches designated position, then carries out spot welding, Two gathering pipes are welded as a whole.When gathering pipe quantity is more than 2, first first two are welded by above-mentioned steps at this time, then The pipe clamp head that closes up of head frame flange is unclamped, mechanical arm is rotated, the gathering pipe being integrated is left, then at head frame Next gathering pipe is lifted, again according to the position of fitting default, mechanical arm is rotated again, repeats 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 Property under the conditions of carry out, ensure gathering pipe it is indeformable, so as to improve precision.
Advantageous effect:The reproduction machine for gathering pipe peculiar to vessel installation of the present invention, Guide Rail Design, which facilitates, adjusts two flanges The distance between, the rotation of each axis can accurate flange position, a series of fixations being designed with conducive to flange of chuck, machine Human arm design can in three dimensions regulating flange position, simplify gathering pipe design and connection, reduce 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 It is accurate to increase effect, greatlys save duration and cost.Using servo motor as power resources, the control accuracy height of action;Pass through Input data is differentiated software and hardware limit, and time sequential routine control and action sequence control avoid the danger to collide, Safety is good;It is suitble to the manufacture of the gathering pipe in various industries, equipment interoperability is good.
Description of the drawings
Fig. 1 is the structural diagram 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 for gathering pipe peculiar to vessel installation of the invention, including pedestal 1, the bottom Guide rail 2 is installed on seat 1, head frame rotating shaft 3 is equipped in one end of pedestal 1, frame 4, head are installed on the head frame rotating shaft 3 It is hinged with a frame roll-over table 21 on frame 4, head frame roll-over table 21 is equipped with head frame chuck rotation axis 16, in head frame chuck rotation axis 16 A frame chuck 8 is installed, head frame chuck 8 is equipped with clamping device;The robot arm moved along guide rail 2 is equipped on guide rail 2 Pedestal 15 is equipped with chuck rotation axis 16 on robot arm pedestal 15, robot arm is equipped in chuck rotation axis 16 Chassis 17, is equipped with mechanical arm on robot arm chassis 17, and the mechanical arm includes the first arm 18,19 and of the second arm Third arm 20, first arm 18 are fixed on robot arm chassis 17, and the first arm 18 and the second arm 19 are hinged, the second arm 19 Hinged with third arm 20, third arm 20 is fixedly connected with roll-over table 21, and robot arm screw card is equipped on roll-over table 21 Pawl 22.
Pedestal 1 is step type, and head frame 4 is connected by head frame rotating shaft 3 with the upper ladder of pedestal 1, and head frame roll-over table 6 passes through Head frame torsion shaft 5 is connected with head frame 4, and head frame chuck 8 is fixed on by chuck rotation axis 7 on a frame roll-over table 6, head frame chuck 8 It is installed above have 4 head frame screw claw, 9,4 head frame locating piece 10 be mounted on head frame screw claw 9 on, screw turning handle 13 with Head frame screw claw 9 is connected a frame locating piece 10 by the screw thread of screw can be by rotary screw rod turning handle 13 in head frame screw card It moves forward and backward on pawl 9,4 head frame screw claws 9 are engaged by bevel gear case 14, as long as in 4 screw turning handles 13 of rotation Any one radial direction that 4 head frame locating pieces 10 can be realized be synchronized with the movement, on head frame chuck 8, along perpendicular head frame overturn 5 direction installing locating slot 11 of axis is equipped with zero-point positioning block 12 on locating slot 11.
In the present invention, the downstairs of pedestal 1 are equipped with guide rail 2, and robot arm pedestal 15 is mounted on guide rail 2, can It moves along the rail, robot arm chassis 17 is connected by chuck rotation axis 16 with robot arm pedestal 15, and mechanical arm is Mechanical connection, robot arm chuck are connected on roll-over table 21, and chuck is installed above 4 robot arm screw claws 22,4 locating pieces 23 are mounted on robot arm screw claw, the screw thread phase that screw turning handle 13 passes through screw with screw claw Even, 4 robot arm screw claws are engaged by bevel gear case 14, are overturn in robot arm chuck upper edge perpendicular head frame Axis direction installing locating slot 11 is equipped with zero-point positioning block 12 on locating slot.
It is positioned for the ease of flange dead-center position, the threaded 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 positioning pin of diameter 10mm screw threads, is protected The positioning accuracy of demonstration orchid zero.
