CN108857328A - Long-range ball-and-socket automatic positioning equipment and method - Google Patents
Long-range ball-and-socket automatic positioning equipment and method Download PDFInfo
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- CN108857328A CN108857328A CN201811059610.3A CN201811059610A CN108857328A CN 108857328 A CN108857328 A CN 108857328A CN 201811059610 A CN201811059610 A CN 201811059610A CN 108857328 A CN108857328 A CN 108857328A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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Abstract
The present invention discloses a kind of long-range ball-and-socket automatic positioning equipment and method, and device includes that the upper layer matched positions frame altogether and lower layer's positioning chassis, and upper layer, which positions, to be positioned between frame altogether and lower layer's positioning chassis by taper ball-and-socket component；Upper layer positions the opposite two sides of frame altogether and is respectively equipped with guidance set, and in guidance set, leading truck is installed in advance in tunnel inner wall or the mounting bracket of positioning device two sides, and guide rail is installed on upper layer and positions on frame altogether.Its method is that equipment is installed in advance on the total frame of upper layer positioning, and installs leading truck in advance on target position；Lower layer's positioning chassis is first put into target position, and upper layer positions frame altogether and equipment is put into target position by the way of lifting, glides first with guide rail along leading truck and carries out Primary Location, and taper ball-and-socket component is recycled to carry out automatic and accurate positioning.Present invention can apply to the equipment remote high-precision of High Radiation Area installation and reset, be applicable to risk it is higher but need carry out equipment repair and maintenance, application value with higher.
Description
Technical field
The present invention relates to the equipment of High Radiation Area to be remotely located mounting technique field, in particular to a kind of long-range ball-and-socket is certainly
Dynamic positioning system and method.
Background technique
In nuclear energy field, with the development of economy with the continuous improvement of scientific and technological level, people are to environmental operations
Safety issue is more and more paid attention to.Equipment various factors influence, as operating condition is severe, device manufacturing process and processing lack
It falls into, the reason of structure designs the long-term running structure aging of inconsiderate and equipment, inevitably breaks down, it is necessary into
Row timing repair and maintenance.The dose intensity in these regions is very high, and manual work will greatly improve dose of radiation, relies solely on
Manually, high radiation environment can not be deep at all to go to complete repair and maintenance.The periodic inspection of High Radiation Area equipment is with maintenance
The important leverage of safe operation.
Developed country begins to develop maintenance activity of the remote operation technology to carry out radiology devices very early at present, such as special
Kind of robot, manipulator, machine vision control system etc., these device intelligence degree are high, but simultaneously there is also the device is complicated,
Defect at high cost, maintenance difficulties are big.And China is at present since human resources are relatively abundant, labour cost is low, many operations
Post is not also that robot is urgently needed to replace.On the other hand, due to the backwardness of technology, it also cannot achieve automation for the moment
Maintenance activity.
From the point of view of current development, the security reliability of radiation device is improved, reduces the raying of operator as far as possible
Dosage reduces manual operation or residence time under radiation environment, improves working environment, Devoting Major Efforts To Developing is needed to remotely operate
Technology, economically to supervise, repair and repair High Radiation Area equipment or other high-risk environment devices.
In actual application, due to maintenance of equipment narrow space, and machining accuracy is high, the new equipment replaced in maintenance
High-precision is also needed to reset.By taking Chinese spallation neutron source CSNS as an example, specialized robot at present, its size is straight after increasing radiation shield
Diameter is at least 1 meter, has considerable restraint into the space of tunnel operations.The manipulator technology of rapid development, for weight in tunnel
10 tons or more equipment realize collimation adjustment operation etc. outside tunnel, then hron spacing is at least 4.5 meters, reliability and precision
It is very low, and automatic control signal transfer element radiation hardness is weaker causes the service life also very short, therefore, need to visit in view of the above problems
Beg for technical solution.
Summary of the invention
It, can be real under high-risk environment it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of structure is simple
The long-range ball-and-socket automatic positioning equipment for being now automatically positioned and resetting in high precision.
Another object of the present invention is to provide a kind of long-range ball-and-socket automatic positioning methods realized by above-mentioned apparatus.
The technical scheme is that：A kind of long-range ball-and-socket automatic positioning equipment, the upper layer including matching position frame altogether
Chassis is positioned with lower layer, upper layer positions frame altogether and the joint of lower layer's positioning chassis is distributed with several taper ball-and-socket components, and on
Layer, which positions, to be positioned between frame altogether and lower layer's positioning chassis by taper ball-and-socket component；Upper layer positions the two sides that frame is opposite altogether and sets respectively
There is guidance set, guidance set includes the guide rail and leading truck matched, and leading truck is installed on the tunnel of positioning device two sides in advance
On road inner wall or mounting bracket, guide rail is installed on upper layer and positions on frame altogether.
