CN109227080A - A kind of multifunction manipulator and revolving platform - Google Patents

Abstract

The present invention relates to automated assembling equipment fields, specifically a kind of multifunction manipulator and revolving platform, backlash eliminating equipment is turned round including device to hole detection device and C axis, device to hole detection device includes distance measuring sensor of four annular uniform arrays in workpiece upper end axle portion, X-axis feed arrangement is installed on C axis revolution backlash eliminating equipment, Y-axis feed arrangement is installed on X-axis feed arrangement, Z axis lifting device is installed on Y-axis feed arrangement, Z axis lifting device is equipped with clamping device, clamping device and Z axis lifting device junction are equipped with beat regulating device, inclination-angle regulating device and revolution regulating device.The present invention can fully achieve the high-precision automatic assembly of steam generator pipe fitting using the feeding of four dimensions and the fine tuning of three dimensions, assembly is time-consuming short, precision is high, the case where defect of unrepairables such as avoiding the friction because of tube wall, wound workpiece is scrapped reduces bring economic loss due to assembling process.

Description

A kind of multifunction manipulator and revolving platform

Technical field

The present invention relates to automated assembling equipment fields, further to steam generator automatic assembly equipment field, tool Body refers to a kind of multifunction manipulator and revolving platform.

Background technique

The precision assembly robot of steam generator pipe fitting is the key that core field automated arm, and China is related at present Unit is when carrying out the assembly of steam generator pipe fitting, completely by being accomplished manually, not only time and effort consuming, but also assembly precision Difference such as be easy to cause the friction of tube wall, wounds cause huge economic losses so that workpiece is scrapped at the defect of unrepairables.Again Person, for such heavy workpiece by manual assembly, hole axle fit clearance is uneven, is unable to reach the requirement of subsequent soldering processes, grinds The precision assembly robot for making dedicated steam generator pipe fitting becomes required.

Pipe fitting is mounting object in steam generator unit, and the upper end is Step Shaft, and bottom is a pallet and four Spring.After two trunnions of pallet are by upward power, compressed spring is moved upwards along guide rod.The upper table of pipe fitting Face, side, trunnion, backboard are force-applied face, and pallet can only be used to bear spring force and cannot bear the gravity of workpiece itself.

Pressure vessel is that object is mounted in steam generator unit, and there is flange in upper end, there is 48 screw threads on flange face.Pressure Force container is circumferentially uniformly distributed 16 stepped holes, is the mounted hole of pipe fitting by inner wall location hole, there is welding groove in end. There is a flange inside pressure vessel, 16 stepped holes are uniformly distributed on flange, cooperates with workpiece lower end pallet.Therefore, circumferential Axially bored line and the axis in corresponding lower end flanges top bar hole are in the same plane.

There are hole axle cooperations with pressure vessel circumferential direction hole for workpiece top Step Shaft.Other positions are required without cooperation, are only made For installation process guiding function.Workpiece bottom tray will be installed in the counterbore of container base, and with counterbore centering, in spring Pressing force effect it is lower tight with counterbore face pressure.

From steam generator unit matching requirements it is found that the assembly of pipe fitting and pressure vessel is really hole axle cooperation.Hole Axis most perfect condition is that hole axle is coaxial, and cooperation post gap is uniform.When being, in practice due to assembly system processing, rigging error, Detection error, positioning accuracy of movement of detection system etc. can all cause hole axle completely coaxial.For steam generator There are following three kinds of deviation situations when unit assembles.Installation deviation situation schematic diagram is referring to Fig. 1.

(1) axis of hole axle is parallel, but is not overlapped, and there are offset X；

(2) axis of hole axle is not parallel, and there are angle thetas；

(3) when axis is inserted into hole, since mismachining tolerance is caused in a certain section of misalignment of axe β or due to being inserted into movement side To and the axis of axis not parallel cause movement angle deviation β.

Angular deviation β relative to angular deviation θ and offset X be it is negligible, not as emphasis consider.It wants to eliminate Misalignment of axe θ and offset X, corrects the posture of axis, needs assembly system to include sufficiently high sensitivity technique and portals axis deviation Amount, very high positioning accuracy keep deviation as small as possible, and enough rigidity ensures that system variant is sufficiently small, and enough adjustment are freely It spends to adjust the posture of workpiece.

Based on problem above and solve the direction of technical problem, applicant develop the multifunction manipulator and revolution it is flat Platform.

Summary of the invention

Based on problem above, the present invention provides a kind of multifunction manipulator and revolving platforms.The present invention is using four dimensions The feeding of degree and the fine tuning of three dimensions can fully achieve the high-precision automatic assembly of steam generator pipe fitting, assembly The case where time-consuming short, precision is high, the defect of unrepairables such as avoids the friction because of tube wall, wounds workpiece is scrapped, reduce because Assembling process and bring economic loss.

In order to solve the above technical problems, The technical solution adopted by the invention is as follows:

A kind of multifunction manipulator and revolving platform, including device to hole detection device and C axis turn round backlash eliminating equipment, device to hole detection Device includes distance measuring sensor of four annular uniform arrays in workpiece upper end axle portion, is equipped with X on C axis revolution backlash eliminating equipment Axis feed arrangement is equipped with Y-axis feed arrangement on X-axis feed arrangement, Z axis lifting device, Z axis is equipped on Y-axis feed arrangement Lifting device is equipped with clamping device, and clamping device and Z axis lifting device junction are equipped with beat regulating device, tilt adjustment Device and revolution regulating device.

In the present invention, after pipe fitting is clamped by clamping device, Z axis lifting device, which falls pipe fitting, probes into pressure appearance Inside device, subsequent C axis revolution backlash eliminating equipment drives pipe fitting to rotate around pressure vessel axis, and making pipe fitting face, it needs to assemble Pressure vessel axis hole at, then X-axis feed arrangement movement draw close pipe fitting at the pressure vessel axis hole of assembly, C axis revolution The axis and pressure vessel axis hole that backlash eliminating equipment and the cooperation of Y-axis feed arrangement make pipe fitting upper end axle portion are on the same line, complete At preliminary alignment.X-axis feed arrangement continues to act, and protrudes into the device to hole detection device at the axle portion of pipe fitting upper end in axis hole, right Hole detection device detects the distance inside axis hole by 4 distance measuring sensors, judges workpiece posture according to the deviation of measurement distance Deviation, and then beat regulating device, inclination-angle regulating device and revolution regulating device is driven to carry out pose adjustment to workpiece, it is real The purpose of existing pipe fitting high-precision automatic assembly.The present invention can be complete using the feeding of four dimensions and the fine tuning of three dimensions The full high-precision automatic assembly for realizing steam generator pipe fitting, assembly is time-consuming short, and precision is high, avoid the friction because of tube wall, The case where defect of grade of wounding unrepairables scraps workpiece, reduce bring economic loss due to assembling process.

As a preferred mode, C axis revolution backlash eliminating equipment includes slewing supporting device, and slewing supporting device includes solid Determine outer ring and rotary inner ring, fixed outer ring is fixedly mounted on the flange of pressure vessel upper end, and it is outer that periphery is equipped with a circle Tooth is equipped with retarder mounting plate on rotary inner ring, driving gear, driving gear and fixation is equipped on retarder mounting plate The external tooth of outer ring is meshed.

X-axis feed arrangement includes at least one lower beam, and X-axis bearing block is equipped on lower beam, is installed on X-axis bearing block There is X-axis feed screw, X-axis line slide rail is also equipped on lower beam, X-axis line slide rail is parallel with X-axis feed screw.

Y-axis feed arrangement includes a root long stringer and two carlings, and a root long stringer and two carlings are parallel to each other And one C character form component of composition is connected, X-axis feeding swivel nut is installed on long stringer and carling, is equipped in X-axis feeding swivel nut and X Axis carries out the screw thread that screw rod matches, long stringer and carling and is mounted on X-axis feed screw by X-axis feeding swivel nut, the two Lower surface is equipped with X-axis line slide rail seat, and X-axis line slide rail seat is supported by the X-axis line slide rail on lower beam, long Be additionally provided on stringer Y-axis feeding swivel nut and with the parallel Y-axis line slide rail of Y-axis feeding swivel nut axis, carling be equipped with Y-axis feeds the parallel Y-axis line slide rail of swivel nut axis.

