CN113857584B - Underwater cutting device for irradiation examination pipe - Google Patents
Underwater cutting device for irradiation examination pipe Download PDFInfo
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- CN113857584B CN113857584B CN202111254703.3A CN202111254703A CN113857584B CN 113857584 B CN113857584 B CN 113857584B CN 202111254703 A CN202111254703 A CN 202111254703A CN 113857584 B CN113857584 B CN 113857584B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2703/00—Work clamping
- B23Q2703/02—Work clamping means
- B23Q2703/10—Devices for clamping workpieces of a particular form or made from a particular material
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention discloses an underwater cutting device for an irradiation examination pipe, which comprises a three-dimensional adjusting platform, a connecting rod, a supporting platform, a cutting assembly and a grabbing assembly, wherein the three-dimensional adjusting platform is fixedly arranged on the water surface; the upper end of the connecting rod is fixedly connected with the three-dimensional adjusting platform; the supporting platform is fixedly connected with the lower end of the connecting rod; the cutting assembly is fixedly arranged on the supporting platform and is used for cutting the irradiation examination pipe to be cut, which is vertically arranged in water; the grabbing end of the grabbing component grabs the irradiation examination tube to be cut. According to the invention, the supporting platform is arranged underwater through the connecting rod, the position of the supporting platform relative to the irradiation pipe to be cut is accurately adjusted through the three-dimensional adjusting platform, and then the large-sized irradiation examination pipe to be cut is subjected to underwater cutting through the cutting assembly.
Description
Technical Field
The invention relates to the field of irradiation experiments, in particular to an underwater cutting device for an irradiation examination tube.
Background
With the continuous update of nuclear power technology, higher and higher requirements are put forward on the performance of a cladding material of a reactor core fuel element.
At present, the main means for developing the novel coating material is to perform irradiation examination on a target assembly formed by the material in a reactor, disassemble and separate the target assembly into a single tubular target piece after the examination is finished, send the target piece to a hot chamber, and finally evaluate the performance of the material through a series of material detection analysis.
The tested coating material target assembly belongs to radioactive articles, the transportation and transfer of the coating material target assembly have very strict control requirements, the transportation difficulty of certain long irradiation test target assemblies is higher, and even the coating material target assemblies cannot enter a hot chamber due to overlong size.
Disclosure of Invention
The invention aims to solve the technical problems that a long irradiation inspection target assembly cannot normally enter a hot chamber and is difficult to transport, and provides an underwater cutting device for an irradiation inspection pipe, so that the problem of transporting the long irradiation inspection target assembly is solved.
The invention is realized by the following technical scheme:
an underwater cutting device for an irradiation exam tube, comprising:
the three-dimensional adjusting platform is fixedly arranged on the water surface;
the connecting rod is vertically arranged, and the upper end of the connecting rod is fixedly connected with the three-dimensional adjusting platform;
the supporting platform is arranged below the water surface and is fixedly connected with the lower end of the connecting rod;
the cutting assembly is fixedly arranged on the supporting platform and is used for cutting the irradiation examination tube to be cut which is vertically arranged in water;
and the grabbing end of the grabbing component grabs the to-be-cut irradiation examination tube.
Specifically, one direction on a horizontal plane is set as an X axis, a direction on the horizontal plane and perpendicular to the X axis is set as a Y axis, and a direction in a vertical direction and perpendicular to both the X axis and the Y axis is set as a Z axis;
the three-dimensional adjustment platform comprises:
an X-axis moving assembly having a fixed end and a moving end, the moving end of the X-axis moving assembly moving along an X-axis;
the Y-axis moving assembly is provided with a fixed end and a moving end, the moving end of the Y-axis moving assembly moves along the Y axis, and the fixed end of the Y-axis moving assembly is fixedly connected with the moving end of the X-axis moving assembly;
z axle removes the subassembly, and it has stiff end and removal end, Z axle removes the removal end of subassembly and removes along the Z axle, the stiff end of Z axle removal subassembly with the removal end fixed connection that the subassembly was removed to the Y axle, the removal end of Z axle removal subassembly with the upper end fixed connection of coupling link.
