CN111425721A - Two-shaft rotating mechanism supported by cantilever in spherical tank - Google Patents
Two-shaft rotating mechanism supported by cantilever in spherical tank Download PDFInfo
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- CN111425721A CN111425721A CN202010375434.5A CN202010375434A CN111425721A CN 111425721 A CN111425721 A CN 111425721A CN 202010375434 A CN202010375434 A CN 202010375434A CN 111425721 A CN111425721 A CN 111425721A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/20—Metals
- G01N33/207—Welded or soldered joints; Solderability
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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Abstract
The invention provides a cantilever support two-shaft rotating mechanism used in a spherical tank, which comprises a support positioning frame, a two-shaft rotating platform and a cantilever support frame, wherein one end of the two-shaft rotating platform is connected with the support positioning frame, the other end of the two-shaft rotating platform is connected with the cantilever support frame, the two-shaft rotating platform comprises a horizontal rotating assembly used for the cantilever support frame to move in the horizontal direction and a vertical pitching assembly used for the cantilever support frame to move in the vertical direction, and the horizontal rotating assembly is provided with a horizontal rotating angle sensor and a first laser range finder; the device establishes a spherical surface operation positioning coordinate system of the spherical tank detection robot through a two-axis rotating platform, and provides a structural foundation for realizing accurate positioning; the geometric characteristics of the spherical tank, the two-axis rotating platform and the cantilever support frame are utilized, and the angle sensor is combined, so that accurate positioning is further realized, and the problem that the detection robot is difficult to position due to factors such as poor internal light of the spherical tank and shielding of electromagnetic signals is solved.
Description
Technical Field
The invention relates to a cantilever support two-shaft rotating mechanism used in a spherical tank.
Background
As large-scale pressure-bearing equipment, the spherical tank welding seam needs to be regularly checked, and for regular maintenance inside the spherical tank, a scaffold is erected inside the spherical tank for an inspector to climb. This method has the following disadvantages: 1) the construction period for building and disassembling the scaffold is long; 2) the detection personnel need work on the scaffold, and the operation is inconvenient and dangerous.
In order to solve the problem brought by scaffold disassembly and assembly, a manned workbench inside a spherical tank is provided by a plurality of patents. Chinese patent 201720881272.6 provides an internal detection workbench for spherical tank, which structurally comprises a bottom support platform, a central support column, a rotary support platform, a top rotary platform and a lifting index device. Also, for example, the rotation bracket proposed by chinese patent 201020156974.6 as "rotation bracket for spherical tank inspection" includes a main upright, a horizontally rotatable rotating arm connecting base connected to the main upright, and a four-bar linkage connected to the rotating arm connecting base, wherein a manned basket is installed at a free end of the four-bar linkage. Compared with a scaffold, the manned workbench is convenient to disassemble and assemble, higher in safety, inevitable, severe in environment and high in working strength of detection personnel, and detection personnel need to work on a hanging basket.
With the development of detection robot technology, the spherical tank detection robot is applied, and the detection robot is generally a wall-climbing detection robot adopting negative pressure adsorption or magnetic adsorption, but in the use process of the detection robot, the following problems generally exist: 1) detecting the stability problem of climbing of the robot on the wall surface; due to the rust inside the spherical tank, the load of the detection robot and other factors, the detection robot can slide down or even topple over in the detection process. 2) And detecting the positioning problem of the robot. The location of inspection robot detects the automation to promoting to and inspection robot's collaborative detection has important meaning, but the inside light of spherical tank is dim, and the spherical tank is mostly the steel container, makes based on the vision, based on positioning mode effect such as wireless signal relatively poor.
The above-mentioned problems are problems that should be considered and solved in the process of inspecting the weld of the spherical tank.
Disclosure of Invention
The invention aims to provide a cantilever-supported two-shaft rotating mechanism in a spherical tank, which solves the problem that in the prior art, because the light inside the spherical tank is dim, and the spherical tank is mostly a steel container, the positioning mode based on vision, wireless signals and the like has poor effect.
The technical solution of the invention is as follows:
the utility model provides an use cantilever support diaxon slewing mechanism in spherical tank, including supporting the locating rack, diaxon rotary platform and cantilever support frame, the diaxon rotary platform's one end joint support locating rack, the cantilever support frame is connected to the diaxon rotary platform's the other end, cantilever support frame's tip is equipped with detection robot, diaxon rotary platform is including being used for the cantilever support frame at the level to the horizontal rotation subassembly of activity and being used for the cantilever support frame at the vertical every single move subassembly of perpendicular to the activity, vertical every single move subassembly is located on the horizontal rotation subassembly, horizontal rotation subassembly is equipped with horizontal rotation angle sensor and first laser range finder, vertical every single move subassembly is equipped with vertical every single move angle sensor and second laser.
Further, horizontal rotation subassembly includes the vertical axle of revolving stage, first connecting plate, mounting bracket one, horizontal bearing seat, the revolving stage backup pad, gear wheel and pinion, horizontal bearing seat adopts the horizontal bearing seat of taking the bearing, the vertical axle's of revolving stage one end is passed through the vertical connecting turntable backup pad of horizontal bearing seat, the vertical axle's of revolving stage other end is equipped with the gear wheel, the vertical axle's of revolving stage other end still is equipped with the first connecting plate that is used for the joint support locating rack, first connecting plate is equipped with the mounting bracket one that is used for connecting first laser range finder, horizontal rotation angle sensor locates in the revolving stage backup pad, horizontal rotation angle sensor's pivot is equipped with the pinion, pinion and gear engagement, the.