Z axis lifting device includes two head trees, and two head trees are parallel with pressure vessel axis, and both ends passed through Beam is fixed, and Z axis lifting screw is equipped on the lintel at head tree both ends, and the side of two head trees is equipped with support, head tree Y-axis feed screw is installed, support lower surface is equipped with Y-axis line slide rail seat, the installation of Y-axis line slide rail seat in side supports On Y-axis line slide rail, Y-axis feed screw is mounted in Y-axis feeding swivel nut, and two opposite medial surfaces of head tree are equipped with Z Axis line slide rail.Sled mechanism is installed on Z axis lifting device, sled mechanism includes two supporting steel frames parallel to each other, and two Root supporting steel frame lower end is fixed by lower steelframe, and upper end is fixed by upper steelframe, and three forms a rectangular steelframe, upper steelframe On be equipped with Z axis lifting swivel nut, Z axis lifting swivel nut screw on Z axis lifting screw, pacify on the side of upper steelframe and lower steelframe Line slide rail seat is gone up and down equipped with the Z axis parallel with Z axis lifting swivel nut axis, Z axis goes up and down line slide rail seat and Z axis straight line is sliding Rail chair agrees with, and tilt adjustment rotation hinged seat is equipped on upper steelframe, tilt adjustment is equipped on lower steelframe and pushes hinged seat.

Inclination-angle regulating device includes tilt adjustment arm, and tilt adjustment arm upper end is equipped with tilt adjustment axis, tilt adjustment axis hinge It connects on tilt adjustment rotation hinged seat, the one side of tilt adjustment arm towards sled mechanism is equipped with tilt adjustment sliding rail, inclination angle tune Slider connecting plate is installed on section sliding rail, link arm is equipped between slider connecting plate and slide plate, link arm one end and slider connecting plate are cut with scissors It connects, other end is hinged on tilt adjustment and pushes on hinged seat, and tilt adjustment arm upper end is additionally provided with beat and adjusts shaft.

Beat regulating device includes middle set, and middle set upper side, which is equipped with, adjusts the beat axle sleeve that shaft matches, middle set with beat It is socketed in by way of beat adjusts shaft and is mounted on tilt adjustment arm beat axle sleeve, middle set lower end is equipped with beat and pushes away Moving axis, beat pushing meanss are equipped on tilt adjustment arm, and beat pushing meanss and beat push axis connection.

Turning round regulating device includes revolution axis, and revolution axis is mounted in middle set, and revolution axis upper end is equipped with back rotation Axis, middle set upper side are equipped with revolution dead axle, turn round between moving axis and revolution dead axle to be equipped with and turn round flexible pushing meanss, revolution is flexible to be pushed away Dynamic device both ends are hinged with revolution dead axle and revolution moving axis respectively.

Clamping device includes the upper beam for being connected to revolution axis upper end, and upper beam left side is equipped with sliding slot, peace in sliding slot Equipped with draw runner, upper beam right side and draw runner are mounted on folder ear, and clamping device further includes being connected to revolution axis lower end Lifting handle, lifting handle and revolution axis are to be rotatablely connected, and the lower end of middle set and revolution axis cooperation is also equipped with promotion cunning Set, promotion sliding sleeve upper end, which is socketed on revolution axis and is connected by key, prevents the two from relatively rotating, the keyway length of key connection Greater than key length, is promoted in the stretching of sliding sleeve lower end and connect outside set with lower beam, lower beam two sides are equipped with hook plate.

As a preferred mode, two stage reducer is installed on retarder mounting plate, two stage reducer output shaft with Driving gear connection, input shaft are connect by shaft coupling with reducer output shaft, reducer input shaft with pass through electromagnetic clutch It is connected to motor.

Lower beam be two, it is parallel to each other to be mounted on rotary inner ring, the head that lower beam be in the same side be equipped with and Lower beam perpendicular attachment beam is equipped with the line shaft perpendicular with X-axis feed screw, attachment beam two ends on attachment beam Portion is mounted on retarder, and reducer output shaft connect by shaft coupling with X-axis feed screw, input shaft pass through shaft coupling and Power axis connection is equipped with retarder in the middle part of attachment beam, and reducer output shaft is coaxial with line shaft, input shaft pass through electromagnetism from Clutch is connected to motor.

Retarder is installed, reducer output shaft is connect with Y-axis feed screw, and input shaft passes through electromagnetic clutch on support It is connected to motor.

Retarder is installed, reducer output shaft is connect with Z axis lifting screw, and input shaft passes through electromagnetic clutch on lintel Device is connected to motor.

Retarder is installed, reducer input shaft is connected to motor by electromagnetic clutch, output shaft on tilt adjustment arm It is connect with straight-line motion mechanism.

Beat pushing meanss include straight-line motion mechanism, and straight-line motion mechanism output shaft and beat impeller-hub are hinged, input Axis one end is connected to motor by electromagnetic clutch.

The flexible pushing meanss of revolution are electric telescopic rod, and electric telescopic rod both ends are cut with scissors with revolution dead axle and revolution moving axis respectively It connects.

Clamping screw is installed, clamping screw is connect with draw runner, and junction is to be rotatably connected, upper beam in upper beam Retarder is installed on the upper folder ear of right side, clamping screw extends transversely through upper beam and connect with reducer output shaft, retarder Input shaft is connected to motor by electromagnetic clutch.Retarder is installed, reducer output shaft and lifting handle connect on lower beam It connects, input shaft is connected to motor by electromagnetic clutch.

As a preferred mode, all reducer input shaft one end are connected to motor by electromagnetic clutch, in addition One end is connect with handwheel.

As a preferred mode, fixed outer ring annular uniform array has magnetic railings ruler.

Limit switches and magnetic railings ruler are installed on lower beam.

Limit switches and magnetic railings ruler are installed on long stringer.

Limit switches and magnetic railings ruler are installed on head tree.

Limit switches are installed on tilt adjustment arm.

Middle set lower part is installed by limit switches.

As a preferred mode, it is also equipped with positioning device lower layer platform on fixed outer ring, is installed on lower layer's platform There is lower layer's guardrail.

As a preferred mode, head tree lower end is also connected with hanging ladder.

As a preferred mode, fixed outer ring lower surface is also equipped with shot-light.

Compared with prior art, the beneficial effects of the present invention are:

(1) present invention can be fully achieved steam generator and be connect using the feeding of four dimensions and the fine tuning of three dimensions The high-precision automatic assembly of head, assembly is time-consuming short, and precision is high, the defect of unrepairables such as avoids the friction because of tube wall, wounds So that the case where workpiece is scrapped, reduces bring economic loss due to assembling process；

(2) Highgrade integration kinetic control system of the present invention, frequency image monitoring system, detection system have control process There are three types of modes: 1, host computer terminal control, 2 hand-held boxes control with oneself, 3 rotation handwheels control.Control mode is flexible, Convenient for assembled in situ operation.

Detailed description of the invention

Background technique figure:

Fig. 1 is installation deviation situation schematic diagram.

Structure division figure:

Fig. 2 is front view of the invention.

Fig. 3 is left view of the invention.

Fig. 4 is top view of the invention.

Fig. 5 is that C axis turns round backlash eliminating equipment front view.

Fig. 6 is that C axis turns round backlash eliminating equipment top view.

Fig. 7 is that C axis turns round backlash eliminating equipment left view.

Fig. 8 is A-A cross-section diagram in Fig. 6.

Fig. 9 is B-B cross-section diagram in Fig. 6.

Figure 10 is the front view of X-axis feed arrangement.

Figure 11 is the top view of X-axis feed arrangement.

Figure 12 is A-A cross-section diagram in Figure 11.

Figure 13 is the front view of the long stringer of Y-axis feed arrangement.

Figure 14 is the top view of the long stringer of Y-axis feed arrangement.

Figure 15 is the left view of the long stringer of Y-axis feed arrangement.

Figure 16 is the front view of Y-axis feed arrangement carling.

Figure 17 is the left view of Y-axis feed arrangement carling.

Figure 18 is the front view of Z axis lifting device.

Figure 19 is the top view of Z axis lifting device.

Figure 20 is A-A cross-section diagram in Figure 18.

Figure 21 is the front view of sled mechanism.

Figure 22 is the right view of sled mechanism.

Figure 23 is the top view of sled mechanism.

Figure 24 is the axonometric drawing of sled mechanism.

Figure 25 is the front view of angle regulating device and part beat regulating device.

Figure 26 is the rearview of angle regulating device and part beat regulating device.

Figure 27 is the left view of angle regulating device and part beat regulating device.

Figure 28 is B-B cross-sectional view in Figure 25.

Figure 29 is the partial enlarged view of A in Figure 27.

Figure 30 is part beat regulating device, the front view for turning round regulating device, clamping device.

Figure 31 is part beat regulating device, the cross-sectional view for turning round regulating device, clamping device.

Figure 32 is part beat regulating device, the top view for turning round regulating device, clamping device.

Electrical system part figure:

Figure 33 is electric control system frame diagram.

Figure 34 is control system hardware frame figure.

Figure 35 is hand-held box structure figure.