The taper ball-and-socket component includes upper conical ball-and-socket, inferior pyramidal ball-and-socket and bearing ball, and upper conical ball-and-socket is set to upper layer
Position altogether frame bottom, inferior pyramidal ball-and-socket be set to lower layer positioning chassis top, bearing ball be installed in inferior pyramidal ball-and-socket and on
Portion exposes, and when upper layer positions frame altogether and lower layer's positioning chassis location and installation, upper conical ball-and-socket is covered in bearing ball top.
The upper conical ball-and-socket and inferior pyramidal socket arrangement are symmetrical；Bearing ball retaining ring, bearing are additionally provided at inferior pyramidal ball-and-socket
Ball is installed in inferior pyramidal ball-and-socket by bearing ball retaining ring.
Wherein, taper ball-and-socket (including upper conical ball-and-socket and inferior pyramidal ball-and-socket) is processed into 90 degree of taper discs of indent,
Purpose is horizontal and vertical direction stress caused by heavy duty during effectively sharing equipment automatic positioning, so that reducing heavy duty causes
The high ball-and-socket stress deformation of machining accuracy.During automatic positioning, equipment is under local function, 90 degree of taper discs and bearing ball
Surface is slowly in rolling contact, and the side by most touches the tangent state that a uniform circle is formed with bearing ball, to realize
Three displacement freedoms of equipment are entirely limited；Simultaneously combine three taper ball-and-sockets again can limiting device three rotational freedoms
Limitation, to realize the final position precision of equipment.For the resistance to stress deformability for increasing taper ball-and-socket, each ball-and-socket is through overheating
Stress processing hardness reaches HRC50-HRC52.
Bearing ball retaining ring, structure should meet that fixing bearing ball does not depart from taper ball-and-socket and not influence taper ball-and-socket certain simultaneously
Range is freely rotated, and otherwise bearing ball can form sliding friction with taper ball-and-socket and form unusual stress and deformation；
Bearing ball is that outsourcing producer customizes part, it is desirable that its surface hardness is HRC55-HRC60, the difference with taper ball-and-socket hardness
Value is HRC5-HRC10.Being stuck to prevent there is bearing ball leads to taper ball-and-socket and the case where bearing ball sliding friction, can be effective
Bearing ball dimensional accuracy is protected, solves the problems, such as the stuck positioning accuracy for finally ensuring equipment of bearing ball in time.
The joint of the total frame of upper layer positioning and lower layer's positioning chassis is " T " shape, and joint is evenly distributed with three groups of cones
Shape ball-and-socket component.
The upper layer positions the joint of frame altogether and lower layer's positioning chassis there are gap, and lower layer positions on the top surface of chassis also
Several lower Auxiliary support platforms to raise upward are distributed with, the bottom surface that top surface and the upper layer of each lower Auxiliary support platform position frame altogether is close
Connect；In the frame mode, since the top surface of lower Auxiliary support platform needs directly to position bridge joint touching altogether with upper layer, in order to cooperate cone
Shape ball-and-socket component, which is realized, to be accurately positioned, and the surface finish requirements of lower Auxiliary support platform are higher, and difficulty of processing is larger, processing cost
Also it can correspondingly increase.
Alternatively, the upper layer positions the joint of frame altogether and lower layer's positioning chassis there are gap, upper layer positions the bottom of frame altogether
Several downwardly convex upper Auxiliary support platforms, the top surface of the bottom surface of each upper Auxiliary support platform and lower layer's positioning chassis is also distributed in face
Close proximity.In the frame mode, contacted since the bottom surface of upper Auxiliary support platform needs directly to position chassis with lower layer, in order to match
It closes taper ball-and-socket component and realizes accurate positioning, the surface finish requirements of upper Auxiliary support platform are higher, and difficulty of processing is larger, processing
Cost can also correspondingly increase.
The upper layer positions the joint of frame altogether and lower layer's positioning chassis there are gap, and lower layer positions on the top surface of chassis also
It is distributed with several lower Auxiliary support platforms to raise upward, the bottom surface that upper layer positions frame altogether is also distributed with several downwardly convex upper auxiliary
After helping supporting table, upper layer to position frame altogether and lower layer's positioning chassis installation, upper Auxiliary support platform and lower Auxiliary support platform are corresponded
And close proximity.In the frame mode, using upper Auxiliary support platform and lower Auxiliary support platform pairs of structure correspondingly, it can keep away
Exempt from that upper Auxiliary support platform directly contact with lower layer positioning chassis or lower Auxiliary support platform and upper layer position bridge joint altogether and touch, it is auxiliary in reduction
The surface finish requirements for helping supporting table and lower Auxiliary support platform, reduce its difficulty of processing and processing cost.