As an embodiment, the X-axis moving assembly includes:
the X-axis internal circulation floating type flange type ball screw is arranged along the X-axis;
the X-axis hand wheel drives the X-axis internal circulation floating type flange ball screw to realize displacement adjustment;
the Y-axis moving assembly includes:
a Y-axis internal circulation floating type flange ball screw arranged along the Y-axis;
the Y-axis hand wheel drives the Y-axis internal circulation floating type flange ball screw to realize displacement adjustment;
the Z-axis moving assembly comprises:
the connecting beam is horizontally arranged and provided with a first end and a second end, the first end of the connecting beam is fixedly connected with the moving end of the Y-axis moving assembly, the second end of the connecting beam is provided with a Z-axis hole parallel to the Z axis, and the inner side surface of the Z-axis hole is provided with a vertical limiting edge;
a vertical screw rod vertically arranged in the Z-axis hole, a vertical limiting groove matched with the limiting edge is formed in the outer side surface of the vertical screw rod;
the Z axle hand wheel, its with connect crossbeam rotatable coupling, just the axis of rotation department of Z axle hand wheel be provided with erect the internal thread hole of screw rod adaptation, the Z axle hand wheel with erect screw rod threaded connection and drive it removes along the Z axle to erect the screw rod.
In particular, the coupling rod comprises:
the upper end of the upper section rod is fixedly connected with the moving end of the Z-axis moving assembly;
the upper end of the middle rod is detachably connected with the lower end of the upper rod through a connecting flange;
the lower section rod is vertically arranged, the upper end of the lower section rod is detachably connected with the lower end of the middle section rod through a connecting flange, and the lower end of the lower section rod is fixedly connected with the supporting platform.
Specifically, the cutting assembly includes:
rotating the tool holder;
the feed assembly is fixedly connected with the supporting platform and drives the rotary tool rest to be close to the to-be-cut irradiation examination tube;
and the power assembly is fixedly connected with the supporting platform and drives the rotary tool rest to rotate and cut the to-be-cut irradiation examination tube.
As an embodiment, the rotary cutter frame is a roller type cutting tool;
the feed assembly includes:
the feed servo motor is fixedly connected with the supporting platform;
the feeding rod is horizontally arranged, a first end of the feeding rod is in power connection with a torque output shaft of the feeding servo motor through a worm gear connecting assembly, a second end of the feeding rod is connected with the rotary tool rest, and the cutting feed amount of the rotary tool rest is controlled;
the power assembly includes:
the rotary servo motor is fixedly connected with the supporting platform;
and the rotary connection worm gear is in power connection with a power output end of the rotary servo motor and drives the rotary tool rest to wind the to-be-cut irradiation examination tube to rotate.
Further, the underwater cutting device further comprises a cutting amount control assembly disposed on the feeding assembly, the cutting amount control assembly comprising:
the LVDT displacement sensor is arranged on one side of the cutter feeding rod and is used for detecting the displacement of the cutter feeding rod;
the proximity switch is arranged on the cutter feeding rod;
a displacement indicator plate disposed on the support platform and configured to cooperate with the proximity switch.
Still further, the underwater cutting device further comprises a spring clamping mechanism which is fixedly connected with the supporting platform and fixes the irradiation examination tube to be cut, and the spring clamping mechanism comprises:
the fixing block is fixedly connected with the supporting platform and is provided with a rectangular through groove penetrating through the upper side face and the lower side face of the fixing block;
the moving block is arranged in the rectangular through groove and is connected with the rectangular through groove in a sliding mode, and the sliding direction of the moving block is parallel to the long edge of the rectangular through groove;
the compression spring is arranged in the rectangular through groove, a first end of the compression spring is fixedly connected with the moving block, and a second end of the compression spring is fixedly connected with one short side of the rectangular through groove;
a first end of the pulling steel rope penetrates through the fixed block, is arranged in the compression spring and is fixedly connected with the moving block, and a second end of the pulling steel rope is arranged on the water surface;
and the distance between the moving block and the other short side of the rectangular through groove is smaller than the diameter of the to-be-cut irradiation test tube when the compression spring is in an original length state.
Preferably, the fixed block sets up supporting platform's below, spring clamping mechanism still includes the deflector, and its fixed setting is in supporting platform's top, just be provided with on the deflector vertical and with the guiding hole of waiting to cut irradiation examination pipe adaptation.
Specifically, the grasping assembly includes:
the grabbing rod is vertically arranged, and the upper end of the grabbing rod is arranged on the water surface;
the claw type mechanical arm is fixedly connected with the lower end of the grabbing rod and is used for grabbing the upper end of the irradiation examination pipe to be cut;
the buffer container is arranged below the supporting platform and is used for placing the cut irradiation examination tube.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the support platform is arranged underwater through the connecting rod, the position of the support platform relative to the irradiation pipe to be cut is accurately adjusted through the three-dimensional adjusting platform, then the large-length irradiation test pipe to be cut is subjected to underwater cutting through the cutting assembly, the large-length irradiation test pipe to be cut is safely cut into two short pipes with certain length, the requirements of subsequent transportation and research are met, the generation of radioactive wastes is reduced, flying chips and cracks cannot occur in the whole cutting process, and the cuts of the irradiation test pipe cannot deform.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.