The head frame rotating shaft is driven by head frame rotating shaft driving motor, and head frame roll-over table drives head by upset motor Frame roll-over table is overturn, and head frame chuck rotation axis is driven by head frame chuck rotation axis driving motor, and chuck rotation axis passes through chuck Rotary shaft driving motor drives, and the second arm is driven by the first servo motor and rotated, and third arm is driven by the second servo motor Rotation, the head frame rotating shaft driving motor driving, upset motor, head frame chuck rotation axis driving motor, chuck rotation axis are driven Dynamic motor, the first servo motor and the second servo motor are connect with controller.Whole system is (including head frame rotating shaft, head frame Roll-over table, head frame chuck, robot arm, the roll-over table on robot arm) in robotic system software it is an entirety, The initial position (the flange position i.e. on head frame is origin) of robot acquiescence head frame roll-over table, whole system is three-dimensional System, this system mainly carry out gathering pipe again according to as the data measured by three drawstring measuring devices and data fitting system Existing, data fitting system is data fitting software, and the data which directly invokes data measurin system measurement carry out data plan It closes, data fitting software can identify the data format of data measurin system, and corresponding algorithm be called to carry out automatically in fitting The Fitting Calculation.Error correction involved in the Fitting Calculation.Error is substantially reduced using mechanical arm, because mechanical arm exists It is moved in three dimensions, and gathering pipe is not positioning, the welding between simple two tubes, complicated gathering pipe needs four Root, even more pipes are positioned, are welded.Previous reproduction machine can only make a frame, tailstock roll-over table in two-dimensional space It is moved, changes position, positioned the pipe in two same planes, carry out reproduction assembling, for complicated closed tube reproduction, Must first it weld together by gathering pipe positioning, the welding in approximately the same plane, then by the gathering pipe in itself and other planes, and Welding times increase, and welding deformation becomes larger, and the gathering pipe designed by the increasing of gathering pipe overall deformation and fitting system generates larger Error.And three-dimensional machinery arm breaks through two-dimensional space in principle, can optimize reproducing processes, reduces welding times, in rigidity Under the conditions of complete welding, so as to reduce deformation, improve accuracy.
In the present invention, the power resources of equipment are 5 servo motors of PLC controls, and 5 servo motors are respectively:Head Frame rotating shaft driving motor, head frame torsion shaft driving motor, head frame chuck rotation axis driving motor, robot arm rotating shaft drive Dynamic motor, servo motor are robot arm travel driving motors.Above-mentioned all rotating shafts, torsion shaft and rotary shaft is limited to institute Place position and actual needs are not needed to around the rotation of 360 ° of axis, therefore installation limiting is opened in a certain range except its actuating range It closes, exceeds actuating range when each axis acts, when touching limit switch, can stop automatically, ensure equipment operational safety.
The present invention control section be divided into servo motor SERVO CONTROL part and reproduce machine special-purpose software, PLC control after The switch of electric appliance and opening time, so as to achieve the purpose that open and close servo.Using a general purpose PC as data Input and the operation platform for reproducing software, are connected by cable with PLC, as communication port.SERVO CONTROL part and PC machine 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 after the power is turned on for the first time run before equipment rezero operation when use, maintenance interface for every axis all be provided with positive and negative crawl, return 0th, data write-in and start button can individually control crawl, zero, data write-in and the startup of each axis, facilitate equipment Debugging, wherein positive and negative inching function is identical with the function of hand operation box, when crawl, must pin inching button always with mouse, Servo motor can just act, once mouse leaves inching button, servo motor stops at once, while limits each on maintenance interface Switch on the SERVO CONTROL part of axis inching button and servo motor not can be used simultaneously, and to avoid multiaxis and acts band simultaneously Carry out risk of collision;Rezero operation is carried out to each axis by maintenance interface before being run for the first time after device power, treated each Operation interface is can switch to after axis zero;Flashing warning light is installed on switch board, shown in red, action during equipment moving Shown in green after stopping, in equipment moving, personnel can not be close.Equipped with emergency stop switch, function on the panel of switch board As the emergency stop switch on hand control box, the two emergency stop switch can operate simultaneously.
The pedestal total length of this reproduction machine is 4000mm;Head frame rotating shaft can be with ± 90 ° of revolutions;The overturning of head frame torsion shaft Range is 0 °~90 ° real;Head frame chuck and robot arm diameter of chuck 1300mm, the rotating range of head frame chuck rotation axis is ± 45 °, the rotating range of robot arm chuck rotation axis is ± 180 °.Wherein, robot arm can be moved along track, head Dead-center position during the axle center phase 2000mm of frame torsion shaft and robot arm for tailstock, to be moved to close to head frame as pros To.After all zeros determine, by each zero-point positioning.When above-mentioned " equipment zero " function exactly moves to zero by each axis, Each axis action is automatically stopped realization.