In above-mentioned positioning device in use, due to needing the weight of equipment of repair and maintenance generally at 10 tons or more, if only with
Three taper positioning ball-and-socket supports will lead to stress plastic deformation most probably to not can guarantee positioning accuracy, increase taper positioning
The quantity of ball-and-socket, which can be brought again the problem of positioning, causes equipment that can not install.Therefore, Auxiliary support platform or lower auxiliary in increase
The structure type of supporting table can realize the heavy duty support of equipment, can either meet support heavy duty in this way and require, can also meet equipment
It can the correct installation of done with high accuracy reset.
Meanwhile all taper ball-and-sockets (including upper conical ball-and-socket and inferior pyramidal ball-and-socket) and Auxiliary support platform (including it is upper auxiliary
Help supporting table and lower Auxiliary support platform) geometric center position is straight line in the vertical direction, meet equipment heavy duty biography
It is most useful for the stress deformation for reducing bracket during passing.
The side of lower layer's positioning chassis is additionally provided with auxiliary guide plate, and auxiliary guide plate is installed on lower layer's positioning chassis
Edge corner, and the top surface of guide plate is assisted to be higher than the bottom surface that lower layer positions chassis.The L of integral type can be used in auxiliary guide plate
Shape structure can also be used split type slab construction and install to be formed.
In above structure, three bearing balls are the key that complete high accuracy positioning, and the total frame of upper layer positioning in lifting passes through upper
Taper ball-and-socket eventually enters into the position precision of design in the slide-and-guide of bearing ball surface.Three bearing ball retaining rings are to prevent axis
It holds ball and is detached from taper ball-and-socket under big stress.Auxiliary guide plate be upper layer ball-and-socket position that frame altogether enters after leading truck can be into
One step limits its angle position, prevents its generation angle from reversing and bumps to other neighbouring devices, and increased auxiliary guiding measure.
Leading truck includes 2 separable guide groove plates, and is fixed respectively by bolt and tunnel metope or mounting bracket.
Due to the limited diameter of bearing ball, allow the deviateed design position range of equipment i.e. limited ± 35mm in lifting,
And staff remotely operates 10 tons or more equipment and range estimation can not be relied on to control this position precision, and is easy to appear adjacent set
Standby collision causes to damage.Increase leading truck, equipment from deviating from the position precision is allowed to reach ± 45mm, staff's operation can be reduced
Difficulty, but can in effective guarantee hoisting process equipment safety.
It includes equipment mounting platform and hoisting bracket that the upper layer, which positions frame altogether, and the two sides of equipment mounting platform are respectively set
Hoisting bracket, the outside of each hoisting bracket are equipped with guidance set, and the top of hoisting bracket is equipped with suspension hook；The bottom of equipment mounting platform
Portion positions chassis with lower layer by taper ball-and-socket component and is located by connecting, and the top surface of equipment mounting platform is equipment mounting surface, equipment
It is additionally provided with several device heights on mounting surface and adjusts parallels and equipment level regulating mechanism；Equipment mounting platform uses well word structure
Box welding structure, increase the stress resistance to deformation intensity of its supporting surface after equipment heavy duty transmitting can be met.Wherein, hoisting bracket
Two sides be respectively hoisting upright column, device height adjusts parallels and equipment level regulating mechanism is fixed by bolts in equipment installation
On face, the position precision adjusted to design is enabled the device to.Suspension hook on four hoisting upright columns is mainly used for overhead traveling crane lifting upper layer
Position frame altogether.
The device height adjusts parallels and includes from top to bottom sequentially connected first wedge block, the second wedge block and third
Wedge block, the two sides of third wedge block are outward extended with fixed block respectively, are consolidated at each fixed block by bolt and equipment mounting surface
Fixed connection, the second wedge block are equipped with height adjusting screw rod；When needing adjustment equipment mounting height, pass through height adjusting screw rod band
Dynamic second wedge block, which carries out horizontal sliding, generates the height of the first wedge block using the height change on its upper and lower two sides inclined-plane
Variation, to achieve the purpose that equipment mounting height is adjusted.In use, also the first wedge block can be limited by setting positioning pin
With the relatively horizontal orientation position of third wedge block, height adjusting screw rod makes the second wedge block oblique along upper and lower contact when rotating
The adjusting that the first wedge block realizes elevation direction is raised and lowered in face sliding.Meanwhile device height is adjusted between parallels and equipment
Horizontal direction position change will not occur, avoiding device height from adjusting parallels or equipment contact surface flatness error causes equipment to exist
Coupling position error on elevation.The adjustable range of elevation direction satisfaction ± 5mm.