FIG. 1 is a schematic structural diagram of an underwater cutting device for an irradiation test tube according to the present invention.
Fig. 2 is a schematic view of the structure at the support platform according to the present invention.
Reference numerals: the device comprises a 1-X axis moving assembly, a 2-Y axis moving assembly, a 3-connecting beam, a 4-Z axis moving assembly, a 5-connecting rod, a 6-connecting flange, a 7-to-be-cut irradiation examination tube, an 8-feeding assembly, a 9-step bolt, a 10-power assembly, a 11-rotary connecting worm wheel, a 12-spring clamping mechanism, a 13-proximity switch, a 14-LVDT displacement sensor, a 15-balancing weight, a 16-temporary storage container, a 17-displacement indicator plate, a 18-grabbing assembly, a 19-rotary tool rest, a 20-guide plate, a 22-worm wheel connecting assembly and a 21-pulley block.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the invention.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
In the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
At present, the main means for developing the novel coating material is to perform irradiation examination on a target assembly formed by the material in a reactor, disassemble and separate the target assembly into a single tubular target piece after the examination is finished, send the target piece to a hot chamber, and finally evaluate the performance of the material through a series of material detection analysis.
The tested coating material target assembly belongs to radioactive articles, the transportation and transfer of the assembly have very strict control requirements, compared with the small-sized test target assembly, the transportation difficulty and the research and development cost of some long-sized irradiation test target assemblies are undoubtedly increased, even the long-sized irradiation test target assemblies cannot enter a hot room due to too long size,
therefore, the long irradiation test target assembly is disassembled and then is cut into single tubular target pieces, and then is transferred and transported more safely and reliably, so that the method has very important scientific research value and economic significance.
The length of the large-length irradiation examination pipe provided by the embodiment is approximately 4000mm for the tubular examination target member after disassembly, the diameter of the irradiation examination pipe is less than or equal to 10mm, the irradiation examination pipe needs to be accurately cut into two sections of examination pipes with equal length at 8000mm underwater for ensuring the safety of cutting operation, and the length error of the two sections of short irradiation examination pipes needs to be less than or equal to 2mm for the subsequent accuracy of material detection and analysis on the irradiation examination pipes.
Example one
Aiming at the problems, the embodiment provides an underwater cutting device for an irradiation examination pipe, which comprises a three-dimensional adjusting platform, a connecting rod 5, a supporting platform, a cutting assembly and a grabbing assembly 18.
The three-dimensional regulation platform is fixed to be set up on the surface of water, because need will wait to cut irradiation and examine pipe 7 and set up 8000mm department under water, and the length of waiting to cut irradiation and examining pipe 7 is 4000mm, therefore concrete length needs the technical staff in the art to select, and can set up corresponding water tank and realize having the surface of water.
The connecting rod 5 is vertically arranged, the upper end of the connecting rod 5 is fixedly connected with the three-dimensional adjusting platform, the supporting platform is arranged below the water surface, and the supporting platform is fixedly connected with the lower end of the connecting rod 5;
the three-dimensional adjusting platform, the connecting rod 5 and the supporting platform form a whole, the three-dimensional adjusting platform is fixed on the water surface and can be fixed through any fixing frame, and a person skilled in the art can select the three-dimensional adjusting platform according to specific conditions.
The position of the connecting rod 5 is adjusted through the three-dimensional adjusting platform, so that the position of the supporting platform is adjusted, and in order to enable the supporting platform to accurately reach a cutting position, the fine adjustment precision in all directions is 0.1mm.
The cutting assembly is fixedly arranged on the supporting platform and is used for cutting the irradiation examination tube 7 to be cut which is vertically arranged in water; the grabbing end of the grabbing component 18 grabs the irradiation examination tube 7 to be cut.
The irradiation examination tube 7 to be cut is grabbed in water through the grabbing component 18 and matched with the cutting component, and the irradiation examination tube 7 to be cut is cut through the cutting component, so that the purpose of cutting the long irradiation examination tube is achieved.