Further, vertical every single move subassembly includes the revolving stage horizontal axis, the U-shaped connecting piece, the cantilever connecting axle, mounting bracket two, shaft coupling and vertical bearing seat, vertical every single move angle sensor passes through the tip of coupling joint revolving stage horizontal axis, vertical bearing seat adopts the vertical bearing seat of taking the bearing, the both ends of revolving stage horizontal axis are all connected in the revolving stage backup pad through vertical bearing seat, the revolving stage horizontal axis is connected through the U-shaped connecting piece to the one end of cantilever connecting axle, the other end of cantilever connecting axle is equipped with the second connecting plate that is used for connecting cantilever support frame, the second connecting plate is equipped with the mounting bracket two that is used for connecting second laser range finder, the two-axis rotary platform's the revolving stage horizontal axis intersects the centre of.
Furthermore, the end part of the cantilever support frame is provided with an elastic pressing mechanism for pressing and covering the detection robot, the detection robot is arranged on the inner wall of the spherical tank, the elastic pressing mechanism comprises a guide shaft, a shaft sleeve, a spring pressing sleeve, a pressing flange plate, a pressing bearing seat, a first check ring, a second check ring and a pressing flange plate for connecting the detection robot, the pressing flange plate is connected on the pressing bearing seat, the pressing bearing seat adopts a pressing bearing seat with a bearing, the guide shaft penetrates through the second check ring, the bearing and the shaft sleeve of the pressing bearing seat, the bearing of the pressing bearing seat is fixed on the guide shaft by the shaft sleeve and the second check ring, the guide shaft movably penetrates through the spring and the spring pressing sleeve, the spring is arranged between the shaft sleeve and the spring pressing sleeve, the spring pressing sleeve is connected with a top plate of the cantilever support frame, the top plate is provided with a through hole for the, the spring compression sleeve is arranged between the first check ring and the second check ring.
Furthermore, the supporting and positioning frame is connected with the manhole of the spherical tank through a supporting mechanism, and the supporting mechanism adopts an aluminum alloy section structure or a bench vice structure.
Further, the aluminum alloy section structure includes locating part and a plurality of pole setting, the bottom that supports the locating rack is equipped with the piece of taking up and expanding, the inboard of spherical tank manhole is located to the piece of taking up and expanding that supports the locating rack, the outside of spherical tank manhole is located to the locating part, and the width of locating part is greater than the diameter of spherical tank manhole, the locating part is connected to the one end of pole setting, the other end of pole setting passes through connecting bolt connection support locating rack's the pole of taking up and expanding or middle tie plate, the locating part passes through the connecting hole department that positioning bolt and set nut connect on spherical tank manhole flange, the locating part adopts the limiting plate, the spacing frame of cross, spacing frame of.
Further, the bench vice structure includes the vertical bench vice that is used for the manhole steel sheet of centre gripping spherical tank and the horizontal bench vice that is used for the centre gripping I-beam, and the top of vertical bench vice is located perpendicularly to horizontal bench vice, and the bottom that supports the locating rack is located to the I-beam.
The invention has the beneficial effects that:
the cantilever-supported two-shaft rotating mechanism in the spherical tank can establish a spherical surface operation positioning coordinate system of the spherical tank detection robot through a two-shaft rotating platform, and provides a structural foundation for realizing accurate positioning; the geometric characteristics of the spherical tank, the two-axis rotating platform and the cantilever support frame are utilized, and the angle sensor is combined, so that the position of the detection robot on the inner wall of the spherical tank can be conveniently obtained, and the problem that the detection robot is difficult to position due to factors such as poor internal light of the spherical tank and electromagnetic signal shielding is solved.
Two, this jar internal cantilever support diaxon slewing mechanism with, through setting up elasticity hold-down mechanism, can press to cover and support inspection robot, and then make inspection robot can not receive the influence of factors such as spherical tank internal surface float rust, to a great extent has improved inspection robot along the reliability and the security of wall motion, the inspection robot who has solved current adopts magnetism to adsorb, modes such as negative pressure adsorption, in the actual detection process, the inside wall of spherical tank often has a lot of float rust, the problem of the reliability of magnetism adsorption and negative pressure adsorption inspection robot motion has been influenced greatly.
