CN108857328B - Remote ball socket automatic positioning device and method for high-radiation area equipment - Google Patents
Remote ball socket automatic positioning device and method for high-radiation area equipment Download PDFInfo
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Abstract
The invention discloses a remote ball socket automatic positioning device and a method, wherein the device comprises an upper layer positioning common frame and a lower layer positioning underframe which are matched, and the upper layer positioning common frame and the lower layer positioning underframe are positioned through a conical ball socket assembly; the two opposite sides of the upper layer positioning common frame are respectively provided with a guide assembly, the guide frame is pre-installed on the inner wall of the tunnel or the installation support at the two sides of the positioning device in the guide assembly, and the guide rail is installed on the upper layer positioning common frame. The method is that the equipment is pre-installed on an upper layer positioning common frame, and a guide frame is pre-installed on a target position; the lower layer positioning chassis is firstly placed into a target position, the upper layer positioning chassis and the equipment are placed into the target position in a hoisting mode, the guide rail is firstly utilized to slide downwards along the guide frame for preliminary positioning, and then the conical ball socket assembly is utilized to perform automatic accurate positioning. The invention can be applied to the remote high-precision installation and reset of equipment in a high-radiation area, is suitable for equipment maintenance with higher danger, and has higher application value.
Description
Technical Field
The invention relates to the technical field of equipment remote positioning and installation in a high-radiation area, in particular to a remote ball socket automatic positioning device and method for equipment in the high-radiation area.
Background
In the nuclear energy field, along with the development of economy and the continuous improvement of the scientific and technical level, people pay more and more attention to the safety problem of environmental operation. The equipment is affected by various factors, such as severe working conditions, equipment manufacturing process and processing defects, poor structural design consideration and structural aging reasons of long-term operation of the equipment, and inevitable faults occur, and regular maintenance and repair are required. The dose intensity of the areas is very high, the radiation dose can be greatly improved by manual operation, and the areas can not reach the high-radiation environment to finish the overhaul and maintenance by only depending on manual operation. The regular overhaul and maintenance of the equipment in the high radiation area are important guarantees for safe operation.
At present, the developed countries have long started to develop remote operation technology to perform maintenance operation of radioactive equipment, such as special robots, manipulators, machine vision control systems, and the like, which have high intelligence degree, but also have the defects of complex equipment, high cost and great maintenance difficulty. At present, because of abundant labor resources and low labor cost, a plurality of operation posts in China are not urgently required to be replaced by robots. On the other hand, due to the technical lag, automatic maintenance operation cannot be realized in a short time.
From the current development, the safety and reliability of the radiation equipment are improved, the radiation dose of operators is reduced as much as possible, the manual operation or retention time in the radiation environment is reduced, the working environment is improved, and remote operation technology needs to be vigorously developed so as to economically supervise, maintain and repair equipment in high radiation areas or other high-risk environmental devices.
In the practical application process, because the equipment maintenance space is narrow and small, and the machining precision is high, the new equipment replaced in the maintenance process needs to be reset at high precision. Taking a CSNS as an example, the traditional special robot has the size diameter of at least 1 meter after radiation shielding is added, and the space for entering a tunnel for operation is greatly limited. In the case of a rapidly developed manipulator technology, for a device with a weight of 10 tons or more in a tunnel, and a collimation adjustment operation or the like is performed outside the tunnel, a cantilever distance is at least 4.5 m, reliability and precision are very low, and a service life of an automatic control signal transmission element due to weak radiation resistance is also very short, so that a technical solution needs to be discussed for the above problems.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the remote ball socket automatic positioning device for the high-radiation area equipment, which has a simple structure and can realize automatic positioning and high-precision resetting in a high-risk environment.
The invention also aims to provide a remote ball socket automatic positioning method for the high-radiation area equipment, which is realized by the device.
The technical scheme of the invention is as follows: a remote ball socket automatic positioning device for equipment in a high radiation area comprises an upper positioning common frame and a lower positioning underframe which are matched, wherein a plurality of conical ball socket assemblies are distributed at the joint of the upper positioning common frame and the lower positioning underframe, and the upper positioning common frame and the lower positioning underframe are positioned through the conical ball socket assemblies; the two opposite sides of the upper layer positioning common frame are respectively provided with a guide assembly, the guide assemblies comprise guide rails and guide frames which are matched, the guide frames are pre-installed on the inner walls of tunnels on the two sides of the positioning device or the installation supports, and the guide rails are installed on the upper layer positioning common frame.
The conical ball socket assembly comprises an upper conical ball socket, a lower conical ball socket and a bearing ball, the upper conical ball socket is arranged at the bottom of the upper positioning common frame, the lower conical ball socket is arranged at the top of the lower positioning base frame, the bearing ball is arranged in the lower conical ball socket, the upper part of the bearing ball is exposed, and the upper conical ball socket covers the upper part of the bearing ball when the upper positioning common frame and the lower positioning base frame are positioned and arranged.