Figure 36 is hand-held box wiring diagram.

Figure 37 is controller and its expansion module figure.

Figure 38 is electromagnetic clutch wiring diagram.

Figure 39 is magnetic induction sensor wiring diagram.

Figure 40 is limit sensors wiring diagram.

Figure 41 is separate unit Lexium23A driving device wiring diagram.

Figure 42 is sensor wire figure.

Figure 43 is position detection schematic diagram.

Figure 44 is position detection difference in height schematic diagram.

Figure 45 is axial detection schematic diagram.

Figure 46 is four PSD sensor scheme of installation.

Figure 47 is one schematic diagram of centering detection case.

Figure 48 is two schematic diagram of centering detection case.

Figure 49 is three schematic diagram of centering detection case.

Figure 50 is four schematic diagram of centering detection case.

Figure 51 is the network topological diagram of monitoring system.

Wherein, 1 device to hole detection device；

2C axis turns round backlash eliminating equipment, 201 slewing supporting devices, 2011 rotary inner rings, 2012 fixed outer rings, 202 driving tooths Wheel, 203 mounting plates, 204 two stage reducers, 205 retarder mounting plates, 206 shot-lights；

3X axis feed arrangement, 301 lower beams, 302X bearing housing, 303X axis feed screw, 304 line shafts, 305 connections Beam, 306X axis line slide rail；

4Y axis feed arrangement, 401 long stringers, 402Y axis feeding swivel nut, 403X axis feeding swivel nut, 404Y axis line slide rail, 405 carlings, 406X axis line slide rail seat；

5Z axis lifting device, 501 head trees, 502 lintels, 503Z axis lifting screw, 504Y axis feed screw, 505Y axis are straight Line slide track seat, 506 supports, 507 universal joints, 508Z axis line slide rail；

6 inclination-angle regulating devices, 601 tilt adjustment arms, 602 tilt adjustment axis, 603 beats adjusting shaft, 604 link arms, 605 Slider connecting plate, 606 tilt adjustment sliding rails, 607 tilt adjustment worm screws, 608 tilt adjustments are driven positioning sleeve；

7 beat regulating devices cover in 701,702 beat axle sleeves, 703 beat impeller-hubs, and 7031 beats push moving axis, and 7032 Beat pushes dead axle, 7033 rotation connection plates, and 704 beats adjust worm screw, and 705 beats adjust transmission positioning sleeve；

8 revolution regulating devices, 801 revolution axis, 802 revolution moving axis, 803 revolution dead axles, 804 electric telescopic rods；

9 clamping devices, 901 upper beams press from both sides ear on 902,903 lower beams, 904 hook plates, 905 lifting handles, and 906 are promoted and slide Set, 907 draw runners；

10 lower layer's platforms, 11 lower layer's guardrails, 12 hanging ladders, 13 magnetic railings rulers, 14 handwheels, 15 retarders, 16 electromagnetic clutch, 17 Motor, 18 shaft couplings, 19 limit switches；

20 sled mechanisms, 2001 supporting steel frames, 2002 lower steelframes, 2003 tilt adjustments push hinged seat, steelframe on 2004, 2005 tilt adjustments rotate hinged seat, and 2006Z axis goes up and down line slide rail seat, and 2007Z axis goes up and down swivel nut.

Specific embodiment

The present invention will be further described below with reference to the drawings.Embodiments of the present invention include but is not limited to following reality Apply example.

Embodiment 1:

Referring to fig. 2~4, a kind of multifunction manipulator and revolving platform, including device to hole detection device 1 and C axis turn round the gap that disappears Device 2, device to hole detection device 1 include distance measuring sensor of four annular uniform arrays in workpiece upper end axle portion, and the revolution of C axis disappears X-axis feed arrangement 3 is installed on gap device 2, Y-axis feed arrangement 4 is installed on X-axis feed arrangement 3, on Y-axis feed arrangement 4 Z axis lifting device 5 is installed, Z axis lifting device 5 is equipped with clamping device 9, clamping device 9 and 5 junction of Z axis lifting device Equipped with beat regulating device 7, inclination-angle regulating device 6 and revolution regulating device 8:

Referring to Fig. 5~9, it includes slewing supporting device 201 that C axis, which turns round backlash eliminating equipment 2, and slewing supporting device 201 includes solid Determine outer ring 2012 and rotary inner ring 2011, fixed outer ring 2012 is fixedly mounted on the method for pressure vessel upper end by mounting plate 203 Lan Shang accompanies neonychium to reduce the damage of pressure vessel upper end flange, pacifies simultaneously between mounting plate 203 and pressure vessel upper end Positioning arc plate is connected in loading board 203, Positioning arc plate is stuck in pressure vessel upper end flange excircle face, guarantees slewing supporting device 201 is coaxial with pressure vessel, and fixed 2012 periphery of outer ring is equipped with a circle external tooth, is equipped with retarder on rotary inner ring 2011 Mounting plate 205 is equipped with driving gear 202, the external tooth of driving gear 202 and fixed outer ring 2012 on retarder mounting plate 205 It is meshed.Two stage reducer 204,204 output shaft of two stage reducer and driving gear 202 are installed on retarder mounting plate 205 Connection, input shaft export axis connection by shaft coupling 18 and retarder 15,15 input shaft of retarder with pass through electromagnetic clutch 16 It is connect with motor 17.15 input shaft one end of retarder is connect by electromagnetic clutch 16 with motor 17, other end and handwheel 14 Connection.

Referring to Figure 10~12, X-axis feed arrangement 3 includes at least two lower beams 903, and two lower beams 903 are parallel to each other Be mounted on rotary inner ring 2011, X-axis bearing block 302 be installed on lower beam 903, be equipped on X-axis bearing block 302 X-axis into To screw rod 303, X-axis line slide rail 306, X-axis line slide rail 306 and 303 phase of X-axis feed screw are also equipped on lower beam 903 In parallel.The head that lower beam 903 is in the same side is equipped with the attachment beam 305 perpendicular with lower beam 903, on attachment beam 305 The line shaft 304 perpendicular with X-axis feed screw 303 is installed, 305 both ends head of attachment beam is mounted on retarder 15, subtracts Fast 15 output shaft of device is connect by shaft coupling 18 with X-axis feed screw 303, and input shaft is connected by shaft coupling 18 and line shaft 304 It connects, retarder 15 is equipped in the middle part of attachment beam 305,15 output shaft of retarder and line shaft 304 are coaxial, and input shaft passes through electromagnetism Clutch 16 is connect with motor 17.15 input shaft one end of retarder is connect by electromagnetic clutch 16 with motor 17, other end It is connect with handwheel 14.

Referring to Figure 13~17, Y-axis feed arrangement 4 includes a root long stringer 401 and two carlings 405, a root long stringer 401 is parallel to each other with two carlings 405 and connect one C character form component of composition, is equipped on long stringer 401 and carling 405 X-axis feeds swivel nut 403, is equipped in X-axis feeding swivel nut 403 and carries out the screw thread that matches of screw rod with X-axis, long stringer 401 and short vertical Beam 405 feeds swivel nut 403 by X-axis and is mounted on X-axis feed screw 303, and the two lower surface is equipped with X-axis line slide rail seat 406, X-axis line slide rail seat 406 is supported by the X-axis line slide rail 306 on lower beam 903, is also set on long stringer 401 There are Y-axis feeding swivel nut 402 and the Y-axis line slide rail 404 parallel with Y-axis feeding 402 axis of swivel nut, carling 405 to be equipped with The Y-axis line slide rail 404 parallel with Y-axis feeding 402 axis of swivel nut.