Drawings
FIG. 1 is a schematic structural diagram of a tank inner wall supporting and positioning device of a spherical tank inspection robot according to an embodiment of the invention;
FIG. 2 is another schematic structural diagram of a tank inner wall supporting and positioning device of the spherical tank inspection robot according to the embodiment;
FIG. 3 is a schematic diagram of the structure of the two-axis pivot mechanism supported by the cantilever in the spherical tank of the embodiment;
FIG. 4 is another structural schematic view of the two-axis rotary platform in the embodiment;
FIG. 5 is a schematic diagram showing an expanded view of the supporting jig according to the embodiment;
FIG. 6 is a schematic view illustrating a foldable member supporting the spacer in the embodiment;
FIG. 7 is a schematic structural view of the cantilever support in the embodiment;
FIG. 8 is a schematic structural view of the extension member and the revolute pair of the cantilever support in the embodiment;
FIG. 9 is a schematic structural view of a locking structure of the support spacer in the embodiment;
FIG. 10 is an exploded perspective view of a locking structure of the support spacer according to the embodiment;
FIG. 11 is a schematic structural view of an elastic pressing mechanism in the embodiment;
FIG. 12 is a schematic sectional view showing the elastic pressing mechanism in the embodiment;
FIG. 13 is a schematic structural view of an embodiment in which the support mechanism is of an aluminum alloy profile structure;
FIG. 14 is a schematic structural view showing a vise structure as an example of the supporting mechanism;
FIG. 15 is a schematic diagram illustrating the positioning principle of the inspection robot in the spherical tank in the embodiment;
wherein: 1-a support mechanism, 2-a support positioning frame, 3-a two-axis rotating platform, 4-a cantilever support frame, 5-an elastic pressing mechanism, 6-a spherical tank and 7-a manhole steel plate of the spherical tank;
101-vertical rod, 102-limiting member, 103-reinforcing rod;
11-a vice body, 12-a vice pressing head I, 13-a screw rod I with a handle, 14-a U-shaped vice seat, 15-a screw rod II with a handle, 16-a vice pressing head II and 17-an I-beam;
21-supporting telescopic rod, 22-middle connecting plate, 23-folding and unfolding rod, 24-first connecting piece, 25-second connecting piece, 26-outer carbon fiber rod, 27-inner carbon fiber rod, 29-connecting screw rod, 210-conical nut, 211-nylon expansion sleeve and 212-locking nut;
31-a first laser range finder, 32-a first mounting frame, 33-a first connecting plate, 34-a turntable supporting plate, 35-a horizontal bearing seat, 36-a turntable vertical shaft, 37-a large gear, 38-a small gear, 39-a horizontal rotation angle sensor, 310-a vertical bearing seat, 311-a coupler, 312-a vertical pitch angle sensor, 313-a turntable horizontal shaft, 314-a U-shaped connector, 315-a cantilever connecting shaft, 316-a second connecting plate, 317-a second mounting frame, 318-a second laser range finder;
41-upper telescopic rod, 42-lower telescopic rod, 43-top plate, 44-middle plate, 45-telescopic rod, 46-third connecting piece, 47-fourth connecting piece, 48-first set screw, 49-second set screw, 410-upper support, 411-upper connecting piece, 412-lower support, 413-lower connecting piece, 414-transverse support, 415-transverse connecting piece, 416-support connecting plate, 417-third set screw and 418-fourth set screw;
51-pressing flange plate, 52-pressing bearing seat, 53-spring, 54-spring pressing sleeve, 55-check ring I, 56-guide shaft, 57-shaft sleeve and 58-check ring II.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
A pot inner wall supporting and positioning device of a spherical pot detection robot is disclosed, as shown in figures 1 and 2, and comprises a supporting mechanism 1, a supporting and positioning frame 2, a two-axis rotating platform 3, a cantilever supporting frame 4 and an elastic pressing mechanism 5, wherein the supporting mechanism 1 is clamped at a manhole of a spherical pot 6, one end of the supporting and positioning frame 2 is connected with the supporting mechanism 1, the other end of the supporting and positioning frame 2 is provided with the two-axis rotating platform 3, the two-axis rotating platform 3 is connected with one end of the cantilever supporting frame 4, the other end of the cantilever supporting frame 4 is provided with the elastic pressing mechanism 5 for pressing and covering the detection robot, the detection robot is arranged on the pot inner wall of the spherical pot 6, the two-axis rotating platform 3 comprises a horizontal rotating component for the cantilever supporting frame 4 to move horizontally and a vertical pitching component for the cantilever supporting frame 4 to move vertically, the vertical pitching component is arranged on the horizontal rotating component, the horizontal rotating component is provided with a, the vertical pitch assembly is provided with a vertical pitch angle sensor 312 and a second laser rangefinder 318.
This inner wall of pot of spherical tank inspection robot supports positioner, support inspection robot through pressing to cover, can not receive the influence of factors such as 6 internal surface rusts of spherical tank, to a great extent has improved inspection robot along the reliability and the security of wall motion, the inspection robot who has solved current adopts magnetism to adsorb, modes such as negative pressure adsorption, in the actual testing process, 6 inside walls of spherical tank often have a lot of rusts, the problem of the reliability of magnetism adsorption and negative pressure adsorption inspection robot motion has been influenced greatly.
This inner wall of spherical tank inspection robot supports positioner, the security of promotion inspection robot when 6 inside walls of spherical tank crawl that can be by a wide margin improves inspection robot's load capacity, the transportation of being convenient for, the convenient position that calculates inspection robot of geometric dimensions that can utilize supporting mechanism 1 has solved because the inspection robot that factors such as 6 inside light of spherical tank cause fixes a position difficult problem, has promoted the degree of automation that detects greatly.
The embodiment still provides an in spherical tank with cantilever support diaxon slewing mechanism, as fig. 3, including supporting locating rack 2, diaxon rotating platform 3 and cantilever support frame 4, diaxon rotating platform 3's one end joint support locating rack 2, cantilever support frame 4 is connected to the other end of diaxon rotating platform 3, the tip of cantilever support frame 4 is equipped with the detection robot, diaxon rotating platform 3 is including being used for cantilever support frame 4 at the level to the horizontal rotation subassembly of activity and being used for cantilever support frame 4 at the vertical every single move subassembly of activity perpendicularly, vertical every single move subassembly is located on the horizontal rotation subassembly, horizontal rotation subassembly is equipped with horizontal rotation angle sensor 39 and first laser range finder 31, vertical every single move subassembly is equipped with vertical every single move angle sensor 312 and second laser range finder 318.
The cantilever-supported two-shaft rotating mechanism in the spherical tank can establish a spherical surface operation positioning coordinate system of the spherical tank detection robot through the two-shaft rotating platform 3, and provides a structural foundation for realizing accurate positioning; by utilizing the geometric characteristics of the spherical tank 6, the two-axis rotating platform 3 and the cantilever support frame 4 and combining an angle sensor, the position of the detection robot on the inner wall of the spherical tank can be conveniently obtained, and the problem that the detection robot is difficult to position due to factors such as poor internal light of the spherical tank, electromagnetic signal shielding and the like is solved.