Example two
In this embodiment, a specific structure of the three-dimensional adjustment platform is described, and for convenience of description, an XYZ coordinate system is set, that is, a direction on a horizontal plane is set as an X axis, a direction on the horizontal plane and perpendicular to the X axis is set as a Y axis, and a direction vertical to the X axis and the Y axis is set as a Z axis;
the three-dimensional adjusting platform comprises an X-axis moving assembly 1, a Y-axis moving assembly 2 and a Z-axis moving assembly 5.
The X-axis moving assembly 1 is provided with a fixed end and a moving end, and the moving end of the X-axis moving assembly 1 moves along the X axis;
the Y-axis moving component 2 is provided with a fixed end and a moving end, the moving end of the Y-axis moving component 2 moves along the Y axis, and the fixed end of the Y-axis moving component 2 is fixedly connected with the moving end of the X-axis moving component 1;
the Z-axis moving component 5 is provided with a fixed end and a moving end, the moving end of the Z-axis moving component 5 moves along the Z axis, the fixed end of the Z-axis moving component 5 is fixedly connected with the moving end of the Y-axis moving component 2, and the moving end of the Z-axis moving component 5 is fixedly connected with the upper end of the connecting rod 5.
The three-dimensional adjusting platform is an important part for controlling the positioning of the cutting assembly, the whole cutting assembly is made of stainless steel materials to meet the requirements of a use environment, the adjusting part is composed of an X/Y/Z direction feeding mechanism, the supporting platform can move on an X axis through the X axis moving assembly 1, the supporting platform can move on a Y axis through the Y axis moving assembly 2, and the supporting platform can move on a Z axis through the Z axis moving assembly 5.
Therefore, through the cooperation of the X-axis moving assembly 1, the Y-axis moving assembly 2 and the Z-axis moving assembly 5, the support platform can be moved to any position (within the moving stroke of the X-axis moving assembly 1, the Y-axis moving assembly 2 and the Z-axis moving assembly 5).
The driving power of the X-axis moving assembly 1, the Y-axis moving assembly 2 and the Z-axis moving assembly 5 of this embodiment can be cylinders, hydraulic cylinders, electric telescopic rods, threaded lead screw structures, etc., and it is sufficient that the driving moving end moves along the fixed end, and those skilled in the art can adopt the prior art to realize the moving purpose.
The present embodiment adopts a specific structure to explain the working principle of the X-axis moving assembly 1, the Y-axis moving assembly 2, and the Z-axis moving assembly 5.
The X-axis moving assembly 1 comprises an X-axis internal circulation floating type flange ball screw and an X-axis hand wheel.
The X-axis internal circulation floating type flange ball screw is arranged along the X axis, and the X-axis hand wheel drives the X-axis internal circulation floating type flange ball screw to realize displacement adjustment;
the Y-axis moving assembly 2 comprises a Y-axis internal circulation floating type flange ball screw and a Y-axis hand wheel.
The Y-axis internal circulation floating type flange ball screw is arranged along the Y-axis, and the Y-axis hand wheel drives the Y-axis internal circulation floating type flange ball screw to realize displacement adjustment.
The ball screw is an ideal product for converting rotary motion into linear motion or converting linear motion into rotary motion, is the most commonly used transmission element on tool machinery and precision machinery, has the main function of converting rotary motion into linear motion or converting torque into axial repeated acting force, and has the characteristics of high precision, reversibility and high efficiency. The ball screw is widely used in various industrial equipments and precision instruments due to its small frictional resistance.
The internal circulation adopts reversers to realize ball circulation, and the reversers have two types. The cylinder part of the cylinder convex key reverser is embedded into the nut, and the end part of the cylinder convex key reverser is provided with a reverse groove. The reverse groove is positioned by the cylindrical outer circular surface and the circular key at the upper end of the cylindrical outer circular surface so as to ensure that the reverse groove is aligned with the direction of the thread roller path. The flat round insert reverser is a common round-head flat key insert, the insert is embedded into a cutting groove of the nut, and the end part of the insert is provided with a reverse groove which is positioned by the outer contour of the insert. The latter is smaller in size compared with the two reversers, thus reducing the radial dimension of the nut and shortening the axial dimension.
The ball screw is applied with rotary motion through an X-axis hand wheel and a Y-axis hand wheel, and finally the rotary motion is converted into linear motion along an X axis/a Y axis, so that the position adjustment on an X-Y plane is realized.
The Z-axis moving assembly 5 comprises a connecting beam 3, a vertical screw rod and a Z-axis hand wheel.