Equipment level regulating mechanism includes horizontal fixed frame and Level tune screw rod, and horizontal fixed frame is fixed by bolts in
On equipment mounting surface, Level tune screw rod is set to and is horizontally mounted on frame, and the end of Level tune screw rod is connected with equipment.It needs
When carrying out the adjusting of equipment level position, Level tune screw rod is rotated, its pushing equipment is horizontally moved.Wherein,
One end of Level tune screw rod heads on equipment, and the other end is connect by thread with horizontal fixed frame, pushing equipment realization when rotation
The adjustable range of ± 20mm in horizontal direction.In use, equipment level regulating mechanism and equipment mounting surface is required to have enough fixations
Intensity, be not in that cantilever action causes to tilt or situations such as stud collapses tooth at adjustment equipment horizontal direction position.
In above-mentioned apparatus structure, all components are both needed to handle by thermal stress, and guarantee will not expand with heat and contract with cold or external force
Lower release stress, causes the positioning accuracy of device to change.
The present invention realizes a kind of long-range ball-and-socket automatic positioning method by above-mentioned positioning device, specially：Equipment is pacified in advance
It is positioned on frame altogether loaded on upper layer, and leading truck is installed in advance on target position；Lower layer's positioning chassis is first put into target position, on
Layer positions frame altogether and equipment is put into target position by the way of lifting, is glided and is carried out along leading truck using guide rail during being put into
Primary Location；When upper layer, which positions frame altogether, to be fallen into lower layer's positioning chassis, automatic and accurate is carried out using taper ball-and-socket component
Positioning makes upper layer position frame altogether and is installed on lower layer's positioning chassis.
When operation, upper layer, which positions frame assembled in advance altogether, to be had required equipment and is collimated to design position precision, and then work people
Member's remote control overhead traveling crane, which is lifted to High Radiation Area, to be completed to install.It is that installation environment does not undergo predose preparatory that lower layer, which positions chassis,
It installs and is collimated to design position precision.Upper layer positions frame altogether, and after leading truck is tentatively oriented to, position can meet ball-and-socket certainly
The range of dynamic positioning finally realizes that final automatic, high precision positions by ball-and-socket.
In device use process, lower layer's positioning chassis can be fixedly mounted after being put into target position, fixed to upper layer when needing
When equipment on the total frame in position is maintained or replaced, after the total frame of upper layer positioning and equipment are hung out together, after maintenance or replacement again
It is reentered into.
The present invention compared with the existing technology, has the advantages that：
This long-range ball-and-socket automatic positioning equipment and method can be applied to equipment remote high-precision installation of High Radiation Area with
Reset, be applicable to risk it is higher but need carry out equipment repair and maintenance, be particularly suitable for nuclear power station, nuclear power plant, accelerator etc.
Practical Project, application value with higher.
This long-range ball-and-socket automatic positioning equipment structure is simple, is matched using taper ball-and-socket component and guidance set, can be real
Existing upper layer positions the High Precision Automatic positioning or reset between frame altogether and lower layer's positioning chassis, reduces manual operation, and operation side
Just, it is convenient for plant maintenance and replacement.
This long-range ball-and-socket automatic positioning equipment material radiation hardness, high temperature resistant, enter high-risk environment region by overhead traveling crane lifting,
Application range is wider, has both improved the gentle reliability of Automated water of remote equipment repair and maintenance, has also ensured that the radiation of staff
Safety.
Detailed description of the invention
Fig. 1 is the overall structure diagram of this long-range ball-and-socket automatic positioning equipment.
Fig. 2 is the structural schematic diagram that upper layer positions frame altogether.
Fig. 3 is the structural schematic diagram that lower layer positions chassis.
Fig. 4 is the section view of taper ball-and-socket component.
Fig. 5 is the structural schematic diagram of individual equipment height adjustment parallels.
Fig. 6 is the structural schematic diagram of individual equipment level(l)ing mechanism.
Fig. 7 is the bottom view that upper layer positions frame bottom surface altogether.
Specific embodiment
Below with reference to embodiment, the present invention is described in further detail, and embodiments of the present invention are not limited thereto.