The upper conical ball socket and the lower conical ball socket are symmetrical in structure; and a bearing ball retainer ring is also arranged at the lower conical ball socket, and the bearing ball is arranged in the lower conical ball socket through the bearing ball retainer ring.
The conical ball socket (comprising an upper conical ball socket and a lower conical ball socket) is machined into an inwards-concave 90-degree conical round surface, so that horizontal and vertical stresses caused by heavy load in the automatic positioning process of the equipment are effectively shared, and stress deformation of the ball socket with high machining precision due to the heavy load is reduced. In the automatic positioning process, under the action of heavy load, the 90-degree conical circular surface is in slow rolling contact with the surface of the bearing ball, and the device is in a uniform circle of tangent state with the bearing ball from the initial side, so that the three freedom degrees of displacement of the device are completely limited; and meanwhile, three conical ball sockets are combined, so that the limitation of three rotational degrees of freedom of the equipment can be limited, and the final position precision of the equipment is realized. In order to increase the stress deformation resistance of the conical ball socket, each ball socket is subjected to thermal stress treatment to achieve the hardness of HRC50-HRC 52.
The bearing ball retaining ring is structurally used for fixing the bearing ball to freely rotate within a certain range without separating from the conical ball socket or influencing the conical ball socket, otherwise, the bearing ball and the conical ball socket form sliding friction to form very stress and deformation;
the bearing ball is a customized part of a manufacturer, and the surface hardness of the bearing ball is HRC55-HRC60, and the difference value of the surface hardness and the hardness of the conical ball socket is HRC5-HRC 10. The device has the advantages that the situation that sliding friction between the conical ball socket and the bearing ball is caused due to the fact that the bearing ball is blocked is prevented, the size precision of the bearing ball can be effectively protected, the problem that the bearing ball is blocked is solved in time, and the positioning precision of the device is finally ensured.
The joint of the upper-layer positioning common frame and the lower-layer positioning bottom frame is in a T shape, and three groups of conical ball socket assemblies are uniformly distributed at the joint.
A gap is reserved at the joint of the upper-layer positioning common frame and the lower-layer positioning underframe, a plurality of lower auxiliary supporting tables protruding upwards are further distributed on the top surface of the lower-layer positioning underframe, and the top surfaces of the lower auxiliary supporting tables are tightly connected with the bottom surface of the upper-layer positioning common frame; in this structural style, because the top surface of lower auxiliary supporting bench need directly put up the contact with the upper strata location altogether, in order to cooperate toper ball socket subassembly to realize accurate positioning, lower auxiliary supporting bench's surface accuracy requires highly, and its processing degree of difficulty is great, and the processing cost also can corresponding improvement.
Or a gap is reserved at the joint of the upper-layer positioning common frame and the lower-layer positioning underframe, a plurality of upper auxiliary supporting tables protruding downwards are further distributed on the bottom surface of the upper-layer positioning common frame, and the bottom surfaces of the upper auxiliary supporting tables are tightly connected with the top surface of the lower-layer positioning underframe. In this structural style, because the bottom surface of going up supplementary brace table needs direct and lower floor's location chassis contact, in order to cooperate toper ball socket subassembly to realize accurate positioning, the surface accuracy of going up supplementary brace table requires comparatively, and its processing degree of difficulty is great, and the processing cost also can correspondingly improve.
The upper-layer positioning common frame and the lower-layer positioning underframe are connected through a gap, a plurality of lower auxiliary supporting tables protruding upwards are further distributed on the top surface of the lower-layer positioning underframe, a plurality of upper auxiliary supporting tables protruding downwards are also distributed on the bottom surface of the upper-layer positioning common frame, and after the upper-layer positioning common frame and the lower-layer positioning underframe are mounted, the upper auxiliary supporting tables and the lower auxiliary supporting tables correspond to each other one to one and are tightly connected. In this structural style, adopt the structure in pairs of supplementary brace table and supplementary brace table one-to-one down, can avoid on supplementary brace table direct and the chassis contact of lower floor's location or supplementary brace table and upper strata location are put up the contact altogether down, reduce the surface accuracy requirement of supplementary brace table and supplementary brace table down on the reduction, reduce its processing degree of difficulty and processing cost.
When the positioning device is used, the weight of equipment needing to be overhauled and maintained is generally more than 10 tons, if only three conical positioning ball sockets are adopted for supporting, stress plastic deformation is possibly caused, so that the positioning precision cannot be ensured, and the problem of over-positioning caused by the increase of the number of the conical positioning ball sockets causes the equipment to be incapable of being installed. Therefore, the heavy load support of the equipment can be realized by adding the upper auxiliary support table or the lower auxiliary support table, so that the heavy load support requirement can be met, and the equipment can be reset and correctly installed with high precision.