The connecting beam 3 is horizontally arranged and provided with a first end and a second end, the first end of the connecting beam 3 is fixedly connected with the moving end of the Y-axis moving assembly 2, the second end of the connecting beam 3 is provided with a Z-axis hole parallel to the Z axis, and the inner side surface of the Z-axis hole is provided with a vertical limiting edge;
the vertical screw rod is vertically arranged in the Z-shaped shaft hole, and a vertical limiting groove matched with the limiting edge is formed in the outer side surface of the vertical screw rod;
the Z-axis hand wheel is rotatably connected with the connecting beam 3, an internal thread hole matched with the vertical screw rod is formed in the rotating axis of the Z-axis hand wheel, and the Z-axis hand wheel is in threaded connection with the vertical screw rod and drives the vertical screw rod to move along the Z axis.
Through rotating the Z axle hand wheel for Z axle hand wheel and erect and produce the rotation moment of torsion between the screw, simultaneously, consequently erect the cooperation of spacing groove on the screw and the spacing arris of connecting crossbeam 3, make to erect the screw and can't produce relative rotation, thereby make to erect the screw and can only reciprocate, thereby realized the epaxial position adjustment of Z.
EXAMPLE III
The present embodiment provides a one-circle structure of the coupling rod 5, which is a three-section structure including an upper section rod, a middle section rod and a lower section rod, generally 8.5m.
The upper section rod is vertically arranged, and the upper end of the upper section rod is fixedly connected with the moving end of the Z-axis moving assembly 5;
the middle section rod is vertically arranged, and the upper end of the middle section rod is detachably connected with the lower end of the upper section rod through a connecting flange 6;
the vertical setting of hypomere pole, the upper end of hypomere pole is passed through flange 6 and can be dismantled with the lower extreme of middle section pole and be connected, the lower extreme and the supporting platform fixed connection of hypomere pole.
With upper segment pole, middle section pole and the lower section pole between through 6 releasable connection of flange for in-process using can change cutting assembly according to the demand, increase its suitability, can realize chipless cutting under water and the transfer to the pipe fitting of diameter 6mm-28mm series size.
And the middle section rod can be replaced, and the middle section rods with other lengths are selected, so that the cutting of the long to-be-cut irradiation examination tube 7 with different lengths can be realized.
Example four
The present embodiment provides a cutting assembly comprising a rotary cutter head 19, a feed assembly 8 and a power assembly 10.
The rotary tool rest 19 is a roller type cutting tool;
the feed assembly 8 is fixedly connected with the supporting platform, the rotary tool rest 19 is driven to be close to the irradiation examination tube 7 to be cut, and the position relation between the rotary tool rest 19 and the irradiation examination tube 7 to be cut is controlled through the feed assembly 8, so that cutting is realized.
The power assembly 10 is fixedly connected with the supporting platform, drives the rotary tool rest 19 to rotate and cuts the irradiation examination tube 7 to be cut, and provides power for the rotary tool rest 19 through the power assembly 10 to cut the tube.
And provides a specific embodiment, the feed assembly 8 in this embodiment comprises a feed servomotor and a feed bar.
The feed servo motor is fixedly connected with the supporting platform;
the feeding rod is horizontally arranged, the first end of the feeding rod is in power connection with a torque output shaft of the feeding servo motor through a worm wheel connecting assembly 21, the second end of the feeding rod is connected with the rotary tool rest 19, and the cutting feed amount of the rotary tool rest 19 is controlled;
the cutting tool of the rotary tool rest 19 is of a roller type, and a feed servo motor drives a worm wheel connecting assembly 21 to control the feed amount of the cutting tool.
In addition, in order to avoid the situation that the feeding servo motor fails during underwater cutting, the rotary tool rest 19 cannot retract due to the failure of the feeding servo motor, and the to-be-cut irradiation examination tube 7 is clamped and cannot be taken out, the feeding servo motor is installed by the step bolt 9, when the feeding servo motor fails, the feeding servo motor can be separated from the rotary tool rest 19 by virtue of a long rod tool, meanwhile, a manual rotary joint is designed at one end, connected with the feeding servo motor, of the worm wheel connecting assembly 21, the rotary tool rest 19 can be rotated away from the to-be-cut irradiation examination tube 7 to be cut by virtue of the long rod tool, manual retraction is carried out, and the rotary tool rest is taken out safely.
The power assembly 10 in this embodiment includes a rotary servomotor and a rotary connecting worm wheel 11.