Embodiment 1
A kind of long-range ball-and-socket automatic positioning equipment of the present embodiment, as shown in Figure 1, including that the upper layer matched positions frame 1 altogether
Chassis 2 is positioned with lower layer, upper layer positions frame altogether and the joint of lower layer's positioning chassis is " T " shape, is evenly distributed with three groups of tapers
Ball-and-socket component 3 (as shown in Figure 4), and upper layer positions and is positioned between frame altogether and lower layer's positioning chassis by taper ball-and-socket component；On
Layer positions the two sides that frame is opposite altogether and is respectively equipped with guidance set, and guidance set includes the guide rail 4 and leading truck 5 matched, guiding
Frame is installed in advance in tunnel inner wall or the mounting bracket of positioning device two sides, and guide rail is installed on upper layer and positions on frame altogether.Wherein,
Leading truck includes two separable guide groove plates, and is fixed respectively by bolt and tunnel metope or mounting bracket.Due to axis
The limited diameter for holding ball allows the deviateed design position range of equipment i.e. limited ± 35mm in lifting, and works
Personnel, which remotely operate 10 tons or more equipment, to control this position precision by range estimation, and are easy to appear touching for neighbouring device
Hitting causes to damage.Increase leading truck, allow equipment from deviating from the position precision to reach ± 45mm, staff's operation difficulty can be reduced,
And the safety of equipment in energy effective guarantee hoisting process.
As shown in figure 4, taper ball-and-socket component includes upper conical ball-and-socket 3-1, inferior pyramidal ball-and-socket 3-2 and bearing ball 3-3, epicone
Shape ball-and-socket is set to the bottom that upper layer positions frame altogether, and inferior pyramidal ball-and-socket is set to the top of lower layer's positioning chassis, and bearing ball is installed on down
In taper ball-and-socket and top is exposed, and when upper layer positions frame altogether and lower layer's positioning chassis location and installation, upper conical ball-and-socket is covered in axis
Hold ball top.Upper conical ball-and-socket and inferior pyramidal socket arrangement are symmetrical；As shown in figure 3, being additionally provided with bearing ball stopper at inferior pyramidal ball-and-socket
3-4 is enclosed, bearing ball is installed in inferior pyramidal ball-and-socket by bearing ball retaining ring.Wherein, taper ball-and-socket (including upper conical ball-and-socket and under
Taper ball-and-socket) it is processed into 90 degree of taper discs of indent, it is therefore an objective to and heavy duty causes during effectively sharing equipment automatic positioning
Horizontal and vertical direction stress, thus reduce heavy duty cause machining accuracy high ball-and-socket stress deformation.During automatic positioning,
Under local function, 90 degree of taper discs are slowly in rolling contact equipment with bearing ball surface, the side by most touch with
Bearing ball forms the tangent state of a uniform circle, to realize that three displacement freedoms of equipment are entirely limited；Combination three simultaneously
A taper ball-and-socket again can limiting device three rotational freedoms limitation, to realize the final position precision of equipment.To increase
The resistance to stress deformability of taper ball-and-socket, each ball-and-socket reach HRC50-HRC52 by thermal stress processing hardness.Bearing ball stopper
Circle, structure should meet fixing bearing ball simultaneously and not depart from taper ball-and-socket and do not influence that taper ball-and-socket is a certain range of to be freely rotated,
Otherwise bearing ball can form sliding friction with taper ball-and-socket and form unusual stress and deformation.Bearing ball is the customization of outsourcing producer
Part, it is desirable that its surface hardness is HRC55-HRC60, and the difference with taper ball-and-socket hardness is HRC5-HRC10.To prevent there is bearing
Ball is stuck the case where leading to taper ball-and-socket and bearing ball sliding friction, can effectively protect bearing ball dimensional accuracy, solves in time
The stuck problem of bearing ball finally ensures the positioning accuracy of equipment.
Upper layer positions the joint of frame altogether and lower layer's positioning chassis there are gap, is also distributed on the top surface of lower layer's positioning chassis
There are two the lower Auxiliary support platform 13 to raise upward, the top surface of each lower Auxiliary support platform positions the close phase in bottom surface of frame altogether with upper layer
It connects.Due to needing the weight of equipment of repair and maintenance generally at 10 tons or more, if most probably only with three taper positioning ball-and-socket supports
Stress plastic deformation be will lead to not can guarantee positioning accuracy, the quantity for increasing taper positioning ball-and-socket can bring positioning again
Problem causes equipment that can not install.Therefore, the structure type for increasing lower Auxiliary support platform can realize the heavy duty support of equipment, in this way
Support heavy duty can either be met to require, equipment energy done with high accuracy can also be met and reset correct installation.Meanwhile all taper ball-and-sockets
(including upper conical ball-and-socket and inferior pyramidal ball-and-socket) and Auxiliary support platform (including upper Auxiliary support platform and lower Auxiliary support platform)
Position is straight line to geometric center in the vertical direction, meets its in equipment heavy duty transmittance process most useful for reduction bracket
Stress deformation.