Meanwhile, the geometric centers of all the conical ball sockets (including the upper conical ball socket and the lower conical ball socket) and the auxiliary supporting platform (including the upper auxiliary supporting platform and the lower auxiliary supporting platform) are positioned on a straight line in the vertical direction, so that the stress deformation of the support is reduced most favorably in the heavy-load transmission process of the equipment.
One side of lower floor's location chassis still is equipped with supplementary deflector, and supplementary deflector is installed in the border corner of lower floor's location chassis, and the top surface of supplementary deflector is higher than the bottom surface of lower floor's location chassis. The auxiliary guide plate can be of an integrated L-shaped structure and can also be formed by installing a split flat plate structure.
In the structure, the three bearing balls are the key for completing high-precision positioning, and the upper-layer positioning in hoisting is carried out through the sliding guide of the upper conical ball socket on the surface of the bearing ball, and finally the designed position precision is achieved. The three bearing ball retaining rings prevent the bearing balls from separating from the conical ball socket under the action of large stress. The auxiliary guide plate is an auxiliary guide measure which can further limit the angle position of the upper ball socket after the upper ball socket is positioned and enters the guide frame, so that the upper ball socket is prevented from being twisted by an angle and colliding with other adjacent equipment, and the auxiliary guide measure is increased.
The leading truck includes 2 separable guide way boards to it is fixed with tunnel wall or installing support through the bolt respectively. Due to the limited diameter of the bearing ball, the device in hoisting is allowed to deviate from the designed position range, namely limited +/-35 mm, and workers can not control the position precision by means of visual inspection when remotely operating the device with the distance of more than 10 tons, and the damage caused by collision of adjacent devices is easy to occur. The guide frame is additionally arranged, the precision of the deviation position of the equipment is allowed to reach +/-45 mm, the operation difficulty of workers can be reduced, and the safety of the equipment in the hoisting process can be effectively guaranteed.
The upper-layer positioning common frame comprises an equipment mounting platform and hoisting supports, the hoisting supports are respectively arranged on two sides of the equipment mounting platform, guide assemblies are arranged on the outer sides of the hoisting supports, and lifting hooks are arranged at the tops of the hoisting supports; the bottom of the equipment mounting platform is connected with the lower-layer positioning underframe in a positioning way through a conical ball socket assembly, the top surface of the equipment mounting platform is an equipment mounting surface, and a plurality of equipment height adjusting sizing blocks and equipment horizontal adjusting mechanisms are also arranged on the equipment mounting surface; the equipment mounting platform adopts a box-type welding structure with a # -shaped structure, and can meet the requirement of increasing the stress deformation resistance strength of the supporting surface of the equipment after heavy load transmission. Wherein, the both sides of hoisting support are the hoist and mount stand respectively, and equipment height adjustment parallels and equipment level adjustment mechanism pass through the bolt fastening on the equipment fixing face for equipment can adjust to the position accuracy of design. The lifting hooks on the four lifting upright columns are mainly used for the overhead crane to lift the upper layer for positioning.
The equipment height adjusting sizing block comprises a first wedge-shaped block, a second wedge-shaped block and a third wedge-shaped block which are sequentially connected from top to bottom, fixed blocks extend outwards from two sides of the third wedge-shaped block respectively, each fixed block is fixedly connected with an equipment mounting surface through a bolt, and a height adjusting screw rod is arranged on the second wedge-shaped block; when the installation height of the equipment needs to be adjusted, the second wedge-shaped block is driven to horizontally slide through the height adjusting screw rod, and the height of the first wedge-shaped block is changed by utilizing the height change of the inclined planes at the upper side and the lower side of the first wedge-shaped block, so that the purpose of adjusting the installation height of the equipment is achieved. When the height adjusting device is used, the relative horizontal direction positions of the first wedge-shaped block and the third wedge-shaped block can be limited by arranging the positioning pin, the second wedge-shaped block slides along the upper and lower contact inclined planes when the height adjusting screw rod rotates, and the first wedge-shaped block is lifted or lowered to achieve adjustment in the height direction. Meanwhile, the position of the equipment height adjusting sizing block cannot be changed in the horizontal direction with the equipment, and the coupling position error of the equipment in the elevation caused by the flatness error of the equipment height adjusting sizing block or the equipment contact surface is avoided. The elevation direction meets the adjusting range of +/-5 mm.