The rotary servo motor is fixedly connected with the supporting platform, the rotary connection worm gear 11 is in power connection with the power output end of the rotary servo motor, and the rotary tool rest 19 is driven to rotate around the irradiation examination tube 7 to be cut.
The main function of the supporting platform is to provide support and rotation power for the rotary tool rest 19 of the cutting assembly, the platform main body is made of stainless steel materials, the sectional type connecting rod 5 is connected with the three-dimensional adjusting platform, in order to keep the structure balance, a balancing weight 15 needs to be installed on the supporting platform, and the position of the balancing weight 15 is determined according to the positions of the feed assembly 8, the power assembly 10 and the irradiation examination tube 7 to be cut.
The supporting platform is provided with a rotary connecting worm gear 11 and a rotary servo motor, the supporting platform is connected with a rotary tool rest 19 by utilizing 4M 8 bolts on the rotary connecting worm gear 11, and the rotary servo motor drives the rotary tool rest 19 to rotate around the axis of the cut pipe.
EXAMPLE five
The underwater cutting device in this embodiment further comprises a cutting volume control assembly provided on the feed assembly 8, the cutting volume control assembly comprising an LVDT displacement sensor 14, a proximity switch 13 and a displacement indicator plate 17.
The LVDT displacement sensor 14 is arranged on one side of the cutter feeding rod and is used for detecting the displacement of the cutter feeding rod;
the proximity switch 13 is arranged on the feed bar and the displacement indicator plate 17 is arranged on the support platform and is adapted to cooperate with the proximity switch 13.
An LVDT position sensor and a proximity switch 13 are arranged on the cutter bar and used for controlling cutting precision and cutter limiting, and because the servo motors in the fourth embodiment can all pass through electric air, a mobile automatic control system can be arranged through matching with the cutting volume control assembly.
The automatic control system is provided with three operation strategies, namely an automatic mode, a semi-automatic mode and a manual mode. In the automatic mode, parameters such as the actual cutter feeding amount, the air pressure state of the underwater servo motor, the rotation and cutter feeding speed, the current and the torque of the motor and the like are displayed, the interface cannot be operated, and the mistaken touch is prevented. In the semi-automatic mode, an operator can jog the cutter to control the feeding and the rotation, and in the semi-automatic mode, the cutting state of the cutter can be tested and adjusted. In the manual mode, the operator can set the cutting zero point of the cutter.
EXAMPLE six
In the cutting process of treating cutting irradiation examination pipe 7, need guarantee to treat that cutting irradiation examination pipe 7 is for supporting platform's rigidity, consequently the underwater cutting device that this embodiment provided still includes spring clamping mechanism 12, its spring clamping mechanism 12 and supporting platform fixed connection, and fixed irradiation examination pipe 7 of treating cutting, spring clamping mechanism include fixed block, movable block and compression spring.
Fixed block and supporting platform fixed connection, and the fixed block is provided with the rectangle that runs through its upper side and downside and leads to the groove, will wait to cut the irradiation and examine pipe 7 and arrange the rectangle in leading to the inslot in, but the size that the rectangle led to the groove this moment is greater than waiting to cut the irradiation and examine pipe 7, consequently can't fix.
The moving block is arranged in the rectangular through groove and can be connected with the rectangular through groove in a sliding mode, and the sliding direction of the moving block is parallel to the long edge of the rectangular through groove;
compression spring sets up at the logical inslot of rectangle, and compression spring's first end and movable block fixed connection, compression spring's second end and one of them minor face fixed connection that the rectangle led to the groove, and compression spring is in under the primary length state, and the distance between another minor face that the movable block and rectangle led to the groove is less than the diameter of waiting to cut irradiation examination pipe 7.
Acting force is applied to the moving block through the compression spring, and the to-be-cut irradiation examination tube 7 is clamped between the moving block and the fixed block, so that the to-be-cut irradiation examination tube 7 is fixed.
The first end of the pulling steel rope penetrates through the fixed block, is arranged in the compression spring and is fixedly connected with the moving block, and the second end of the pulling steel rope is arranged on the water surface;
in order to ensure the safety of underwater cutting operation of the device, the spring clamping mechanism is set to be normally closed, and an operator can control the compression amount of a compression spring by pulling a steel rope on water, so that clamping and loosening operations of the irradiation examination tube 7 to be cut are realized.
In addition, since the moving block needs to move in the horizontal direction, a pulley block 22 may be provided to change the pulling direction of the pulling rope for convenience of the pulling of the rope.