As shown in figure 3, the side of lower layer's positioning chassis is additionally provided with auxiliary guide plate 6, it is fixed that auxiliary guide plate is installed on lower layer
The edge corner of position chassis, and the top surface of guide plate is assisted to be higher than the bottom surface that lower layer positions chassis.Auxiliary guide plate can be used
The L-shaped structure of integral type can also be used split type slab construction and install to be formed.In the structure, three bearing balls are that completion is high-precision
The key for spending positioning, the upper layer in lifting position frame altogether by upper conical ball-and-socket bearing ball surface slide-and-guide, finally into
Enter the position precision of design.Three bearing ball retaining rings are that bearing ball is prevented to be detached from taper ball-and-socket under big stress.Auxiliary
Guide plate is that ball-and-socket positioning in upper layer can further limit its angle position after frame enters leading truck altogether, prevents its from angle torsion occurs
Bump to other neighbouring devices, and increased auxiliary guiding measure.
As shown in Figure 1 or 2, it includes equipment mounting platform 7 and hoisting bracket 8, equipment mounting platform that upper layer, which positions frame altogether,
Two sides be respectively set hoisting bracket, the outside of each hoisting bracket is equipped with guidance set, and the top of hoisting bracket is equipped with suspension hook 9；
The bottom of equipment mounting platform positions chassis with lower layer by taper ball-and-socket component and is located by connecting, and the top surface of equipment mounting platform is
Equipment mounting surface 7-1 is additionally provided with several device heights on equipment mounting surface and adjusts parallels 10 and equipment level regulating mechanism 11；If
Standby mounting platform uses the box welding structure of well word structure, increases should resisting strenuously for its supporting surface after can meeting equipment heavy duty transmitting
Deformation intensity.Wherein, the two sides of hoisting bracket are respectively hoisting upright column, and device height adjusts parallels and equipment level regulating mechanism
It is fixed by bolts on equipment mounting surface, enables the device to the position precision adjusted to design.Hanging on four hoisting upright columns
Hook is mainly used for overhead traveling crane lifting upper layer and positions frame altogether.
As shown in figure 5, device height, which adjusts parallels, includes from top to bottom sequentially connected first wedge block 10-1, the second wedge
Shape block 10-2 and third wedge block 10-3, the two sides of third wedge block are outward extended with fixed block 10-4 respectively, at each fixed block
It is fixedly connected by bolt with equipment mounting surface, the second wedge block is equipped with height adjusting screw rod 10-5；Adjustment equipment is needed to pacify
When filling height, drives the second wedge block to carry out horizontal sliding by height adjusting screw rod, utilize the height on its upper and lower two sides inclined-plane
Variation makes the height of the first wedge block generate variation, to achieve the purpose that equipment mounting height is adjusted.In use, can also lead to
Setting positioning pin is crossed to limit the relatively horizontal orientation position of the first wedge block and third wedge block, when height adjusting screw rod rotates
So that the second wedge block is slided along upper and lower contact inclined-plane, the adjusting that the first wedge block realizes elevation direction is raised and lowered.Together
When, device height, which is adjusted, will not occur horizontal direction position change between parallels and equipment, avoid device height adjust parallels or
Equipment contact surface flatness error leads to coupling position error of the equipment on elevation.The adjusting model of elevation direction satisfaction ± 5mm
It encloses.
As shown in fig. 6, equipment level regulating mechanism includes horizontal fixed frame 11-1 and Level tune screw rod 11-2, level is solid
To determine frame to be fixed by bolts on equipment mounting surface, Level tune screw rod is set to and is horizontally mounted on frame, and Level tune screw rod
End is connected with equipment.When needing to carry out the adjusting of equipment level position, Level tune screw rod is rotated, carries out its pushing equipment
It moves horizontally.Wherein, one end of Level tune screw rod heads on equipment, and the other end is connect by thread with horizontal fixed frame,
Pushing equipment realizes the adjustable range of ± 20mm in horizontal direction when rotation.In use, requiring equipment level regulating mechanism and setting
Standby mounting surface has the intensity of enough fixations, be not at adjustment equipment horizontal direction position cantilever action cause to tilt or
Stud collapses situations such as tooth.
In above-mentioned apparatus structure, all components are both needed to handle by thermal stress, and guarantee will not expand with heat and contract with cold or external force
Lower release stress, causes the positioning accuracy of device to change.
Embodiment 2
A kind of long-range ball-and-socket automatic positioning equipment of the present embodiment, compared with Example 1, the difference is that：Upper layer is fixed
There are gap, the bottom surface that upper layer positions frame altogether is also distributed with several downwardly convex for the joint of frame and lower layer's positioning chassis altogether for position
Upper Auxiliary support platform 12 (as shown in Figure 7), the top surface close proximity of the bottom surface of each upper Auxiliary support platform and lower layer's positioning chassis.It should
In structure, lower Auxiliary support platform can be not provided on lower layer's positioning chassis.