Referring to Figure 18~20, Z axis lifting device 5 includes two head trees 501, two head trees 501 and pressure vessel axis Line is parallel, and both ends are fixed by lintel 502, is equipped with Z axis lifting screw 503 on the lintel 502 at 501 both ends of head tree, The side of two head trees 501 is equipped with support 506, is equipped with Y-axis feed screw 504 in 501 side supports 506 of head tree, 506 lower surface of support is equipped with Y-axis line slide rail seat 505, and Y-axis line slide rail seat 505 is mounted on Y-axis line slide rail 404, Y Axis feed screw 504 is mounted in Y-axis feeding swivel nut 402, and it is sliding that two opposite medial surfaces of head tree 501 are equipped with Z axis straight line Rail 508.Sled mechanism 20 is installed on Z axis lifting device 5, referring to fig. 2 1~24, sled mechanism 20 includes two parallel to each other Supporting steel frame 2001, two 2001 lower ends of supporting steel frame are fixed by lower steelframe 2002, and upper end is solid by upper steelframe 2004 It is fixed, and three forms a rectangular steelframe, and Z axis lifting swivel nut 2007 is equipped on upper steelframe 2004, Z axis goes up and down swivel nut 2007 and revolves It closes on Z axis lifting screw 503, is equipped on the side of upper steelframe 2004 and lower steelframe 2002 and goes up and down 2007 axis of swivel nut with Z axis The parallel Z axis of line goes up and down line slide rail seat 2006, and Z axis lifting line slide rail seat 2006 agrees with Z axis line slide rail 508, Tilt adjustment rotation hinged seat 2005 is installed on upper steelframe 2004, tilt adjustment is installed on lower steelframe 2002 and pushes hinged seat 2003.Retarder 15 is installed, 15 output shaft of retarder is connect with X-axis feed screw 303, and input shaft passes through electricity on support 506 Magnet clutch 16 is connect with motor 17.15 input shaft one end of retarder is connect by electromagnetic clutch 16 with motor 17, and in addition one End is connect with handwheel 14.Retarder 15 is installed on lintel 502,15 output shaft of retarder is connect with Z axis lifting screw 503, Input shaft is connect by electromagnetic clutch 16 with motor 17.15 input shaft one end of retarder passes through electromagnetic clutch 16 and motor 17 connections, other end are connect with handwheel 14.Due to Z axis lifting screw 503 directly drive end be upper end lintel 502 or under Lintel 502 is held, source can will be directly driven by mechanisms such as universal joint 507, shaft coupling 18, retarders 15 and commutate to middle part, and be convenient for Directly controlled.

C axis turns round 2 action process of backlash eliminating equipment:

1) motor 17 drives: motor 17 passes sequentially through electromagnetic clutch 16, retarder 15, shaft coupling 18, two stage reducer 204 driving driving gears 202 rotate, and so that driving gear 202 is done turnover movement on the external tooth of fixed outer ring 2012, and then drive Dynamic rotary inner ring 2011 and the X-axis feed arrangement 3 installed thereon carry out rotation.

2) manual actuation: electromagnetic clutch 16 disconnects the connection between retarder 15 and motor 17, rotates handwheel 14 manually, leads to Crossing retarder 15, shaft coupling 18, two stage reducer 204 drives driving gear 202 to rotate, and makes driving gear 202 in fixed outer ring Turnover movement is done on 2012 external tooth, and then rotary inner ring 2011 is driven to carry out rotation.

3 action process of X-axis feed arrangement:

1) motor 17 drives: motor 17 passes sequentially through electromagnetic clutch 16, retarder 15, shaft coupling 18 and drives line shaft 304 rotations, line shaft 304 drive the X-axis feeding on two lower beams 903 by the turbine and worm retarder 15 at its both ends again Screw rod 303 rotates, and moves X-axis feeding swivel nut 403 along 303 axis of X-axis feed screw, and then Y-axis feed arrangement 4 is straight in X-axis X-axis feed motion is done under the cooperation of line slide track seat 406 and X-axis line slide rail 306.

2) manual actuation: electromagnetic clutch 16 disconnects the connection between retarder 15 and motor 17, rotates handwheel 14 manually, leads to Retarder 15, the driving rotation of line shaft 304 of shaft coupling 18 are crossed, line shaft 304 passes through the turbine and worm retarder 15 at its both ends again It drives the Y-axis feed screw 504 on two lower beams 903 to rotate, makes X-axis feeding swivel nut 403 along 303 axis of X-axis feed screw It is mobile, and then Y-axis feed arrangement 4 does X-axis feeding under the cooperation of X-axis line slide rail seat 406 and X-axis line slide rail 306 and moves Make.

4 action process of Y-axis feed arrangement:

1) motor 17 drives: motor 17 passes sequentially through electromagnetic clutch 16, retarder 15, shaft coupling 18 and drives Y-axis feeding Screw rod 504 rotates, and moves Y-axis feed screw 504 along Y-axis feeding 402 axis of swivel nut, and then make the branch of Z axis lifting device 5 Seat 506 does Y-axis feed motion in the case where X-axis line slide rail seat 406 and X-axis line slide rail 306 cooperate.

2) manual actuation: electromagnetic clutch 16 disconnects the connection between retarder 15 and motor 17, rotates handwheel 14 manually, leads to Retarder 15, the driving rotation of X-axis feed screw 303 of shaft coupling 18 are crossed, X-axis feed screw 303 is made to feed 403 axis of swivel nut along X-axis Line is mobile, and then does the support 506 of Z axis lifting device 5 in the case where X-axis line slide rail seat 406 cooperates with X-axis line slide rail 306 Y-axis feed motion.

5 action process of Z axis lifting device:

1) motor 17 drives: motor 17 passes sequentially through electromagnetic clutch 16, retarder 15, shaft coupling 18 and drives Z axis lifting Screw rod 503 rotates, and so that the drive of Z axis lifting screw 503 is threadedly engaged slide plate with it and moves up and down.

2) manual actuation: electromagnetic clutch 16 disconnects the connection between retarder 15 and motor 17, rotates handwheel 14 manually, leads to Crossing retarder 15, shaft coupling 18, two stage reducer 204 drives Z axis lifting screw 503 to rotate, and drives Z axis lifting screw 503 Slide plate is threadedly engaged with it to move up and down.

Three dimension trim process

Referring to fig. 2 5~29, inclination-angle regulating device 6 includes tilt adjustment arm 601, and 601 upper end of tilt adjustment arm is equipped with inclination angle Adjustment axis 602, tilt adjustment axis 602 are hinged on tilt adjustment rotation hinged seat 2005, and tilt adjustment arm 601 is towards slide plate The one side of mechanism 20 is equipped with tilt adjustment sliding rail 606, and slider connecting plate 605 is equipped on tilt adjustment sliding rail 606, and sliding block connects Link arm 604 is equipped between fishplate bar 605 and slide plate, 604 one end of link arm and slider connecting plate 605 are hinged, and other end is hinged on inclination angle It adjusts and pushes on hinged seat 2003,601 upper end of tilt adjustment arm is additionally provided with beat and adjusts shaft 603.On tilt adjustment arm 601 Retarder 15 is installed, 15 input shaft of retarder is connect by electromagnetic clutch 16 with motor 17, output shaft and linear motion machine Structure connection.Straight-line motion mechanism includes tilt adjustment transmission positioning sleeve 608, is equipped with mutually in tilt adjustment transmission positioning sleeve 608 The gear being meshed and tilt adjustment worm screw 607, tilt adjustment worm screw 607 connect with slider connecting plate 605, and gear is mounted on On 15 output shaft of retarder, 15 output shaft of retarder is connect away from one end of motor 17 with handwheel 14.

Referring to Figure 30~32, beat regulating device 7 includes middle set 701, and middle 701 upper end of set, which is equipped with, adjusts shaft with beat The 603 beat axle sleeves 702 to match, middle set 701 are socketed in by way of beat adjusts shaft 603 beat axle sleeve 702 and are installed On tilt adjustment arm 601, middle 701 lower end of set is equipped with beat impeller-hub 703, is equipped with beat on tilt adjustment arm 601 and pushes away Dynamic device, beat pushing meanss are connect with beat impeller-hub 703.Beat pushing meanss include straight-line motion mechanism, linear motion Mechanism include beat adjust transmission positioning sleeve 705, beat adjust transmission positioning sleeve 705 in be equipped with intermeshing gear and Beat adjusts worm screw 704, and beat impeller-hub 703 includes that beat pushes moving axis 7031 and beat to push dead axle 7032, and beat pushes Dead axle 7032 is mounted on middle set 701, and beat pushes moving axis 7031 to be mounted on tilt adjustment arm 601, and beat pushes dead axle 7032 push moving axis 7031 for rotation connection with beat, and beat, which pushes, is connected with rotation connection plate 7033, rotation on dead axle 7032 Connecting plate 7033 and beat adjust worm screw 704 hingedly, and gear is mounted in shaft, and shaft passes through beat and adjusts transmission positioning sleeve 705 are positioned, and shaft one end is connect by electromagnetic clutch 16 with motor 17, and other end is connect with handwheel 14.

Referring to Figure 30~32, turning round regulating device 8 includes revolution axis 801, and revolution axis 801 is mounted in middle set 701, It turns round 801 upper end of axis and is equipped with revolution moving axis 802, middle 701 upper end of set is equipped with revolution dead axle 803, revolution moving axis 802 and revolution Be equipped between dead axle 803 and turn round flexible pushing meanss, turn round flexible pushing meanss both ends respectively with revolution dead axle 803 and back rotation Axis 802 is hinged.Turning round flexible pushing meanss is electric telescopic rod 804,804 both ends of electric telescopic rod respectively with revolution dead axle 803 And revolution moving axis 802 is hinged.