In this embodiment, the support platform and the like are placed in water, and then the irradiation test tube 7 to be cut is inserted into the cutting assembly through the grabbing assembly 18, so that the spring clamping mechanism 12 in this embodiment further includes the guide plate 20 in order to prevent the lower end of the irradiation test tube 7 to be cut from striking the cutting assembly.
And the fixed block is arranged below the supporting platform, the guide plate 20 is fixedly arranged above the supporting platform, and the guide plate 20 is provided with a vertical guide hole matched with the irradiation examination tube 7 to be cut.
The guide of the irradiation examination tube 7 to be cut is realized through the guide hole.
EXAMPLE seven
The grabbing component 18 is used for placing the irradiation examination tube 7 to be cut into water and moving the cut irradiation examination tube out of the water, so that the grabbing component 18 in the embodiment comprises a grabbing rod, a claw type mechanical arm and a cache container.
The grabbing rod is vertically arranged, the upper end of the grabbing rod is arranged on the water surface, and the claw type manipulator is fixedly connected with the lower end of the grabbing rod and is used for grabbing the upper end of the irradiation examination tube 7 to be cut;
the grabbing rod is a three-section aluminum pipe connected by a quick-connection flange structure.
The claw formula manipulator can snatch, it can be multiple structure, and the work piece shape that grips according to the robot is different, and the hand claw can be divided into the polytype, mainly can be divided into three types: the mechanical paw is also called a mechanical clamp and comprises 2 fingers, 3 fingers and a deformation finger; special claws including a magnetic chuck, a welding gun, and the like; a universal paw comprises 2 fingers to 5 fingers.
The buffer memory container sets up in supporting platform's below, and is used for placing the irradiation that has cut and examines the pipe, and buffer memory container 16 is the hanging flower basket structure, and the upper end design has a piece of grabbing for it can grab buffer memory container to grab subassembly 18, consequently can carry out buffer memory container 16 through grabbing subassembly 18 and shift the operation under water.
Example eight
The embodiment provides a specific working process.
Adjusting hand wheels of an X-axis moving assembly 1 and a Y-axis moving assembly 2, so that a lead screw nut mechanism in the horizontal direction and a lead screw nut mechanism in the vertical direction are utilized to adjust displacement in the X/Y direction, and a spring clamping mechanism 12 is moved to the horizontal position of an underwater appointed cutting point;
adjusting the Z-axis moving assembly 4 to enable the sectional type connecting rod 5 and the spring clamping mechanism 12 to perform Z-axis movement, and aligning the spring clamping mechanism 12 to be inserted into a placing hole of the temporary storage container 16;
to achieve better alignment, a guide tube may be provided below the spring clamp mechanism 12 and the alignment may be achieved by inserting the guide tube directly into the buffer container.
Step three, firmly grabbing the irradiation examination tube 7 to be cut by using the grabbing component 18, enabling the irradiation examination tube 7 to be cut to pass through the guide plate 20, descending the grabbing component 18 to enable the irradiation examination tube 7 to be cut to descend to a specified height, fixing the grabbing component 18, finely adjusting the Z-axis moving component 4, enabling the cutting tool 19 to accurately reach a Z coordinate of a cutting position, and finely adjusting the precision in all directions to be 0.1mm;
after the to-be-cut irradiation examination pipe 7 reaches the designated cutting position, loosening the steel rope pulled by the spring clamping mechanism 12 to stably clamp the to-be-cut irradiation examination pipe 7;
step five, selecting an automatic mode in an automatic control system, and controlling the cutting tool 19 to perform actions such as feeding, rotating and retracting underwater according to a cutting strategy to finish a cutting process;
and step six, after cutting, the cutting assembly automatically returns to the original point, the spring clamping mechanism 12 is loosened, the lower part of the irradiation examination pipe 7 to be cut falls into the temporary storage container 16, then the grabbing assembly 18 is utilized to place the upper part of the irradiation examination pipe 7 to be cut into the temporary storage container 16, and underwater cutting of the irradiation examination pipe to be cut is completed.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of description and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations or modifications may be made on the above invention and still be within the scope of the invention.