Be different from inside manned workstation of spherical tank, the jar inner wall of this spherical tank inspection robot of embodiment supports positioner, can be used for supporting inspection robot, realizes the inside detection of spherical tank through inspection robot, greatly reduced inspection personnel's working strength and work danger.
The two-axis rotating platform 3 has two degrees of freedom of horizontal rotation and vertical pitching, is provided with a horizontal rotating angle sensor 39 and a vertical pitching angle sensor 312 which can measure rotating angles in two directions, and is provided with two laser range finders which can measure the height of the supporting and positioning frame 2 and the length of the cantilever supporting frame 4.
As shown in fig. 3 and 4, the horizontal rotation assembly comprises a turntable vertical shaft 36, a first connecting plate 33, a first mounting frame 32, a horizontal bearing seat 35, a turntable support plate 34, a large gear 37 and a small gear 38, the horizontal bearing seat 35 adopts a horizontal bearing seat 35 with a bearing, one end of the turntable vertical shaft 36 is vertically connected with the turntable support plate 34 through the horizontal bearing seat 35, the other end of the turntable vertical shaft 36 is provided with the large gear 37, the other end of the turntable vertical shaft 36 is further provided with the first connecting plate 33 used for connecting and supporting the positioning frame 2, the first connecting plate 33 is provided with a first 32 horizontal rotation angle sensor 39 used for connecting the first laser range finder 31 and arranged on the turntable support plate 34, a rotating shaft of the horizontal rotation angle sensor 39 is provided with the small gear 38, the small gear 38 is meshed with the large. In one embodiment, the end of the vertical shaft 36 of the turret passes through a hole in the middle of the first connecting plate 33 and is secured to the first connecting plate 33 by a nut.
Through setting up horizontal rotation subassembly, be convenient for realize the level of inspection robot to the activity while, can provide the basis for the location of inspection robot through measuring horizontal turned angle and supporting the height of locating rack 2.
Horizontal rotation component realizes cantilever support frame 4 and does at the level to the concrete realization process of pivoted, and inspection robot moves the in-process and drives cantilever support frame 4 when the level is to the activity, and cantilever support frame 4 passes through vertical every single move subassembly and drives revolving stage backup pad 34, and revolving stage backup pad 34 passes through horizontal bearing frame 35 and uses the vertical axle 36 of revolving stage to rotate as the center, realizes that inspection robot is at the level to the activity. Meanwhile, the rotation of the vertical shaft 36 of the turntable drives the large gear 37 to rotate, the large gear 37 drives the small gear 38, and the horizontal rotation angle sensor 39 measures the horizontal rotation angle. And the top-to-bottom height of the support spacer 2 is measured by the first laser rangefinder 31.
As shown in fig. 3 and 4, the vertical pitch assembly includes a turntable horizontal shaft 313, a U-shaped connecting member 314, a cantilever connecting shaft 315, two mounting brackets 317, a coupling 311 and a vertical bearing seat 310, the vertical pitch angle sensor 312 is connected with the end part of the turntable horizontal shaft 313 through the coupling 311, the vertical bearing seat 310 adopts the vertical bearing seat 310 with a bearing, both ends of the turntable horizontal shaft 313 are connected on the turntable support plate 34 through the vertical bearing seat 310, one end of the cantilever connecting shaft 315 is connected with the turntable horizontal shaft 313 through the U-shaped connecting member 314, the other end of the cantilever connecting shaft 315 is provided with a second connecting plate 316 for connecting the cantilever support frame 4, and the second connecting plate 316 is provided with a second mounting bracket 317 for connecting a second.
Through setting up vertical every single move subassembly, when being convenient for realize the vertical activity of inspection robot, can provide the basis for the location of inspection robot through measuring vertical every single move angle and the height of cantilever support frame 4.
The vertical pitching assembly realizes that the cantilever support frame 4 is in the vertical pitching activity, and the detection robot drives the cantilever support frame 4 to move vertically in the moving process, the cantilever support frame 4 drives the cantilever connecting shaft 315 through the second connecting plate 316, and then the turntable horizontal shaft 313 is driven by the U-shaped connecting piece 314, the rotating horizontal shaft rotates by taking the rotating horizontal shaft as the center through the bearing in the vertical bearing seat 310, and the detection robot can be checked and detected in the vertical pitching activity. Meanwhile, the vertical pitch angle sensor 312 enables measurement of the angle of horizontal rotation when rotating the rotation of the horizontal shaft. And the top to bottom height of the outrigger 4 is measured by the second laser rangefinder 318.
In one embodiment, the middle part of the U-shaped connecting member 314 is connected with a cantilever horizontal shaft, the side part of the U-shaped connecting member 314 is provided with a connecting hole for passing through the rotating horizontal shaft, and the cantilever connecting shaft 315 is fixedly connected with the turntable horizontal shaft 313 through the U-shaped connecting member 314, so that the cantilever connecting shaft 315, the U-shaped connecting member 314 and the turntable horizontal shaft 313 can move in a vertical pitching mode together.
Through setting up diaxon rotating platform 3, can provide cantilever support frame 4 and detection robot's horizontal rotation and the degree of freedom of vertical every single move for the detection robot that the end was supported can be in spherical tank 6 free motion, and provide angle sensor and laser range finder in order to obtain relevant angle and length information, be used for calculating the position of terminal detection robot.
The intersection of the axes of the horizontal turret axis 313 and the vertical turret axis 36 of the two-axis rotary platform 3 is preferably located in the center of the sphere of the spherical tank 6 in the operating state.