The horizontal adjusting mechanism of the equipment comprises a horizontal fixing frame and a horizontal adjusting screw rod, the horizontal fixing frame is fixed on the equipment mounting surface through bolts, the horizontal adjusting screw rod is arranged on the horizontal mounting frame, and the tail end of the horizontal adjusting screw rod is connected with the equipment. When the horizontal position of the equipment needs to be adjusted, the horizontal adjusting screw rod is rotated to push the equipment to move horizontally. One end of the horizontal adjusting screw props against the equipment, the other end of the horizontal adjusting screw is connected with the horizontal fixing frame through the screw threads, and the equipment is pushed to achieve an adjusting range of +/-20 mm in the horizontal direction during rotation. When the device is used, the device horizontal adjusting mechanism and the device mounting surface are required to have enough fixed strength, and the situations of tilting or stud tooth breaking and the like caused by the cantilever action can not occur when the horizontal position of the device is adjusted.
In the structure of the device, all the components need to be subjected to thermal stress treatment, so that stress can not be released under the action of thermal expansion and cold contraction or external force, and the positioning precision of the device is changed.
The invention realizes a remote ball socket automatic positioning method for high radiation area equipment through the positioning device, which comprises the following steps: the equipment is pre-installed on an upper layer positioning common frame, and a guide frame is pre-installed on a target position; the lower positioning underframe is firstly placed into a target position, the upper positioning underframe and the equipment are placed into the target position in a hoisting mode, and the guide rail slides downwards along the guide frame in the placing process to perform primary positioning; when the upper layer positioning frame falls into the upper part of the lower layer positioning underframe, the conical ball socket assembly is utilized to automatically and accurately position, so that the upper layer positioning frame is arranged on the lower layer positioning underframe.
During operation, the upper layer positioning common frame is pre-assembled with required equipment and is collimated to the precision of a designed position, and then a worker remotely controls the crown block to hoist to a high radiation area to complete installation. The lower positioning chassis is pre-installed and aligned to the designed position accuracy before the installation environment is not subjected to irradiation. After the upper layer positioning common frame is initially guided by the guide frame, the position can meet the automatic positioning range of the ball socket, and finally, the ball socket realizes the final automatic high-precision positioning.
When the device is used, the lower positioning underframe can be fixedly installed after being placed into a target position, and when equipment on the upper positioning underframe needs to be maintained or replaced, the upper positioning underframe and the equipment are lifted out together, and then the equipment is placed again after maintenance or replacement.
Compared with the prior art, the invention has the following beneficial effects:
the remote ball socket automatic positioning device and the method for the equipment in the high radiation area can be applied to remote high-precision installation and resetting of the equipment in the high radiation area, are suitable for equipment maintenance with high risk, are particularly suitable for practical projects such as nuclear power stations, nuclear power plants and accelerators, and have high application value.
This long-range ball socket automatic positioning device that high radiation area equipment was used simple structure utilizes toper ball socket subassembly and direction subassembly to cooperate, can realize that the upper strata location puts up and fixes a position high accuracy automatic positioning or reseing between the chassis with lower floor altogether, reduces manual operation, and convenient operation, the equipment maintenance and the change of being convenient for.
The material of the automatic remote ball socket positioning device for the high-radiation area equipment is radiation-resistant and high-temperature-resistant, and enters a high-risk environment area through hoisting by the crown block, so that the application range is wide, the automation level and reliability of remote equipment maintenance are improved, and the radiation safety of workers is ensured.
Drawings
Fig. 1 is a schematic overall structure diagram of the remote ball socket automatic positioning device for the high radiation area equipment.
Fig. 2 is a schematic structural diagram of the upper layer positioning frame.
Fig. 3 is a schematic structural view of a lower positioning chassis.
Figure 4 is a cross-sectional view of a tapered ball and socket assembly.
Fig. 5 is a schematic structural view of a single device height adjusting sizing block.
Fig. 6 is a schematic structural view of a horizontal adjustment mechanism of a single device.
Fig. 7 is a bottom view of the bottom surface of the upper positioning co-frame.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1
The remote ball socket automatic positioning device for the high-radiation area equipment comprises an upper-layer positioning common frame 1 and a lower-layer positioning underframe 2 which are matched with each other, wherein the joint of the upper-layer positioning common frame and the lower-layer positioning underframe is T-shaped, three groups of conical ball socket assemblies 3 (shown in figure 4) are uniformly distributed, and the upper-layer positioning common frame and the lower-layer positioning underframe are positioned through the conical ball socket assemblies; the two opposite sides of the upper layer positioning common frame are respectively provided with a guide assembly, the guide assembly comprises a guide rail 4 and a guide frame 5 which are matched, the guide frame is pre-installed on the inner wall of the tunnel or the installation support at the two sides of the positioning device, and the guide rail is installed on the upper layer positioning common frame. Wherein, the leading truck includes two separable guide way boards to it is fixed with tunnel wall or installing support through the bolt respectively. Due to the limited diameter of the bearing ball, the device in hoisting is allowed to deviate from the designed position range, namely limited +/-35 mm, and workers can not control the position precision by means of visual inspection when remotely operating the device with the distance of more than 10 tons, and the damage caused by collision of adjacent devices is easy to occur. The guide frame is additionally arranged, the precision of the deviation position of the equipment is allowed to reach +/-45 mm, the operation difficulty of workers can be reduced, and the safety of the equipment in the hoisting process can be effectively guaranteed.