A kind of reproduction machine for gathering pipe peculiar to vessel installation of the present invention:
(1) according to existing measuring method to measure the relative position of two flanges, such as the patent No. Data measurin system in 201110309478.9 determines the quantity of gathering pipe, this implementation according to the distribution method of existing pipeline Example is four, the length and the relative position relative to flange for determining gathering pipe in three-dimensional software according to measurement data;
(2) power supply is opened, checks whether each axis can be operating normally, after determining that each axis can be operating normally, passes through control Each axis is adjusted to positive direction position by device processed;
(3) it clicks each axis " zero " button on maintenance interface each axis playbacks to zero, it is red when reproducing machine rezero operation Chromatic flicker warning lamp lights, and waits after being zeroed, and warning lamp can become green, then can just carry out next step operation;
(4) flange is lifted on a frame, while connects a gathering pipe, then hung simultaneously on mechanical arm A flange is filled, according to the position that data fitting system is given, mechanical arm carries out three-dimensional rotations so that the conjunction on head frame Hold together pipe, the gathering pipe on mechanical arm reaches designated position, then carry out spot welding, two gathering pipes be welded as a whole;
(5) gathering pipe being welded from the flange on roll-over table is extracted, rotates mechanical arm, will be integrated Gathering pipe leave, then hang oneself in roll-over table and load a gathering pipe, according to step (1) determine position, again rotation machinery Arm repeats the process of 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, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (2)

1. a kind of reproduction machine for gathering pipe peculiar to vessel installation, it is characterised in that:Including pedestal, it is equipped with and leads on the pedestal Rail is equipped with head frame rotating shaft in one end of pedestal, a frame is equipped on the head frame rotating shaft, and a frame overturning is hinged on head frame Platform, head frame roll-over table are equipped with head frame chuck rotation axis, are equipped with a frame chuck in head frame chuck rotation axis, are set on head frame chuck There is clamping device;The robot arm pedestal moved along guide rail is equipped on guide rail, card is installed on robot arm pedestal It spirals shaft, robot arm chassis in chuck rotation axis is installed, mechanical arm, machine are installed on robot arm chassis The top of tool arm is equipped with roll-over table, and robot arm screw claw is equipped on roll-over table;Above the head frame chuck 4 head frame screw claws are installed, 4 head frame locating pieces are mounted on head frame screw claw, screw turning handle and head frame screw card Pawl can be moved forward and backward by the screw thread of the screw frame locating piece that is connected by rotary screw rod turning handle on head frame screw claw, 4 head frame screw claws are engaged by bevel gear case, as long as any one of 4 screw turning handles of rotation can be realized 4 The radial direction of head frame locating piece is synchronized with the movement, on head frame chuck, along perpendicular head frame tumble rotation direction installing locating slot, on locating slot Equipped with zero-point positioning block;The mechanical arm includes the first arm, the second arm and third arm, and first arm is fixed on robot On arm chassis, the first arm is hinged with the second arm, and the second arm is hinged with third arm, and third arm is fixedly connected with roll-over table;The head Frame rotating shaft is driven by head frame rotating shaft driving motor, and head frame roll-over table drives head frame roll-over table to turn over by the first upset motor Turn, head frame chuck rotation axis is driven by head frame chuck rotation axis driving motor, and chuck rotation axis is driven by chuck rotation axis Motor drives, and the second arm is driven by the first servo motor and rotated, and third arm is driven by the second servo motor and rotated, roll-over table Roll-over table is driven to overturn by the second upset motor, the head frame rotating shaft driving motor driving, the first upset motor, head frame card Shaft of spiraling driving motor, chuck rotation axis driving motor, the first servo motor, the second servo motor and the second upset motor are equal It is connect with controller, displacement sensor is equipped on robot arm pedestal, in head frame roll-over table, roll-over table, the rotation of head frame chuck Shaft, chuck rotation axis are equipped with angular transducer in the drive shaft of the drive shaft of the first servo motor and the second servo motor.
2. a kind of reproducting method of the reproduction machine described in claim 1 for gathering pipe peculiar to vessel installation, which is characterized in that including 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, the length and the relative position relative to flange for determining gathering pipe;
(2)Power supply is opened, checks whether each axis can normally move, it, will by controller after determining that each axis can be operating normally Each axis is adjusted to positive direction position;
(3)It clicks each axis " zero " button on maintenance interface each axis playbacks to zero, carries out next step operation;
(4)One flange is lifted on a frame, according to step(1)Flange be adjusted to suitable position, while on flange A gathering pipe is connected, then another flange is lifted simultaneously on the roll-over table on mechanical arm, according to step(1)Determining Flange is adjusted to suitable position, gathering pipe is connected on flange by position, and two gathering pipes are welded as a whole;
(5)The gathering pipe being welded from the flange on roll-over table is extracted, rotates mechanical arm, the conjunction that will be integrated Hold together pipe to leave, then hang oneself in roll-over table and load a gathering pipe, according to step(1)Determining position, rotates mechanical arm again, Repeat step(4)Process, until completing the welding of all gathering pipes.
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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

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CN102990271A (en) * 2011-09-19 2013-03-27 无锡市阳通机械设备有限公司 Folding pipe playback machine
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CN1689748A (en) * 2004-04-29 2005-11-02 意讯永焱股份有限公司 Tin furnace and tin solder preparation technique using the same
CN201906958U (en) * 2010-11-30 2011-07-27 上海航天精密机械研究所 Flexible welding positioner
CN102350605A (en) * 2011-08-24 2012-02-15 江苏阳明船舶装备制造技术有限公司 Position changing machine for measurement reproduction system of folding pipe
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