Referring to Figure 30~32, clamping device 9 includes the upper beam 901 for being connected to revolution 801 upper end of axis, upper beam 901 Left side is equipped with sliding slot, is equipped with draw runner 907 in sliding slot, 901 right side of upper beam and draw runner 907 are mounted on folder ear 902, clamping device 9 further includes the lifting handle 905 for being connected to revolution 801 lower end of axis, lifting handle 905 and revolution axis 801 be rotation connection, and the lower end that middle set 701 cooperates with revolution axis 801, which is also equipped with, promotes sliding sleeve 906, promotes sliding sleeve 906 Upper end, which is socketed on revolution axis 801 and is connected by key, prevents the two from relatively rotating, and the keyway length of key connection is greater than key Length is promoted in the stretching of 906 lower end of sliding sleeve and is connect outside set 701 with lower beam 903, and 903 two sides of lower beam are equipped with hook plate 904. Clamping screw is installed, clamping screw is connect with draw runner 907, and junction is to be rotatably connected, upper beam in upper beam 901 Retarder 15 is installed, clamping screw extends transversely through upper beam 901 and retarder 15 exports on the upper folder ear 902 of 901 right sides Axis connection, 15 input shaft of retarder are connect by electromagnetic clutch 16 with motor 17.Retarder 15 is installed on lower beam 903, 15 output shaft of retarder can be by driving lifting handle 905 after intermeshing bevel gear or the commutation of turbine and worm mechanism driving Rotation, input shaft are connect by electromagnetic clutch 16 with motor 17.The one end and handwheel of 15 input shaft of retarder away from motor 17 14 connections.

6 action process of inclination-angle regulating device:

1) motor 17 drives: motor 17 passes sequentially through electromagnetic clutch 16, the rotation of 15 sliding tooth wheel of retarder, tilt adjustment The rotation of worm screw 607 simultaneously pulls slider connecting plate 605 to be moved up and down, and slider connecting plate 605 is on tilt adjustment sliding rail 606 Sliding connects since 604 both ends of link arm push hinged seat 2003 hinged with slider connecting plate 605 and tilt adjustment respectively in sliding block When fishplate bar 605 moves up and down, the inclined degree of link arm 604 changes, and entire tilt adjustment arm 601 is turned by tilt adjustment Dynamic hinged seat 2005 is rotated around tilt adjustment axis 602, and the inclined degree of tilt adjustment arm 601 is made to change, and realizes inclination angle tune The purpose of section.

2) manual actuation: electromagnetic clutch 16 disconnects the connection between retarder 15 and motor 17, rotates handwheel 14 manually, leads to The rotation of 15 sliding tooth wheel of retarder is crossed, the rotation of tilt adjustment worm screw 607 simultaneously pulls slider connecting plate 605 to be moved up and down, sliding Block connecting plate 605 slides on tilt adjustment sliding rail 606, due to 604 both ends of link arm respectively with slider connecting plate 605 and inclination angle It adjusts and pushes hinged seat 2003 hinged, when slider connecting plate 605 moves up and down, the inclined degree of link arm 604 changes, Entire tilt adjustment arm 601 rotates hinged seat 2005 by tilt adjustment and rotates around tilt adjustment axis 602, makes tilt adjustment arm 601 inclined degree changes, and realizes the purpose of tilt adjustment.

7 action process of beat regulating device:

1) motor 17 drives: motor 17 passes sequentially through the rotation of 16 sliding tooth wheel of electromagnetic clutch, the beat engaged with gear It is mobile to adjust worm screw 704, beat adjusts worm screw 704 and pushes beat to push dead axle 7032 in beat by rotation connection plate 7033 It pushes and is rotated on dead axle 7032, beat pushes dead axle 7032 that need to guarantee the rotation for having certain, so that spur rack and beat push The hinged place of axis 703 is linear motion, and then guarantees the transverse shifting feeding of spur rack, so that beat pushes dead axle 7032 to exist To a certain extent there is rotation can realize by modes such as fixture block, limited blocks.Since beat pushes dead axle 7032 mobile, in Set 701 adjusts the rotation of 603 axis of shaft, i.e. realization beat adjustment process around beat by the beat axle sleeve 702 of the upper end.

2) manual actuation: electromagnetic clutch 16 disconnects the connection between retarder 15 and motor 17, rotates handwheel 14 manually, leads to The rotation of 16 sliding tooth wheel of electromagnetic clutch is crossed, the beat engaged with gear adjusts the movement of worm screw 704, and it is logical that beat adjusts worm screw 704 Crossing rotation connection plate 7033 pushes beat that dead axle 7032 is pushed to rotate on beat promotion dead axle 7032, and beat pushes dead axle 7032 need to guarantee the rotation for having certain, so that the hinged place of spur rack and beat impeller-hub 703 is linear motion, Jin Erbao Demonstrate,prove spur rack transverse shifting feeding, allow beat push dead axle 7032 to a certain extent have rotation by fixture block, The modes such as limited block are realized.Since beat pushes dead axle 7032 mobile, middle set 701 is by the beat axle sleeve 702 of the upper end around inclined Pendulum adjusts the rotation of 603 axis of shaft, i.e. realization beat adjustment process.

Turn round 8 action process of regulating device:

1) motor 17 drives: electric telescopic rod 804 is flexible, since its both ends is electronic with revolution dead axle 803 and revolution respectively Hingedly, when its length of electric telescopic rod 804 changes, the hinge joint turned round at dead axle 803 is motionless, turns round at moving axis 802 Hinge joint makes to turn round the Workpiece clamping device of 801 upper end of axis connection, lower end connection around revolution 801 axis of axis rotation Tray for work pieces release device it is automatic.

Piece-holder and put down process

9 action process of clamping device:

1) motor 17 drives: piece-holder: between workpiece is placed in two upper folder ears 902, motor 17 pass sequentially through electromagnetism from Clutch 16, retarder 15 drive clamping screw rotation, slide laterally draw runner 907 in the sliding slot of upper beam 901, left side Ear is pressed from both sides close to workpiece, the movement of Z axis lifting device 5 lifts workpiece.The motor 17 of 701 lower ends of set passes sequentially through electromagnetism in then Clutch 16, retarder 15 drive lifting handle 905 to rotate, lower beam 903 by swivel nut thereon along lifting handle 905 to Upper movement, the hook plate 904 on lower beam 903 compresses the pallet of workpiece lower end upwards, to be released after the assembly is completed.Workpiece Release: after workpiece upper end axle portion completes alignment assembly, beat regulating device 7 acts the axis and pressure for making workpiece bottom tray Container sink hole is coaxial, and then the hook plate 904 on lower beam 903 discharges the pallet of workpiece lower end, that is, completes the dress of workpiece Reset is exited with process, then by equipment.

2) manual actuation: electromagnetic clutch 16 disconnects the connection between retarder 15 and motor 17, by the control of handwheel 14 State process.

The annular uniform array in fixed outer ring 2012 has magnetic railings ruler 13.Limit switches 19 and magnetic grid are installed on lower beam 903 Ruler 13.Limit switches 19 and magnetic railings ruler 13 are installed on long stringer 401.Limit switches 19 and magnetic grid are installed on head tree 501 Ruler 13.Limit switches 19 are installed on tilt adjustment arm 601.Middle 701 lower part of set is installed by limit switches 19.Magnetic railings ruler 13 is to C Axis turns round backlash eliminating equipment 2, X-axis feed arrangement 3, Y-axis feed arrangement 4, Z axis lifting device 5 and carries out linear displacement measurement, measurement The amount of feeding of four feed mechanisms.Limit switch 19 limit X-axis feed arrangement 3, Y-axis feed arrangement 4, Z axis lifting device 5, Inclination-angle regulating device 6, the maximum of the tray for work pieces release device of 701 lower end of middle set connection, minimum movements displacement.

It is also equipped with positioning device lower layer platform 10 on fixed outer ring 2012, lower layer's guardrail is installed on lower layer's platform 10 11.501 lower end of head tree is also connected with hanging ladder 12.Fixed 2012 lower surface of outer ring is also equipped with shot-light 206.Platform, guardrail, The devices such as hanging ladder 12, shot-light 206 operate convenient for field personnel to equipment and the monitoring of workpiece assembled state.