As shown in figure 4, the conical ball socket assembly comprises an upper conical ball socket 3-1, a lower conical ball socket 3-2 and a bearing ball 3-3, wherein the upper conical ball socket is arranged at the bottom of the upper positioning common frame, the lower conical ball socket is arranged at the top of the lower positioning base frame, the bearing ball is arranged in the lower conical ball socket, the upper part of the bearing ball is exposed, and when the upper positioning common frame and the lower positioning base frame are positioned and installed, the upper conical ball socket covers the upper part of the bearing ball. The upper conical ball socket and the lower conical ball socket are symmetrical in structure; as shown in figure 3, a bearing ball retainer ring 3-4 is also arranged at the lower conical ball socket, and the bearing ball is arranged in the lower conical ball socket through the bearing ball retainer ring. The conical ball socket (comprising an upper conical ball socket and a lower conical ball socket) is machined into an inwards-concave 90-degree conical round surface, so that horizontal and vertical stresses caused by heavy load in the automatic positioning process of the equipment are effectively shared, and stress deformation of the ball socket with high machining precision due to the heavy load is reduced. In the automatic positioning process, under the action of heavy load, the 90-degree conical circular surface is in slow rolling contact with the surface of the bearing ball, and the device is in a uniform circle of tangent state with the bearing ball from the initial side, so that the three freedom degrees of displacement of the device are completely limited; and meanwhile, three conical ball sockets are combined, so that the limitation of three rotational degrees of freedom of the equipment can be limited, and the final position precision of the equipment is realized. In order to increase the stress deformation resistance of the conical ball socket, each ball socket is subjected to thermal stress treatment to achieve the hardness of HRC50-HRC 52. The bearing ball retainer ring has the structure that the bearing ball is fixed without separating from the conical ball socket and influencing the free rotation of the conical ball socket within a certain range, otherwise, the bearing ball and the conical ball socket form sliding friction to form very stress and deformation. The bearing ball is a customized part of a manufacturer, and the surface hardness of the bearing ball is HRC55-HRC60, and the difference value of the surface hardness and the hardness of the conical ball socket is HRC5-HRC 10. The device has the advantages that the situation that sliding friction between the conical ball socket and the bearing ball is caused due to the fact that the bearing ball is blocked is prevented, the size precision of the bearing ball can be effectively protected, the problem that the bearing ball is blocked is solved in time, and the positioning precision of the device is finally ensured.
The joint of the upper-layer positioning common frame and the lower-layer positioning bottom frame is provided with a gap, the top surface of the lower-layer positioning bottom frame is also provided with two lower auxiliary supporting tables 13 protruding upwards, and the top surfaces of the lower auxiliary supporting tables are closely connected with the bottom surface of the upper-layer positioning common frame. Because the weight of the equipment needing to be overhauled and maintained is generally more than 10 tons, if only three conical positioning ball sockets are adopted for supporting, stress plastic deformation is possibly caused, so that the positioning precision cannot be ensured, and the problem of over-positioning caused by increasing the number of the conical positioning ball sockets causes the equipment to be incapable of being installed. Therefore, the heavy load support of the equipment can be realized by adding the structural form of the lower auxiliary support table, so that the heavy load support requirement can be met, and the equipment can be reset and correctly installed at high precision. Meanwhile, the geometric centers of all the conical ball sockets (including the upper conical ball socket and the lower conical ball socket) and the auxiliary supporting platform (including the upper auxiliary supporting platform and the lower auxiliary supporting platform) are positioned on a straight line in the vertical direction, so that the stress deformation of the support is reduced most favorably in the heavy-load transmission process of the equipment.
As shown in fig. 3, an auxiliary guide plate 6 is further disposed on one side of the lower positioning chassis, the auxiliary guide plate is mounted at a corner of the edge of the lower positioning chassis, and the top surface of the auxiliary guide plate is higher than the bottom surface of the lower positioning chassis. The auxiliary guide plate can be of an integrated L-shaped structure and can also be formed by installing a split flat plate structure. In the structure, three bearing balls are the key for completing high-precision positioning, and the upper-layer positioning in hoisting is carried out through the sliding guide of the upper conical ball socket on the surface of the bearing ball, and finally the designed position precision is achieved. The three bearing ball retaining rings prevent the bearing balls from separating from the conical ball socket under the action of large stress. The auxiliary guide plate is an auxiliary guide measure which can further limit the angle position of the upper ball socket after the upper ball socket is positioned and enters the guide frame, so that the upper ball socket is prevented from being twisted by an angle and colliding with other adjacent equipment, and the auxiliary guide measure is increased.