Embodiment 3
A kind of long-range ball-and-socket automatic positioning equipment of the present embodiment, compared with Example 1, the difference is that：Upper layer is fixed
The joint of frame and lower layer's positioning chassis is there are gap altogether for position, and also there are two raise upward for distribution on the top surface of lower layer's positioning chassis
Lower Auxiliary support platform, upper layer position altogether frame bottom surface also be distributed there are two downwardly convex upper Auxiliary support platform 12 (such as Fig. 7 institute
Show), after upper layer positions frame altogether and lower layer's positioning chassis installation, upper Auxiliary support platform and lower Auxiliary support platform are corresponded and close
Connect.In the structure, the two Auxiliary support platforms and three taper balls in frame altogether and lower layer's positioning chassis are positioned positioned at upper layer
Nest component corresponds, and forms supporting structure.Three bearing balls are the key that complete high accuracy positioning, the upper layer ball-and-socket in lifting
It positions frame altogether and passes through taper ball-and-socket in the slide-and-guide of bearing ball surface, eventually enter into the position precision of design.The frame mode
In, using upper Auxiliary support platform and lower Auxiliary support platform pairs of structure correspondingly, can avoid upper Auxiliary support platform directly with
Lower layer positions chassis contact or lower Auxiliary support platform and upper layer positions bridge joint touching altogether, Auxiliary support platform and lower Auxiliary support in reduction
The surface finish requirements of platform reduce its difficulty of processing and processing cost.
Embodiment 4
A kind of long-range ball-and-socket automatic positioning equipment of the present embodiment, compared with Example 1, the difference is that：Such as Fig. 3 institute
Show, the bottom of lower layer's positioning chassis also is provided with device height and adjusts cushion block, and specific structure is same as Example 1, can be used for adjusting
Save the whole height of long-range ball-and-socket automatic positioning equipment and equipment；Equipment level, which also is provided with, on the outside of lower layer's positioning chassis adjusts machine
Structure, specific structure is same as Example 1, can be used for adjusting the integral level position of long-range ball-and-socket automatic positioning equipment and equipment
It sets.
Embodiment 5
A kind of long-range ball-and-socket automatic positioning method of the present embodiment, this method pass through described in Examples 1 to 4 any embodiment
Device realization, specially：Equipment is installed on upper layer in advance and positions on frame altogether, and installs leading truck in advance on target position；Under
Layer positioning chassis is first put into target position, and upper layer positions frame altogether and equipment is put into target position by the way of lifting, is put into
It is glided using guide rail along leading truck in journey and carries out Primary Location；When upper layer, which positions frame altogether, to be fallen into lower layer's positioning chassis,
Automatic and accurate positioning is carried out using taper ball-and-socket component, so that upper layer is positioned frame altogether and is installed on lower layer's positioning chassis.
When operation, upper layer, which positions frame assembled in advance altogether, to be had required equipment and is collimated to design position precision, and then work people
Member's remote control overhead traveling crane, which is lifted to High Radiation Area, to be completed to install.It is that installation environment does not undergo predose preparatory that lower layer, which positions chassis,
It installs and is collimated to design position precision.Upper layer positions frame altogether, and after leading truck is tentatively oriented to, position can meet ball-and-socket certainly
The range of dynamic positioning finally realizes that final automatic, high precision positions by ball-and-socket.
In device use process, lower layer's positioning chassis can be fixedly mounted after being put into target position, fixed to upper layer when needing
When equipment on the total frame in position is maintained or replaced, after the total frame of upper layer positioning and equipment are hung out together, after maintenance or replacement again
It is reentered into.
As described above, the present invention can be better realized, above-described embodiment is only presently preferred embodiments of the present invention, is not used
To limit practical range of the invention；It is i.e. all according to equivalent changes and modifications made by the content of present invention, all wanted for right of the present invention
Range claimed is asked to be covered.
Claims (10)
1. long-range ball-and-socket automatic positioning equipment, which is characterized in that the upper layer including matching positions frame altogether and lower layer's positioning chassis,
Upper layer positions frame altogether and several taper ball-and-socket components are distributed in the joint of lower layer's positioning chassis, and upper layer positions frame and lower layer altogether
It positions and is positioned between chassis by taper ball-and-socket component；Upper layer positions the two sides that frame is opposite altogether and is respectively equipped with guidance set, is oriented to
Component includes the guide rail and leading truck matched, and leading truck is installed on the tunnel inner wall or mounting bracket of positioning device two sides in advance
On, guide rail is installed on upper layer and positions on frame altogether.
2. long-range ball-and-socket automatic positioning equipment according to claim 1, which is characterized in that the taper ball-and-socket component includes
Upper conical ball-and-socket, inferior pyramidal ball-and-socket and bearing ball, upper conical ball-and-socket are set to the bottom that upper layer positions frame altogether, and inferior pyramidal ball-and-socket is set to
Lower layer positions the top of chassis, and bearing ball is installed in inferior pyramidal ball-and-socket and top is exposed, and upper layer positions frame altogether and lower layer's positioning
When chassis location and installation, upper conical ball-and-socket is covered in bearing ball top.