The course of work of overall mechanism: after pipe fitting is clamped by clamping device 9, Z axis lifting device 5 falls pipe fitting It probes into inside pressure vessel, subsequent C axis revolution backlash eliminating equipment 2 drives pipe fitting to rotate around pressure vessel axis, makes pipe fitting just At the pressure vessel axis hole that need to be assembled to it, then X-axis feed arrangement 3 acts the pressure vessel axis for making pipe fitting draw close assembly At hole, C axis revolution backlash eliminating equipment 2 and Y-axis feed arrangement 4 cooperate the axis and pressure vessel axis hole for making pipe fitting upper end axle portion On the same line, preliminary alignment is completed.X-axis feed arrangement 3 continues to act, and detects the device to hole at the axle portion of pipe fitting upper end Device 1 protrudes into axis hole, and device to hole detection device 1 detects the distance inside axis hole by 4 distance measuring sensors, according to measurement away from From deviation judge the deviation of workpiece posture, and then drive beat regulating device 7, inclination-angle regulating device 6 and revolution regulating device 8 pairs of workpiece carry out pose adjustment, realize the purpose of pipe fitting high-precision automatic assembly.

Electric control system scheme:

Electric control system includes kinetic control system, frequency image monitoring system, detection system.Electric control system frame diagram Referring to Figure 33.Control system hardware frame figure is referring to Figure 34.

Host computer basis design of Configuration Software, user interface has human features, and provides " user management ", " location of workpiece parameter setting ", " soft limit parameter setting ", " manual position fine tuning ", " Stateful Inspection ", " releasing management system " Etc. functions.

For kinetic control system using PLC as the next machine controller, host computer uses industrial control computer.Slave computer and Host computer uses CANopen bus communication by ethernet communication, slave computer and AC servo driver.

Kinetic control system is by hand-held box, slave computer, electromagnetic clutch, magnetic induction sensor, limit sensors, exchange Servo motor composition.

(1) hand-held box

Hand-held box is equivalent to an impulse generator.It is used in special circumstances, observes assembled state by people, according to Assembled state selects corresponding sports axis to finely tune workpiece pose.In use, pressing enabled button first, axis number and multiplying power are selected. Then rotation hand wheel is handled by high rapid pulse die block recording impulse number by PLC internal processes, make selected axis according to Fixed pulsed quantity movement.

Axis selection switch has 10 on hand-held box, respectively represents: the selection of OFF- axis is closed；C- turns round the gap movement that disappears； X- transverse shifting；Y- longitudinal movement；Z- axial movement；F- pitching movement；The movement of P- beat；T- promotes spring movement；J- clamping Mechanism；W- workpiece micro-adjusting mechanism；B- immobilized spindle.There are four selections for multiplying power, respectively: X1, X10, X100, X1000.1 internal anxious Stop button, 1 enabled switch powers on indicator light.Hand-held box structure figure is referring to Figure 35.

The input of the numerical variable of emergency stop switch, enabled switch, axis number selection switch, the terminals of multiplying power switch and PLC End connection.The high speed counting module connection of the A of handwheel ,/A, B ,/end B and PLC.PLC internal processes according to switching value combination and Variation, judges currently selected axis number and multiplying power, the pulse that multiplying power and high speed counting module record hand wheel rotating are issued Displacement of several products as current selection axis number.Hand-held box wiring is as shown in figure 36.

When enabled switch is in enabled state, axis selection switch is dialled in OFF switch, and L1, L2, L3, L4, L5, which are in, to be disconnected State, when switch arrives C, L1, L5 conducting, other disconnections.Other axis numbers select it is similar, i.e., the selection of each axis correspond to L1, L2, L3, L4, L5 switching combination, are specifically shown in the following table 4-1.As axis choosing, different multiplying powers passes through R1, R2 for the selection of multiplying power On/off combine definition, specifically see the table below.

	L1	L2	L3	L4
					OFF
C	●
					X		●
Y	●	●
					Z			●
F	●		●
					P		●	●
T	●	●	●
					J				●
W	●			●
					B	●	●		●

Axis selection

	X1	X10	X100	X1000
					R1		●		●
R2			●	●

Multiplying power selection

(2) slave computer

Slave computer uses the PLC controller of Schneider Mo Dikang series.Controller uses TM258LF42DT4L, insertion It includes that 5 tunnels are rapidly input, routinely input, 2 tunnels quickly export on 2 tunnels that formula, which carries dedicated I/O block,；Embedded routine input module/12 The input of railway digital amount；Embedded routine output module/12 railway digital amounts are defeated；Embedded routine input module/4 tunnel analog quantitys are defeated Enter；Communication interface has ethernet port, CAN port, USB port, serial transmission line port.

In this system, 81 points of actual needs points, wherein 60 points of On-off signal, including limit switch, electromagnetic clutch, Stopping, emergency stop, starting, switching signal of handheld manipulator etc. export 21 points of switching value, including the instruction of electromagnetic clutch, three colors Lamp etc.；High speed counting module 5, respectively X-axis magnetic grid magnetic induction sensor, Y-axis magnetic induction sensor, Z axis magnetic induction sensor, C axis Magnetic induction sensor, handheld manipulator.The included I/O of controller and counting module are inadequate, and it is defeated to need to extend 4 piece of 12 railway digital amount Enter module TM5SDI12D, 12 railway digital output module TM5SDO12T, 2 channel high speed counting module TM5SE2IC01024,1 are logical Road high speed counting module TM5SE1IC02505, power module TM5SPS2.Controller and its expansion module figure are referring to Figure 37.

(3) electromagnetic clutch

The model DLD5-20/A of electromagnetic clutch cuts off state by the power-off control electromagnetic clutch that is powered, passes through The electronic and manual switching of this realization.Electromagnetic clutch operating voltage is DC24V, controls electricity by control normally closed relay The on-off of magnet clutch, while the state of electromagnetic clutch is detected, electromagnetic clutch wiring diagram is as shown in figure 38.

(4) magnetic induction sensor

C axis, X-axis, Y-axis, the positioning accuracy of Z axis determine the success or failure of steam generator installation.In order to eliminate these axis It driving error and loses dynamic, magnetic-grid-type sensor is mounted on execution unit, directly measures the actual displacement of execution unit, and it is defeated The command bits shifting entered is compared, and the difference after comparing feeds back to control system, dynamic to the shifting (turning) of execution unit to mend It repays, keeps execution unit mobile to the direction for reducing difference, so that difference is equal to zero or near zero, that is, form closed loop location control System processed.The reading head of magnetic-grid-type sensor selects Germany SIKOMR500R, and high speed counting module selects TM5SE2IC01024, The TTL signal of magnetic grid is converted into high-speed counting mould by code device signal conversion isolator by the reading head of magnetic-grid-type sensor Block TM5SE2IC01024 acceptable single sided pulse signal.By the arteries and veins of high speed counting module record magnetic-grid-type sensor output Number, then multiplied by the precision of magnetic railings ruler, feeds back to control system.Magnetic induction sensor wiring diagram is as shown in figure 39.

(5) limit sensors

Electric switch of the limit sensors as mechanical movement extreme position is limited when mechanical movement to extreme position touches Switch, corresponding line conduction.PLC internal processes detect the variation of corresponding I/O address variable value in the next scan period Afterwards, the motor of corresponding sports axis is stopped and is locked by internal processes.Limit sensors select the D4V-8104Z of OMRON, specified Voltage DC24V, 3 lines.Digital input module inputs mould using the embedded conventional numerical amount that controller TM258LF42DTL is carried Block DI124E, the drain electrode input of 12 tunnels, input voltage 24V, limit sensors wiring diagram are as shown in figure 40.

(6) AC servo motor

Executive component of the AC servomotor as control system is reflected the electric signal received by servo-driver The pulse signal of driving motor is penetrated into, driving motor is rotated by scheduled speed and position, realizes that each feeding and micromatic setting are dynamic Make.

AC servomotor mainly drives executive device to fill using the Lexium23A AC synchronous sampling of schneider It sets.Wherein AC servo motor is embraced with high-resolution 20 incremental encoders and power-off rolls device.Separate unit Lexium23A Driving device wiring diagram is as shown in figure 41.

Detection system includes two parts:

(1) position detection, position of the detection pressure vessel inside 16 holes inner wall center of circle under coordinate system of machine.Position inspection It surveys and is mounted on sensor on middle set using two, by transversal scanning internal pressure vessel walls edge, determine Y direction, it is axial Internal pressure vessel walls edge is scanned, determines C axis and Z axis position.

Sensor selects the emanant photoelectricity of KEYENCELV-NH37 and with amplifier LV-N11P.Sensor head LV-NH37 is issued Extra small hot spot 50um, 70 ± 15mm of detecting distance；Amplifier LV-N11P is NPN output.

When sensor does not reach edge, receiver receives light, and amplifier exports high level；When the edge for reaching hole When, receiver does not receive light, and amplifier exports low level.Variation of the PLC internal processes by detection I/O input terminal, record Current location calculation processing.Sensor wire figure is as shown in figure 42.