As shown in fig. 1 or fig. 2, the upper-layer positioning common frame comprises an equipment mounting platform 7 and hoisting supports 8, the hoisting supports are respectively arranged on two sides of the equipment mounting platform, a guide assembly is arranged on the outer side of each hoisting support, and a lifting hook 9 is arranged at the top of each hoisting support; the bottom of the equipment mounting platform is connected with the lower-layer positioning underframe in a positioning way through a conical ball socket assembly, the top surface of the equipment mounting platform is an equipment mounting surface 7-1, and a plurality of equipment height adjusting sizing blocks 10 and equipment horizontal adjusting mechanisms 11 are further arranged on the equipment mounting surface; the equipment mounting platform adopts a box-type welding structure with a # -shaped structure, and can meet the requirement of increasing the stress deformation resistance strength of the supporting surface of the equipment after heavy load transmission. Wherein, the both sides of hoisting support are the hoist and mount stand respectively, and equipment height adjustment parallels and equipment level adjustment mechanism pass through the bolt fastening on the equipment fixing face for equipment can adjust to the position accuracy of design. The lifting hooks on the four lifting upright columns are mainly used for the overhead crane to lift the upper layer for positioning.
As shown in fig. 5, the equipment height adjusting sizing block comprises a first wedge-shaped block 10-1, a second wedge-shaped block 10-2 and a third wedge-shaped block 10-3 which are sequentially connected from top to bottom, wherein two sides of the third wedge-shaped block are respectively provided with a fixing block 10-4 in an outward extending manner, each fixing block is fixedly connected with an equipment mounting surface through a bolt, and the second wedge-shaped block is provided with a height adjusting screw 10-5; when the installation height of the equipment needs to be adjusted, the second wedge-shaped block is driven to horizontally slide through the height adjusting screw rod, and the height of the first wedge-shaped block is changed by utilizing the height change of the inclined planes at the upper side and the lower side of the first wedge-shaped block, so that the purpose of adjusting the installation height of the equipment is achieved. When the height adjusting device is used, the relative horizontal direction positions of the first wedge-shaped block and the third wedge-shaped block can be limited by arranging the positioning pin, the second wedge-shaped block slides along the upper and lower contact inclined planes when the height adjusting screw rod rotates, and the first wedge-shaped block is lifted or lowered to achieve adjustment in the height direction. Meanwhile, the position of the equipment height adjusting sizing block cannot be changed in the horizontal direction with the equipment, and the coupling position error of the equipment in the elevation caused by the flatness error of the equipment height adjusting sizing block or the equipment contact surface is avoided. The elevation direction meets the adjusting range of +/-5 mm.
As shown in fig. 6, the horizontal adjusting mechanism of the device includes a horizontal fixing frame 11-1 and a horizontal adjusting screw 11-2, the horizontal fixing frame is fixed on the device mounting surface through bolts, the horizontal adjusting screw is arranged on the horizontal mounting frame, and the tail end of the horizontal adjusting screw is connected with the device. When the horizontal position of the equipment needs to be adjusted, the horizontal adjusting screw rod is rotated to push the equipment to move horizontally. One end of the horizontal adjusting screw props against the equipment, the other end of the horizontal adjusting screw is connected with the horizontal fixing frame through the screw threads, and the equipment is pushed to achieve an adjusting range of +/-20 mm in the horizontal direction during rotation. When the device is used, the device horizontal adjusting mechanism and the device mounting surface are required to have enough fixed strength, and the situations of tilting or stud tooth breaking and the like caused by the cantilever action can not occur when the horizontal position of the device is adjusted.
In the structure of the device, all the components need to be subjected to thermal stress treatment, so that stress can not be released under the action of thermal expansion and cold contraction or external force, and the positioning precision of the device is changed.
Example 2
Compared with embodiment 1, the remote ball socket automatic positioning device for the high radiation area equipment of the embodiment is different in that: a gap is reserved at the joint of the upper-layer positioning common frame and the lower-layer positioning underframe, a plurality of upper auxiliary supporting tables 12 (shown in figure 7) protruding downwards are further distributed on the bottom surface of the upper-layer positioning common frame, and the bottom surfaces of the upper auxiliary supporting tables are tightly connected with the top surface of the lower-layer positioning underframe. In this structure, the lower positioning bottom frame may not be provided with a lower auxiliary support table.