The working principle of the embodiment is illustrated as follows: cantilever support frame 4 is connected with inspection robot through elasticity hold-down mechanism 5, under the operating condition, diaxon rotary platform 3 sets up in the centre of sphere department of spherical tank 6, the preferred revolving stage horizontal axis 313 is located the centre of sphere of spherical tank 6 with the axis nodical of the vertical axle 36 of revolving stage, ensure to reach each position of the inner wall of spherical tank 6 under inspection robot's the traction, through the extension length of adjustment cantilever support frame 4, compression spring compresses tightly cover 54, in order to ensure that inspection robot obtains enough big pressure all the time in the motion process, can laminate the wall motion all the time and not glide or topple. The two angle sensors of the horizontal rotation angle sensor 39 and the vertical pitch angle sensor 312 obtain the rotation angle and the pitch angle in real time, and the three-dimensional position of the end detection robot is calculated in real time by combining the diameter of the spherical tank 6.
As shown in fig. 5, the supporting and positioning frame 2 is a foldable supporting and positioning frame 2, the supporting and positioning frame includes a plurality of supporting telescopic rods 21 and a foldable member for folding and unfolding the supporting telescopic rods 21, the top end of the supporting telescopic rods 21 is arranged in a circular manner with the first connecting plate 33 as a center and movably connected with the first connecting plate 33, the bottom end of the supporting telescopic rods 21 is connected with the supporting mechanism 2, as shown in fig. 6, the foldable member includes a middle connecting plate 22, a first connecting member 24, a foldable rod 23 and a second connecting member 25, one end of the foldable rod 23 is movably connected with the middle connecting plate 22 through the first connecting member 24, and the other end of the foldable rod 23 is movably connected with the supporting telescopic rods 21 through the second connecting member 25.
In the support jig 2, a support telescopic bar 21 is preferably provided to form a tripod to support the two-axis rotating platform 3 and the cantilever support frame 4. The supporting and positioning frame 2 adopts the foldable supporting and positioning frame 2, so that the supporting and positioning frame 2 is conveniently put into or taken out of the spherical tank 6 from the manhole of the spherical tank 6, the supporting and positioning frame 2 is conveniently folded, the occupied volume is reduced, and the transportation is convenient. The further supporting telescopic rod 21 is preferably made of a hollow carbon fiber telescopic rod, and the purpose of light overall weight can be achieved. The supporting and positioning frame 2 can be positioned by the supporting mechanism 1 after being unfolded, the length adjustment can be realized by the supporting and telescopic rod 21, after the use is completed, the supporting and positioning frame 2 and the supporting structure 1 are detached, and the folding and unfolding of the supporting and positioning frame 2 can be realized by the folding and unfolding piece.
As shown in fig. 7, the cantilever support frame 4 adopts a foldable linkage mechanism, the cantilever support frame 4 comprises a plurality of upper telescopic rods 41, a plurality of lower telescopic rods 42, an extensible member and a top plate 43, one end of each upper telescopic rod 41 is respectively arranged in a circular array by taking the top plate 43 as a center and movably connected with the top plate 43, the other end of each upper telescopic rod 41 is connected with the end of each lower telescopic rod 42 through the extensible member, the other end of each lower telescopic rod 42 is arranged in a circular array by taking a second connecting plate 316 as a center and movably connected with the second connecting plate 316, as shown in fig. 8, the extending member includes a middle plate 44, a plurality of extending rods 45 and a plurality of revolute pairs, the upper extending rods 41 and the lower extending rods 42 are arranged in a one-to-one correspondence manner, the upper extending rods 41 are movably connected with the lower extending rods 42 through the revolute pairs respectively, one end of each extending rod 45 is movably connected with the middle plate 44 through a third connecting member 46 and a first set screw 48, and the other end of each extending rod 45 is movably connected with the revolute pair through a fourth connecting member 47 and a second set screw 49.
The cantilever support frame 4 adopts a foldable connecting rod mechanism, preferably a connecting rod structure consisting of 6 or 8 carbon fiber foldable rods 23, the middle of the cantilever support frame is opened to be large, two ends of the cantilever support frame are small in the unfolded state, and an extensible member is arranged in the middle of the cantilever support frame. The telescopic rods 21, 41 and 42 are preferably hollow carbon fiber telescopic rods, so that the whole weight is light.
In this spherical tank internal cantilever supports diaxon slewing mechanism, used the link mechanism that hollow carbon fiber tube constitutes in a large number, had simple structure, the quality is light, characteristics that rigidity is big, and the mechanism installation is simple, and in addition, the telescopic structure can adapt to not unidimensional spherical tank, and the holding power that provides can be through the length adjustment of adjustment cantilever support frame 4.
In one embodiment, as shown in fig. 8, the revolute pair includes an upper support 410, an upper connecting member 411, a lower support 412, a lower connecting member 413, a transverse support 414, a transverse connecting member 415 and a support connecting plate 416, one end of the transverse support 414 is vertically disposed on the support connecting plate 416, the other end of the transverse support 414 is movably connected to the extension rod 45 through the transverse connecting member 415, two ends of the support connecting plate 416 are respectively provided with the upper support 410 and the lower support 412, the upper support 410 is movably connected to the upper extension rod 41 through the upper connecting member 411 and a set screw three 417, and the lower support 413 is movably connected to the lower extension rod 42 through the lower connecting member 414 and a set screw four 418. When the cantilever support 4 is fully deployed, the middle spreader bar 45 is prevented from rotating by the set screw one 48, the set screw two 49, the set screw three 417 and the set screw four 418.