Method for detecting position:

Two reflective photoelectric sensors are separately mounted on two upper folder ears, cross is made by revolution regulating device movement To the axis in the circumferentially one of hole of the substantially parallel pressure vessel of moving direction.Original state, the coordinate origin of machinery equipment Coordinate is (△ θ, X under pressure vessel coordinate system₀₁,Y₀₁), position detection schematic diagram is as shown in figure 43.Then, it moves axially Two sensors are sent to circumferential hole site by device decline.Longitudinal moving device is moved to the left until left sensor detects The edge in hole, moving distanceReturn to initial position, then toward moving right until the right sensor detects bore edges, it is mobile Distance

It can obtain:

△Y_nMachinery equipment coordinate original place, which is measured, for n-th arrives pressure vessel coordinate system X in the Y direction₀The distance of axis.

When Z axis lifting device moves up and down, edge sensor can detecte the edge to above and below hole.But due to △ Y (△ X), the presence of △ θ, making two sensors is not the top edge for being detected simultaneously by hole, difference in height occursPosition detection height Differential is intended to as shown in figure 44.

For n-th, when left and right sensor detects hole upper edge, axial difference in height.

When △ Y, △ θ reduce simultaneously,With and reduce, and as △ Y=0, △ θ=0,

That is:

It is specific by being difficult to find out△ Y, △ θ mutual functional relation knows the variation tendency between three, Using the method for discrete approach.It detects for the first timeAfterwards, the mobile △ Y of longitudinal moving device₁, longitudinal scanning again, so Afterwards, it checks(kinematic accuracy of longitudinal moving device) determines machine coordinates origin o in pressure vessel coordinate In the X-axis of system.The edge of axial detection hole records coordinate when sensor detects respectivelyWhenWhen, courtDirection rotational units θ；WhenWhen, courtDirection rotational units θ.Above procedure is repeated, until(kinematic accuracy of axial moving device),Approach is zero, it is believed that the X-axis and pressure vessel of coordinate system of machine The X-axis of coordinate system is overlapped.

The lower edges in axial this circumferential hole of detection pressure vessel obtain againIt is axial Detection schematic diagram is as shown in figure 45.The hole heart can be arrived in axial position are as follows:

Above procedure is completed, the hole heart detected coordinate (x, y, θ) under the people's coordinate that puts together machines is recorded.According to this mistake Journey sequentially finds coordinate of the remaining hole heart under the people's coordinate system that puts together machines, and records and be stored in database.

(2) centering detects, the concentricity of workpiece upper end cylinder and pressure vessel circumferential direction corresponding aperture.Centering detection is using intelligence Hole axle assembles dynamic guiding device, and intelligent hole axle assembly dynamic guiding device includes: seeker, hole set, four PSD sensors.Guidance Head and workpiece end cylindrical fit, hole set cooperate with pressure vessel circumferential direction hole, and four PSD sensors are uniformly mounted on hole set method Blue face, four PSD sensor scheme of installation are as shown in figure 46.Hole wall distance difference is measured according to sensor, judges and counts Location of workpiece attitude misalignment is calculated, and transfers data to host computer, workpiece is adjusted by host computer corresponding freedom degree It is whole, achieve the purpose that demand concentricity.

Workpiece is inserted into container circumferential direction mounting hole with seeker, and four distance measuring sensors detect guidance head end respectively Distance d of the portion cylindrical surface to sensor₁、d₂、d₃、d₄。

According to d₁、d₂、d₃、d₄Do following judgement:

1) work as d₁=d₂And d₃=d₄When, workpiece upper end cylinder and mounting hole are coaxial；One schematic diagram of centering detection case is as schemed Shown in 47.

2) work as d₁≠d₃And d₂=d₄When, illustrating workpiece, there are upper angle of declination or Z-direction offset errors.Centering detection case two Schematic diagram is as shown in figure 48.

Then first degree of regulation luffing mechanism rotation α is tested again so that seeker axis is parallel with axially bored lineIfAxial-movement devices move d_z；IfWorkpiece upper end cylinder and mounting hole are coaxial；

D- seeker shaft end diameter, mm；

The distance between upper lower sensor of L-, mm；

3) work as d₁=d₃And d₂≠d₄When, illustrating workpiece, there are left and right inclination angle or Y-direction offset errors.Centering detection case Three schematic diagrames are as shown in figure 49.

It first adjusts revolution backlash eliminating equipment and rotates β, keep the axis of seeker parallel with axially bored line；Then it tests again IfLongitudinal movement device moves d_y；

4) work as d₁≠d₃And d₂≠d₄When, illustrate that workpiece all has offset in left and right, upper angle of declination and Z-direction, Y-direction. Four schematic diagram of centering detection case is as shown in figure 50.

Horizontal mobile device (X-axis) moves forward L_x, again reading beN takes natural number. According to the data surveyed, luffing mechanism and revolution backlash eliminating equipment adjust α respectively_n、β_n.Then horizontal mobile device (X-axis) is backward Move back L_x, read againIfOrWhen, luffing mechanism and revolution disappear Gap device adjusts α respectively_n+1、β_n+1.Above procedure is repeated, untilAndWhen, illustrate seeker Axis is parallel with axially bored line.Then axial moving device adjusts d_z, longitudinal dynamic device adjusting d_y。

By the processing of above-mentioned four kinds of situations, intelligent hole axle assembly dynamic guiding device realizes dynamic guiding pipe fitting neck It is coaxial with container hole location, realize submissive assembly.

Frequency image monitoring system:

Frequency image monitoring system includes 7 monitor cameras, and two of them monitor workpiece upper end axle portion, a monitoring workpiece bottom The installation condition of portion's pallet and pressure vessel sink hole, two installation head tree sides, the space of monitoring head tree side, two It is a to be mounted on behind head tree, monitor the subsequent space of head tree.Monitor camera uses gun-type web camera, he uses Compress technique be H.264 technology, be also equipped with MJPEG compress technique, image quality is not influenced by light, daytime and is at night Existing result is consistent, high-visible.Seven cameras are connect and are led to industrial personal computer by Ethernet and TCP/IP communications protocol Choosing, the network topological diagram of monitoring system is referring to Figure 51.

It as above is the embodiment of the present invention.Design parameter in above-described embodiment and embodiment is merely to understand table Invention verification process is stated, the scope of patent protection being not intended to limit the invention, scope of patent protection of the invention is still with it It is all to change with equivalent structure made by specification and accompanying drawing content of the invention subject to claims, it should all similarly wrap Containing within the scope of the present invention.

Claims (8)

1. a kind of multifunction manipulator and revolving platform, it is characterised in that: turn round the gap that disappears including device to hole detection device (1) and C axis Device (2), the device to hole detection device (1) include that four uniform annular arrays of annular are sensed in the ranging of workpiece upper end axle portion Device, the C axis are turned round on backlash eliminating equipment (2) and are equipped with X-axis feed arrangement (3), are equipped with Y-axis on the X-axis feed arrangement (3) Feed arrangement (4) is equipped with Z axis lifting device (5) on the Y-axis feed arrangement (4), and the Z axis lifting device (5) is equipped with Clamping device (9), the clamping device (9) and Z axis lifting device (5) junction are equipped with beat regulating device (7), tilt adjustment Device (6) and revolution regulating device (8)；

2. a kind of multifunction manipulator according to claim 1 and revolving platform, it is characterised in that:

C axis revolution backlash eliminating equipment (2) includes slewing supporting device (201), and the slewing supporting device (201) includes fixing Outer ring (2012) and rotary inner ring (2011), the fixed outer ring (2012) are fixedly mounted on the flange of pressure vessel upper end, Its periphery is equipped with a circle external tooth, is equipped with retarder mounting plate (205) on the rotary inner ring (2011), the retarder peace It is equipped in loading board (205) driving gear (202), the driving gear (202) is meshed with the external tooth of fixed outer ring (2012)；

The X-axis feed arrangement (3) includes at least one lower beam (903), is equipped with X-axis bearing on the lower beam (903) Seat (302) is equipped with X-axis feed screw (303) on the X-axis bearing block (302), is also equipped with X on the lower beam (903) Axis line slide rail (306), the X-axis line slide rail (306) are parallel with X-axis feed screw (303)；

The Y-axis feed arrangement (4) includes a root long stringer (401) and two carlings (405), a long stringer (401) parallel to each other with two carlings (405) and connect one C character form component of composition, the long stringer (401) and carling (405) X-axis feeding swivel nut (403) is installed on, is equipped in X-axis feeding swivel nut (403) and carries out screw rod (303) phase with X-axis Matched screw thread, the long stringer (401) and carling (405) are mounted on X-axis feed screw by X-axis feeding swivel nut (403) (303) on, the two lower surface is equipped with X-axis line slide rail seat (406), and the X-axis line slide rail seat (406) passes through lower beam (903) the X-axis line slide rail (306) on is supported, be additionally provided on the long stringer (401) Y-axis feeding swivel nut (402) and with Y-axis feeds the parallel Y-axis line slide rail (404) of swivel nut (402) axis, and the carling (405), which is equipped with, feeds spiral shell with Y-axis Cover the parallel Y-axis line slide rail (404) of (402) axis；