3. long-range ball-and-socket automatic positioning equipment according to claim 2, which is characterized in that the upper conical ball-and-socket and lower cone
Shape socket arrangement is symmetrical；Bearing ball retaining ring is additionally provided at inferior pyramidal ball-and-socket, bearing ball is installed on inferior pyramidal by bearing ball retaining ring
In ball-and-socket.
4. long-range ball-and-socket automatic positioning equipment according to claim 1, which is characterized in that the upper layer positions total frame under
The joint of layer positioning chassis is " T " shape, and joint is evenly distributed with three groups of taper ball-and-socket components.
5. long-range ball-and-socket automatic positioning equipment according to claim 1, which is characterized in that the upper layer positions total frame under
Several lower auxiliary branch to raise upward are also distributed on the top surface of lower layer's positioning chassis there are gap in the joint of layer positioning chassis
Platform is supportted, the top surface and upper layer of each lower Auxiliary support platform position the bottom surface close proximity of frame altogether；
Alternatively, the upper layer positions the joint of frame altogether and lower layer's positioning chassis there are gap, upper layer positions the bottom surface of frame altogether also
Several downwardly convex upper Auxiliary support platforms are distributed with, the top surface that bottom surface and the lower layer of each upper Auxiliary support platform position chassis is close
Connect.
6. long-range ball-and-socket automatic positioning equipment according to claim 1, which is characterized in that the upper layer positions total frame under
Several lower auxiliary branch to raise upward are also distributed on the top surface of lower layer's positioning chassis there are gap in the joint of layer positioning chassis
Platform is supportted, several downwardly convex upper Auxiliary support platforms are also distributed in the bottom surface that upper layer positions frame altogether, and upper layer positions frame and lower layer altogether
After positioning chassis installation, upper Auxiliary support platform and lower Auxiliary support platform correspond and close proximity.
7. long-range ball-and-socket automatic positioning equipment according to claim 1, which is characterized in that the one of lower layer's positioning chassis
Side is additionally provided with auxiliary guide plate, and auxiliary guide plate is installed on the edge corner of lower layer's positioning chassis, and assists the top of guide plate
Face is higher than the bottom surface of lower layer's positioning chassis.
8. long-range ball-and-socket automatic positioning equipment according to claim 1, which is characterized in that the upper layer positions frame altogether and includes
Equipment mounting platform and hoisting bracket, the two sides of equipment mounting platform are respectively set hoisting bracket, set on the outside of each hoisting bracket
There is guidance set, the top of hoisting bracket is equipped with suspension hook；The bottom of equipment mounting platform is fixed by taper ball-and-socket component and lower layer
Position chassis is located by connecting, and the top surface of equipment mounting platform is equipment mounting surface, is additionally provided with several device heights on equipment mounting surface
Adjust parallels and equipment level regulating mechanism；Equipment mounting platform uses the box welding structure of well word structure.
9. long-range ball-and-socket automatic positioning equipment according to claim 8, which is characterized in that the device height adjusts parallels
Including from top to bottom sequentially connected first wedge block, the second wedge block and third wedge block, the two sides of third wedge block are distinguished
It is outward extended with fixed block, is fixedly connected by bolt with equipment mounting surface at each fixed block, the second wedge block is equipped with height
Adjusting screw rod；
Equipment level regulating mechanism includes horizontal fixed frame and Level tune screw rod, and horizontal fixed frame is fixed by bolts in equipment
On mounting surface, Level tune screw rod is set to and is horizontally mounted on frame, and the end of Level tune screw rod is connected with equipment.
10. the long-range ball-and-socket automatic positioning method that any one positioning device is realized, feature exist according to claim 1~9
In equipment is installed on upper layer in advance and positions on frame altogether, and installs leading truck in advance on target position；Lower layer's positioning chassis is first put
Enter target position, upper layer positions frame altogether and equipment is put into target position by the way of lifting, and guide rail edge is utilized during being put into
Leading truck, which glides, carries out Primary Location；When upper layer, which positions frame altogether, to be fallen into lower layer's positioning chassis, taper ball-and-socket group is utilized
Part carries out automatic and accurate positioning, so that upper layer is positioned frame altogether and is installed on lower layer's positioning chassis.
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| CN201811059610.3A CN108857328B (en) | 2018-09-12 | 2018-09-12 | Remote ball socket automatic positioning device and method for high-radiation area equipment |
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|---|---|
| CN108857328B (en) | 2020-04-24 |
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