Example 3
Compared with embodiment 1, the remote ball socket automatic positioning device for the high radiation area equipment of the embodiment is different in that: the joint of the upper-layer positioning common frame and the lower-layer positioning bottom frame is provided with a gap, the top surface of the lower-layer positioning bottom frame is also provided with two lower auxiliary supporting tables which are convex upwards, the bottom surface of the upper-layer positioning common frame is also provided with two upper auxiliary supporting tables 12 which are convex downwards (as shown in figure 7), and after the upper-layer positioning common frame and the lower-layer positioning bottom frame are installed, the upper auxiliary supporting tables and the lower auxiliary supporting tables are in one-to-one correspondence and are tightly connected. In the structure, two auxiliary supporting platforms and three conical ball socket assemblies in an upper-layer positioning common frame and a lower-layer positioning bottom frame correspond to each other one by one to form a matched structure. The three bearing balls are the key for completing high-precision positioning, and the upper-layer ball socket positioning in hoisting is carried out through the sliding guide of the conical ball sockets on the surfaces of the bearing balls, and finally the designed position precision is achieved. In this structural style, adopt the structure in pairs of supplementary brace table and supplementary brace table one-to-one down, can avoid on supplementary brace table direct and the chassis contact of lower floor's location or supplementary brace table and upper strata location are put up the contact altogether down, reduce the surface accuracy requirement of supplementary brace table and supplementary brace table down on the reduction, reduce its processing degree of difficulty and processing cost.
Example 4
Compared with embodiment 1, the remote ball socket automatic positioning device for the high radiation area equipment of the embodiment is different in that: as shown in fig. 3, the bottom of the lower positioning chassis is also provided with an equipment height adjusting cushion block, the specific structure of which is the same as that in embodiment 1, and the device can be used for adjusting the overall height of a remote ball socket automatic positioning device for equipment in a high radiation area and the equipment; the outer side of the lower positioning underframe is also provided with an equipment horizontal adjusting mechanism, the specific structure of which is the same as that of the embodiment 1, and the automatic ball socket positioning device can be used for adjusting the overall horizontal position of the equipment and the remote ball socket automatic positioning device for equipment in a high radiation area.
Example 5
The embodiment provides a remote ball socket automatic positioning method for equipment in a high radiation area, which is realized by the device in any one of embodiments 1-4, and specifically comprises the following steps: the equipment is pre-installed on an upper layer positioning common frame, and a guide frame is pre-installed on a target position; the lower positioning underframe is firstly placed into a target position, the upper positioning underframe and the equipment are placed into the target position in a hoisting mode, and the guide rail slides downwards along the guide frame in the placing process to perform primary positioning; when the upper layer positioning frame falls into the upper part of the lower layer positioning underframe, the conical ball socket assembly is utilized to automatically and accurately position, so that the upper layer positioning frame is arranged on the lower layer positioning underframe.
During operation, the upper layer positioning common frame is pre-assembled with required equipment and is collimated to the precision of a designed position, and then a worker remotely controls the crown block to hoist to a high radiation area to complete installation. The lower positioning chassis is pre-installed and aligned to the designed position accuracy before the installation environment is not subjected to irradiation. After the upper layer positioning common frame is initially guided by the guide frame, the position can meet the automatic positioning range of the ball socket, and finally, the ball socket realizes the final automatic high-precision positioning.
When the device is used, the lower positioning underframe can be fixedly installed after being placed into a target position, and when equipment on the upper positioning underframe needs to be maintained or replaced, the upper positioning underframe and the equipment are lifted out together, and then the equipment is placed again after maintenance or replacement.
As mentioned above, the present invention can be better realized, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present disclosure are intended to be covered by the scope of the claims of the present invention.
Claims (8)
1. The remote ball socket automatic positioning device for the high-radiation area equipment is characterized by comprising an upper-layer positioning common frame and a lower-layer positioning underframe which are matched, wherein a plurality of conical ball socket assemblies are distributed at the joint of the upper-layer positioning common frame and the lower-layer positioning underframe, and the upper-layer positioning common frame and the lower-layer positioning underframe are positioned through the conical ball socket assemblies; the two opposite sides of the upper layer positioning common frame are respectively provided with a guide assembly, the upper layer positioning common frame comprises an equipment mounting platform and hoisting supports, the two sides of the equipment mounting platform are respectively provided with the hoisting supports, and the outer sides of the hoisting supports are provided with the guide assemblies; the guide assembly comprises a guide rail and a guide frame which are matched, the guide frame is arranged on the inner wall of the tunnel or the mounting bracket at two sides of the positioning device in advance, and the guide rail is arranged on the upper-layer positioning common frame; an auxiliary guide plate is further arranged on one side of the lower positioning underframe and is mounted at a corner of the edge of the lower positioning underframe, and the top surface of the auxiliary guide plate is higher than the bottom surface of the lower positioning underframe;
the conical ball socket assembly comprises an upper conical ball socket, a lower conical ball socket and a bearing ball, the upper conical ball socket is arranged at the bottom of the upper positioning common frame, the lower conical ball socket is arranged at the top of the lower positioning underframe, the bearing ball is arranged in the lower conical ball socket, the upper part of the bearing ball is exposed, and the upper conical ball socket covers the upper part of the bearing ball when the upper positioning common frame and the lower positioning underframe are positioned and arranged; the difference between the hardness of the bearing ball and the hardness of the conical ball socket is HRC5-HRC 10.