The Z axis lifting device (5) includes two head trees (501), two head trees (501) and pressure vessel axis phase In parallel, both ends are fixed by lintel (502), and Z axis lifting spiral shell is equipped on the lintel (502) at head tree (501) both ends The side of bar (503), two head trees (501) is equipped with support (506), head tree (501) side supports (506) On be equipped with Y-axis feed screw (504), support (506) lower surface is equipped with Y-axis line slide rail seat (505), the Y-axis Line slide rail seat (505) is mounted on Y-axis line slide rail (404), and the Y-axis feed screw (504) is mounted on Y-axis feeding swivel nut (402) in, two opposite medial surfaces of the head tree (501) are equipped with Z axis line slide rail (508)；The Z axis lifting device (5) it being equipped on sled mechanism (20), the sled mechanism (20) includes two supporting steel frames (2001) parallel to each other, and two Supporting steel frame (2001) lower end is fixed by lower steelframe (2002), and upper end is fixed by upper steelframe (2004), and three's group At a rectangular steelframe, Z axis lifting swivel nut (2007) is installed on the upper steelframe (2004), the Z axis goes up and down swivel nut (2007) It screws on Z axis lifting screw (503), is equipped on the side of the upper steelframe (2004) and lower steelframe (2002) and Z axis liter Drop the parallel Z axis of swivel nut (2007) axis and go up and down line slide rail seat (2006), Z axis lifting line slide rail seat (2006) with Z axis line slide rail (508) seat agrees with, and tilt adjustment rotation hinged seat (2005) is equipped on the upper steelframe (2004), described Tilt adjustment is installed on lower steelframe (2002) and pushes hinged seat (2003)；

The inclination-angle regulating device (6) includes tilt adjustment arm (601), and tilt adjustment arm (601) upper end is equipped with inclination angle tune Nodal axisn (602), the tilt adjustment axis (602) are hinged on tilt adjustment rotation hinged seat on (2005), the tilt adjustment The one side of arm (601) towards sled mechanism (20) is equipped with tilt adjustment sliding rail (606), pacifies on the tilt adjustment sliding rail (606) Equipped with slider connecting plate (605), link arm (604) are equipped between the slider connecting plate (605) and slide plate, the link arm (604) one Hingedly with slider connecting plate (605), other end is hinged on tilt adjustment and pushes on hinged seat (2003), the tilt adjustment at end Arm (601) upper end is additionally provided with beat and adjusts shaft (603)；

The beat regulating device (7) includes middle set (701), and middle set (701) upper end, which is equipped with, adjusts shaft (603) with beat The beat axle sleeve (702) to match, the middle set (701) are socketed in beat by beat axle sleeve (702) and adjust shaft (603) Mode is mounted on tilt adjustment arm (601), and middle set (701) lower end is equipped with beat impeller-hub (703), the inclination angle tune Beat pushing meanss are installed, the beat pushing meanss are connect with beat impeller-hub (703) in joint arm (601)；

The revolution regulating device (8) includes revolution axis (801), and the revolution axis (801) is mounted in middle set (701), The revolution axis (801) upper end is equipped with revolution moving axis (802), and middle set (701) upper end is equipped with revolution dead axle (803), institute It states to be equipped between revolution moving axis (802) and revolution dead axle (803) and turns round flexible pushing meanss, it is described to turn round flexible pushing meanss both ends It is hinged with revolution dead axle (803) and revolution moving axis (802) respectively；

The clamping device (9) includes the upper beam (901) for being connected to revolution axis (801) upper end, and the upper beam (901) is left Side is equipped with sliding slot, is equipped with draw runner (907) in sliding slot, upper beam (901) right side and draw runner (907) are mounted on It presss from both sides ear (902), the clamping device (9) further includes the lifting handle (905) for being connected to revolution axis (801) lower end, described to mention It rises screw rod (905) and revolution axis (801) is to be rotatablely connected, the lower end of the middle set (701) and revolution axis (801) cooperation is also It is equipped with and promotes sliding sleeve (906), promotion sliding sleeve (906) upper end is socketed in revolution axis (801) and is connected by key anti- Only the two relatively rotates, and the keyway length of the key connection is greater than key length, covers in the stretching of the promotion sliding sleeve (906) lower end (701) it is connect outside with lower beam (903), lower beam (903) two sides are equipped with hook plate (904).

3. a kind of multifunction manipulator according to claim 2 and revolving platform, it is characterised in that: the retarder installation It being equipped on plate (205) two stage reducer (204), two stage reducer (204) output shaft is connect with driving gear (202), Input shaft exports axis connection by shaft coupling (18) and retarder (15), retarder (15) input shaft and passes through electromagnetic clutch Device (16) is connect with motor (17)；

The lower beam (903) is two, and parallel to each other to be mounted on rotary inner ring (2011), the lower beam (903) is in The head of the same side be equipped with lower beam (903) perpendicular attachment beam (305), be equipped on the attachment beam (305) and X The perpendicular line shaft (304) of axis feed screw (303), attachment beam (305) the both ends head are mounted on retarder (15), Retarder (15) output shaft is connect by shaft coupling (18) with X-axis feed screw (303), and input shaft passes through shaft coupling (18) It is connect with line shaft (304), is equipped with retarder (15) in the middle part of the attachment beam (305), retarder (15) output shaft and dynamic Coaxially, input shaft is connect by electromagnetic clutch (16) with motor (17) power axis (304)；

It is equipped with retarder (15) on the support (506), retarder (15) output shaft and Y-axis feed screw (504) are even It connects, input shaft is connect by electromagnetic clutch (16) with motor (17)；

It is equipped with retarder (15) on the lintel (502), retarder (15) output shaft and Z axis lifting screw (503) are even It connects, input shaft is connect by electromagnetic clutch (16) with motor (17)；

It is equipped with retarder (15) on the tilt adjustment arm (601), retarder (15) input shaft passes through electromagnetic clutch (16) it is connect with motor (17), output shaft is connect with straight-line motion mechanism；

The beat pushing meanss include straight-line motion mechanism, the straight-line motion mechanism output shaft and beat impeller-hub (703) Hingedly, input shaft one end is connect by electromagnetic clutch (16) with motor (17)；

The pushing meanss of stretching of turning round are electric telescopic rod (804), and electric telescopic rod (804) both ends are fixed with revolution respectively Axis (803) and revolution moving axis (802) are hinged；

Clamping screw is installed in the upper beam (901), the clamping screw is connect with draw runner (907), and junction is can It is rotatablely connected, is equipped with retarder (15) on the upper folder ear (902) of upper beam (901) right side, the clamping screw is horizontal Axis connection is exported to through upper beam (901) and retarder (15), retarder (15) input shaft passes through electromagnetic clutch (16) it is connect with motor (17)；Be equipped with retarder (15) on the lower beam (903), retarder (15) output shaft with mention Screw rod (905) connection is risen, input shaft is connect by electromagnetic clutch (16) with motor (17).

4. a kind of multifunction manipulator according to claim 3 and revolving platform, it is characterised in that: described in claim 3 All retarders (15) input shaft one end connect with motor (17) by electromagnetic clutch (16), other end and handwheel (14) Connection.

5. a kind of multifunction manipulator according to claim 4 and revolving platform, it is characterised in that: the fixed outer ring (2012) annular uniform array has magnetic railings ruler (13)；

Limit switches (19) and magnetic railings ruler (13) are installed on the lower beam (903)；

Limit switches (19) and magnetic railings ruler (13) are installed on the long stringer (401)；

Limit switches (19) and magnetic railings ruler (13) are installed on the head tree (501)；

Limit switches (19) are installed on the tilt adjustment arm (601)；

Middle set (701) lower part is installed by limit switches (19).

6. a kind of multifunction manipulator according to claim 2 and revolving platform, it is characterised in that: the fixed outer ring (2012) it is also equipped with positioning device lower layer platform (10) on, lower layer's guardrail (11) are installed on lower layer's platform (10).

7. a kind of multifunction manipulator according to claim 2 and revolving platform, it is characterised in that: the head tree (501) lower end is also connected with hanging ladder (12).

8. a kind of multifunction manipulator according to claim 2 and revolving platform, it is characterised in that: the fixed outer ring (2012) lower surface is also equipped with shot-light (206).