In one embodiment, as shown in fig. 9 and 10, the structure of the hollow carbon fiber telescopic rod comprises more than one outer carbon fiber rod 26, a locking mechanism and more than one inner carbon fiber rod 27, the outer carbon fiber rod 26 and the inner carbon fiber rod 27 are both hollow, the locking mechanism is arranged at the end of the inner carbon fiber rod 27, the end of the inner carbon fiber rod 27 and the locking mechanism are respectively embedded into the end of the outer carbon fiber rod 26, the locking mechanism comprises a connecting screw rod 28, a conical nut 29 and a nylon expansion sleeve 210, the connecting screw rod 28 is connected with the inner carbon fiber rod 27, the nylon expansion sleeve 210 is provided with an expansion channel, the conical nut 29 is embedded into the expansion channel, and the connecting screw rod 28 passes through the conical nut 29 and the expansion channel and is fixed by the locking.
The locking or the unlocking between the outer carbon fiber rod 26 and the inner carbon fiber rod 27 of the hollow carbon fiber telescopic rod is controlled by a locking mechanism, and the locking or the unlocking process of the locking mechanism is realized by that the conical nut 29 moves up and down along the connecting screw rod 28 through the relative rotation of the outer carbon fiber rod 26 and the inner carbon fiber rod 27 to open or loosen the nylon expansion sleeve 210, so that the locking or the relative sliding of the outer carbon fiber rod 26 and the inner carbon fiber rod 27 is realized.
Referring to fig. 11 and 12, the elastic pressing mechanism 5 includes a guide shaft 56, a shaft sleeve 57, a spring 53, a spring pressing sleeve 54, a pressing flange 51, a pressing bearing seat 52, a first retainer ring 55, a second retainer ring 58 and a pressing flange 51 for connecting the inspection robot, the pressing flange 51 is connected to the pressing bearing seat 52, the pressing bearing seat 52 is a pressing bearing seat 52 with a bearing, the guide shaft 56 passes through the second retainer ring 58, the bearing of the pressing bearing seat 52 and the shaft sleeve 57, the bearing of the pressing bearing seat 52 is fixed on the guide shaft 56 by the shaft sleeve 57 and the second retainer ring 58, the guide shaft 56 movably passes through the spring 53 and the spring pressing sleeve 54, the spring 53 is arranged between the shaft sleeve 57 and the spring pressing sleeve 54, the spring pressing sleeve 54 is connected to the top plate 43 of the cantilever support frame 4, the top plate 43 is provided with a through hole for the guide shaft 56 to movably pass through, the first retainer ring 55 and the second retainer ring, the spring pressing sleeve 54 is arranged between the first retainer ring 55 and the second retainer ring 58.
The elastic pressing mechanism 5 is a pressing mechanism having a compression spring pressing sleeve 54. The elastic pressing mechanism 5 is used for providing an elastic connection between the detection robot and the supporting mechanism 1 and providing a supporting force for the detection robot through the compression of the spring pressing sleeve 54.
The use process of the elastic pressing mechanism 5 specifically includes that when the detection robot crawls on the inner wall of the spherical tank 6, due to the elastic action of the spring 53, the position of the spring pressing sleeve 54 on the guide shaft 56 can be moved towards the direction of the near pressing flange 51 or the direction of the far pressing flange 51, so that the distance between the detection robot and the tail end of the suspension support frame can be elastically adjusted, and the elastic connection between the detection robot and the suspension support frame is realized while the reliable pressing force of the detection robot is realized.
The supporting mechanism 1 adopts an aluminum alloy section structure or a bench vice structure. Is positioned at the manhole of the spherical tank 6 through the supporting mechanism 1.
In one embodiment, as shown in fig. 13, the positioning member 102 and the plurality of vertical rods 101 are of an aluminum alloy profile structure, the bottom end of the supporting and positioning frame 2 is provided with a retractable member, the retractable member of the supporting and positioning frame 2 is arranged on the inner side of the manhole of the spherical tank, the positioning member 102 is arranged on the outer side of the manhole of the spherical tank 6, the width of the positioning member 102 is greater than the diameter of the manhole of the spherical tank 6, one end of the vertical rod 101 is connected with the positioning member 102, the other end of the vertical rod 101 is connected with the retractable rod 23 or the middle connecting plate 22 of the supporting and positioning frame 2 through a connecting bolt, the positioning member 102 is connected to a connecting hole on the flange of the manhole of the spherical tank through a positioning bolt and a positioning nut.
In the aluminum alloy section structure, the folding and unfolding rod 23 and the limiting piece 102 of the supporting and positioning frame 2 are respectively arranged on the inner side and the outer side of the manhole of the spherical tank 6, and the limiting piece 102 is connected with the connecting hole on the flange of the manhole of the spherical tank through a positioning bolt and a positioning nut, so that the supporting mechanism 1 is positioned at the position of the manhole of the spherical tank 6, and the aluminum alloy section structure is simple and reliable in structural design and convenient to use. Further, a reinforcing rod 104 is preferably provided, and two ends of the reinforcing rod 104 are respectively connected with the upright 101 and the limiting member 102, so as to further increase the structural stability of the aluminum alloy profile structure.
In another embodiment, as shown in fig. 14, the vise structure includes a longitudinal vise for clamping the steel manhole plate 7 of the spherical tank and a lateral vise for clamping the i-beam 17, the lateral vise being vertically provided at the top of the longitudinal vise, and the i-beam 17 being provided at the bottom of the support jig 2.