2. The automatic remote ball-and-socket positioning device for high radiation area equipment according to claim 1, wherein the upper conical ball socket and the lower conical ball socket are symmetrical in structure; and a bearing ball retainer ring is also arranged at the lower conical ball socket, and the bearing ball is arranged in the lower conical ball socket through the bearing ball retainer ring.
3. The automatic remote ball-socket positioning device for the equipment in the high radiation area according to claim 1, wherein the joint of the upper positioning common frame and the lower positioning base frame is in a T shape, and three groups of conical ball-socket assemblies are uniformly distributed at the joint.
4. The automatic remote ball socket positioning device for the equipment in the high radiation area according to claim 1, wherein a gap is left at the joint of the upper positioning common frame and the lower positioning underframe, a plurality of lower auxiliary supporting tables protruding upwards are distributed on the top surface of the lower positioning underframe, and the top surface of each lower auxiliary supporting table is closely connected with the bottom surface of the upper positioning common frame;
or a gap is reserved at the joint of the upper-layer positioning common frame and the lower-layer positioning underframe, a plurality of upper auxiliary supporting tables protruding downwards are further distributed on the bottom surface of the upper-layer positioning common frame, and the bottom surfaces of the upper auxiliary supporting tables are tightly connected with the top surface of the lower-layer positioning underframe.
5. The automatic remote ball and socket positioning device for equipment in high radiation areas according to claim 1, wherein a gap is left at the joint of the upper positioning common frame and the lower positioning bottom frame, a plurality of lower auxiliary supporting tables protruding upwards are further distributed on the top surface of the lower positioning bottom frame, a plurality of upper auxiliary supporting tables protruding downwards are also distributed on the bottom surface of the upper positioning common frame, and after the upper positioning common frame and the lower positioning bottom frame are installed, the upper auxiliary supporting tables and the lower auxiliary supporting tables are in one-to-one correspondence and are tightly connected.
6. The automatic remote ball socket positioning device for the high-radiation area equipment according to claim 1, wherein a lifting hook is arranged at the top of the hoisting bracket; the bottom of the equipment mounting platform is connected with the lower-layer positioning underframe in a positioning way through a conical ball socket assembly, the top surface of the equipment mounting platform is an equipment mounting surface, and a plurality of equipment height adjusting sizing blocks and equipment horizontal adjusting mechanisms are also arranged on the equipment mounting surface; the equipment mounting platform adopts a box type welding structure with a # -shaped structure.
7. The automatic remote ball socket positioning device for the equipment in the high radiation area according to claim 6, wherein the equipment height adjusting sizing block comprises a first wedge-shaped block, a second wedge-shaped block and a third wedge-shaped block which are sequentially connected from top to bottom, two sides of the third wedge-shaped block respectively extend outwards to form fixed blocks, each fixed block is fixedly connected with an equipment mounting surface through a bolt, and a height adjusting screw is arranged on the second wedge-shaped block;
the horizontal adjusting mechanism of the equipment comprises a horizontal fixing frame and a horizontal adjusting screw rod, the horizontal fixing frame is fixed on the equipment mounting surface through bolts, the horizontal adjusting screw rod is arranged on the horizontal mounting frame, and the tail end of the horizontal adjusting screw rod is connected with the equipment.
8. The automatic positioning method of the ball socket in the high radiation area for the equipment realized by the positioning device according to any one of claims 1 to 7, characterized in that the equipment is pre-installed on the upper layer positioning common frame, and the guide frame is pre-installed on the target position; the lower positioning underframe is firstly placed into a target position, the upper positioning underframe and the equipment are placed into the target position in a hoisting mode, and the guide rail slides downwards along the guide frame in the placing process to perform primary positioning; when the upper layer positioning frame falls into the upper part of the lower layer positioning underframe, the conical ball socket assembly is utilized to automatically and accurately position, so that the upper layer positioning frame is arranged on the lower layer positioning underframe.
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| CN108857328A (en) | 2018-11-23 |
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