In the bench vice structure, horizontal bench vice includes the bench vice pincers body 11, the first 12 of bench vice pressure head and takes the first 13 of handle lead screw, and the bench vice pincers body 11 adopts L shape respectively with the first 12 of bench vice pressure head, and the clearance that is used for fixed I-beam 17 is formed to the bench vice pincers body 11 and the first 12 of bench vice pressure head, and the distance between the bench vice pincers body 11 and the first 12 of bench vice pressure head is controlled by taking the first 13 of handle lead screw, realizes pressing from both sides the fastening to I-beam 17.
In the bench vice structure, vertical bench vice includes U-shaped pincers seat 14, takes two 15 and two 16 of bench vice pressure head of handle lead screw, U-shaped pincers seat 14 forms the draw-in groove that is used for the manhole steel sheet 7 of centre gripping spherical tank, take two 15 screw threads of handle lead screw to pass the lateral part of U-shaped pincers seat 14 and penetrate in the draw-in groove, two 16 of bench vice pressure head locate take the tip of two 15 of handle lead screw and locate in the fluting, take two 15 control bench vice pressure head of handle lead screw to remove and press from both sides the manhole steel sheet in the draw-in groove. The screw rod with the handle II 15 and the bench vice body 11 of the horizontal bench vice are respectively arranged at two sides of the U-shaped vice seat 14.
The installation process when the support mechanism 1 adopts the vise structure is explained as follows:
1) the support positioning frame 2 in the furled state is unfolded, the upper folding and unfolding rod 23 is kept in the folded state, the I-shaped beam 17 at the bottom of the support positioning frame 2 is clamped by the transverse bench vice of the support mechanism 1, and the longitudinal bench vice of the support mechanism 1 is fixed to the manhole edge of the spherical tank 6.
2) The cantilever support frame 4 with the elastic pressing mechanism 5 in the furled state is connected to the two-shaft rotating platform 3, and the extension piece of the cantilever support frame 4 is adjusted to extend to a position which is about the working length.
3) The detection robot is connected to the pressing flange 51 of the elastic pressing mechanism 5.
4) The three supporting telescopic rods 21 of the supporting and positioning frame 2 are adjusted, and the position of the detection robot is adjusted, so that the supporting and positioning frame 2 can be extended to a position which is about the working length,
5) the first laser distance measuring instrument 31 and the second laser distance measuring instrument 318 are opened, the data of the distance measuring instruments are recorded, the supporting telescopic rods 21 of the supporting positioning frame 2 and the upper telescopic rods 41 and the lower telescopic rods 42 of the cantilever supporting frame 4 are respectively adjusted according to the data of the laser instruments until the data measured by the laser instruments meet the condition that the axis intersection point of the horizontal axis 313 of the rotary table of the two-axis rotary platform 3 and the vertical axis 36 of the rotary table is positioned at the center of the sphere of the spherical tank 6.
6) And controlling the detection robot to drive the cantilever support frame 4 to move along the wall surface, and adjusting the telescopic length of the cantilever support frame 4 until the detection robot always moves along the wall surface in the movement process without sliding down.
The embodiment device can pack up cantilever support frame 4 and support locating rack 2 and transport after, also can transport after disassembling, realizes littleer transportation volume, is convenient for transport. When the supporting and positioning frame 2 and the cantilever supporting frame 4 are folded, the support positioning frame can be transported into the interior of the spherical tank 6 through a manhole of the spherical tank 6.
The embodiment adopts the mode that the supporting mechanism 1 provides the supporting force to ensure that the detection robot is safely and stably attached to the wall surface to move. The cantilever support frame 4 adopts a link mechanism consisting of telescopic carbon fiber tubes, so that the whole weight is light, the rigidity is high, and the installation and the transportation are convenient. Utilize the geometrical characteristic of cantilever support frame 4 and support locating rack 2, combine angle sensor, the convenient location that realizes the real-time position of inspection robot provides the basis for inspection robot's collaborative operation and remote control, has improved the automation that detects.
In one embodiment, the detection robot positioning principle is illustrated as follows: this inner wall of spherical tank inspection robot supports positioner is similar to ball coordinate mechanism, rotates platform 3 through setting up the diaxon, has the level to and two rotational degrees of freedom perpendicularly to under the operating condition, support the length of locating rack 2 and cantilever support frame 4 fixed, make the orbit of the point that the end of cantilever support frame 4 can reach form a sphere, just so turn into the location problem of inspection robot cantilever support frame 4 terminal position solution.
Thus, the three-dimensional coordinate position of the inspection robot at the end of the boom support frame 4 is calculated by detecting the horizontal rotation and vertical pitch angles of the boom support frame 4. In fig. 15, point a represents the position of the detection robot, point AB represents the height of the cantilever support frame 4, one end point B of the cantilever support frame 4 is located at the center of the sphere, and point BD represents the height of the support positioning frame, then under the calculation model, the three-dimensional coordinates of the detection robot can be represented as follows:
in the formula, x, y and z are rectangular coordinates with the sphere center as the origin, α is a pitch angle between the cantilever support frame 4 and the vertical direction, theta is a rotation angle between the cantilever support frame 4 and the horizontal direction, and R represents the radius of the inner wall of the spherical tank 6. the detection robot at the tail end of the cantilever can be directly positioned by determining the value of (R, theta, α), so as to obtain the absolute coordinate position of the detection robot in the spherical tank 6, wherein α preferably takes the value of 0-180 degrees, theta preferably takes the value of 0-360 degrees, and R preferably takes the value of 2.3-7.85 m.
The embodiment device can make inspection robot creep stably when the jar inner wall of spherical tank 6 detects, and the wall motion of laminating safely has improved inspection robot's load-carrying capacity, is convenient for install and accomodate the transportation, combines the geometric dimensions of mechanism, and location inspection robot that can be convenient promotes the automation that detects by a wide margin. The staff can realize detecting through controlling the detection robot motion, working strength greatly reduced.
The embodiment device, support locating rack 2 and cantilever support frame 4 can get into spherical tank 6 by the manhole under the folded state, can provide reliable holding power for detecting robot, and the safety and stability that the guarantee detected robot crawls can utilize angle sensor and first laser range finder 31, the position that second laser range finder 318 signal on the mechanism to calculate detecting robot simultaneously, has improved the automation that detects, greatly reduced the working strength who detects the staff.
Claims (7)
1. The utility model provides an use cantilever support diaxon slewing mechanism in spherical tank, its characterized in that: including supporting the locating rack, the diaxon rotates platform and cantilever support frame, the diaxon rotates the one end connection support locating rack of platform, the diaxon rotates the other end connection cantilever support frame of platform, cantilever support frame's tip is equipped with inspection robot, the diaxon rotates the platform including being used for the cantilever support frame at the level to the horizontal rotation subassembly of activity and being used for the cantilever support frame at the vertical every single move subassembly of activity, vertical every single move subassembly is located on the horizontal rotation subassembly, horizontal rotation subassembly is equipped with horizontal rotation angle sensor and first laser range finder, vertical every single move subassembly is equipped with vertical every single move angle sensor and second laser range finder.
2. The can end cantilever-supported two-axis pivot mechanism of claim 1, wherein: horizontal rotation subassembly includes the vertical axle of revolving stage, first connecting plate, the mounting bracket I, horizontal bearing seat, the revolving stage backup pad, gear wheel and pinion, horizontal bearing seat adopts the horizontal bearing seat of taking the bearing, the vertical axle one end of revolving stage is passed through the vertical connection revolving stage backup pad of horizontal bearing seat, the vertical axle other end of revolving stage is equipped with the gear wheel, the vertical axle other end of revolving stage still is equipped with the first connecting plate that is used for the joint support locating rack, first connecting plate is equipped with the mounting bracket I that is used for connecting a laser range finder, horizontal rotation angle sensor locates in the revolving stage backup pad, horizontal rotation angle sensor's pivot is equipped with the pinion, pinion and gear engagement, the vertical axle.
3. The can end cantilever-supported two-axis pivot mechanism of claim 2, wherein: vertical every single move subassembly includes the revolving stage horizontal axis, the U-shaped connecting piece, the cantilever connecting axle, mounting bracket two, shaft coupling and vertical bearing, vertical every single move angle sensor passes through the tip of coupling joint revolving stage horizontal axis, vertical bearing adopts the vertical bearing of taking the bearing, the both ends of revolving stage horizontal axis are all connected in the revolving stage backup pad through vertical bearing, the revolving stage horizontal axis is connected through the U-shaped connecting piece to the one end of cantilever connecting axle, the other end of cantilever connecting axle is equipped with the second connecting plate that is used for connecting cantilever support frame, the second connecting plate is equipped with the mounting bracket two that is used for connecting second laser range finder, the two-axis rotation platform's the revolving stage horizontal axis intersects the nodical centre of.
4. The can end cantilever-supported two-axis pivot mechanism of any of claims 1-3, wherein: the end part of the cantilever support frame is provided with an elastic pressing mechanism for pressing and covering the detection robot, the detection robot is arranged on the inner wall of the spherical tank, the elastic pressing mechanism comprises a guide shaft, a shaft sleeve, a spring pressing sleeve, a pressing flange plate, a pressing bearing seat, a first check ring, a second check ring and a pressing flange plate for connecting the detection robot, the pressing flange plate is connected on the pressing bearing seat, the pressing bearing seat adopts a pressing bearing seat with a bearing, the guide shaft passes through a second check ring, a bearing of the pressing bearing seat and the shaft sleeve, the bearing of the pressing bearing seat is fixed on the guide shaft by the shaft sleeve and the second check ring, the guide shaft movably passes through the spring and the spring pressing sleeve, the spring is arranged between the shaft sleeve and the spring pressing sleeve, the spring pressing sleeve is connected with a top plate of the cantilever support frame, the top plate is provided with a through hole, the spring compression sleeve is arranged between the first check ring and the second check ring.
5. The can end cantilever-supported two-axis pivot mechanism of any of claims 1-3, wherein: the supporting and positioning frame is connected with the man-hole of the spherical tank through a supporting mechanism, and the supporting mechanism adopts an aluminum alloy section structure or a bench vice structure.
6. The can end cantilever-supported two-axis pivot mechanism of claim 5, wherein: the aluminum alloy section structure includes locating part and a plurality of pole setting, the bottom that supports the locating rack is equipped with the piece of taking up and expanding, the inboard of spherical tank manhole is located to the piece of taking up and expanding that supports the locating rack, the outside of spherical tank manhole is located to the locating part, and the width of locating part is greater than the diameter of spherical tank manhole, the locating part is connected to the one end of pole setting, the other end of pole setting passes through connecting bolt connection support locating rack's the pole of taking up and expanding or middle even board, the locating part passes through connecting bolt and set nut and connects the connecting hole department on spherical tank manhole flange, the locating part adopts the limiting plate, the spacing of cross, spacing of.
7. The can end cantilever-supported two-axis pivot mechanism of claim 5, wherein: the bench vice structure comprises a longitudinal bench vice used for clamping a manhole steel plate of the spherical tank and a transverse bench vice used for clamping an I-shaped beam, the transverse bench vice is vertically arranged at the top of the longitudinal bench vice, and the I-shaped beam is arranged at the bottom of the supporting and positioning frame.
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