Claims (6)
1. The underwater cutting method of the irradiation examination pipe is characterized in that based on an underwater cutting device of the irradiation examination pipe, the device comprises:
the three-dimensional adjusting platform is fixedly arranged on the water surface; setting one direction on a horizontal plane as an X axis, setting a direction on the horizontal plane and vertical to the X axis as a Y axis, and setting a vertical direction and a direction vertical to both the X axis and the Y axis as a Z axis; the three-dimensional adjustment platform comprises: the X-axis moving assembly is provided with a fixed end and a moving end, and the moving end of the X-axis moving assembly moves along the X axis; the Y-axis moving assembly is provided with a fixed end and a moving end, the moving end of the Y-axis moving assembly moves along the Y axis, and the fixed end of the Y-axis moving assembly is fixedly connected with the moving end of the X-axis moving assembly; the Z-axis moving assembly is provided with a fixed end and a moving end, the moving end of the Z-axis moving assembly moves along the Z axis, and the fixed end of the Z-axis moving assembly is fixedly connected with the moving end of the Y-axis moving assembly;
the upper end of the connecting rod is fixedly connected with the three-dimensional adjusting platform, and the moving end of the Z-axis moving assembly is fixedly connected with the upper end of the connecting rod;
the supporting platform is arranged below the water surface and is fixedly connected with the lower end of the connecting rod;
the cutting assembly is fixedly arranged on the supporting platform and is used for cutting the irradiation examination tube to be cut which is vertically arranged in water; the cutting assembly comprises a rotary tool rest, a feed assembly and a power assembly, the feed assembly is fixedly connected with the supporting platform and drives the rotary tool rest to be close to the to-be-cut irradiation examination tube; the power assembly is fixedly connected with the supporting platform and drives the rotary tool rest to rotate and cut the to-be-cut irradiation examination tube, and the rotary tool rest is a roller type cutting tool; the feeding assembly comprises a feeding servo motor and a feeding rod, the feeding servo motor is fixedly connected with the supporting platform, the feeding rod is horizontally arranged, a first end of the feeding rod is in power connection with a torque output shaft of the feeding servo motor through a worm gear connecting assembly, a second end of the feeding rod is connected with the rotary tool rest, and the cutting feeding amount of the rotary tool rest is controlled; the power assembly comprises a rotary servo motor and a rotary connecting worm gear, the rotary servo motor is fixedly connected with the supporting platform, the rotary connecting worm gear is in power connection with a power output end of the rotary servo motor, and the rotary servo motor drives the rotary tool rest to rotate around the to-be-cut irradiation examination tube;
the grabbing end of the grabbing component grabs the irradiation examination pipe to be cut;
the spring clamping mechanism is fixedly connected with the supporting platform and fixes the irradiation examination tube to be cut, the spring clamping mechanism comprises a fixed block, a movable block, a compression spring and a pulling steel rope, the fixed block is fixedly connected with the supporting platform and provided with a rectangular through groove penetrating through the upper side face and the lower side face of the fixed block, the movable block is arranged in the rectangular through groove and slidably connected with the rectangular through groove, the sliding direction of the movable block is parallel to the long edge of the rectangular through groove, the compression spring is arranged in the rectangular through groove, the first end of the compression spring is fixedly connected with the movable block, the second end of the compression spring is fixedly connected with one short edge of the rectangular through groove, the first end of the pulling steel rope penetrates through the fixed block and is fixedly connected with the movable block, the second end of the pulling steel rope is arranged on the water surface, the compression spring is in an original length state, and the distance between the movable block and the other short edge of the rectangular through groove is smaller than the diameter of the irradiation examination tube to be cut;
the method comprises the following steps:
adjusting the displacement of an X-axis moving assembly and a Y-axis moving assembly in the X/Y direction, and moving a spring clamping mechanism to the horizontal position of an underwater appointed cutting point;
adjusting the Z-axis moving assembly to enable the connecting rod and the spring clamping mechanism to move in the Z-axis direction and align with a placing hole inserted into the temporary storage container; a guide pipe is arranged below the spring clamping mechanism and is inserted into the cache container;
thirdly, grabbing the to-be-cut irradiation examination pipe by using the grabbing component, enabling the to-be-cut irradiation examination pipe to descend to a specified height, fixing the grabbing component, and finely adjusting the Z-axis moving component to enable the cutting tool to accurately reach a cutting position Z coordinate;
step four, after the to-be-cut irradiation examination pipe reaches the specified cutting position, clamping the to-be-cut irradiation examination pipe through a spring clamping mechanism;
controlling a cutting tool to perform feeding, rotating and retracting actions under water according to a cutting strategy to finish a cutting process;
after cutting, the cutting assembly automatically returns to the original point, and the spring clamping mechanism is loosened to enable the lower part of the irradiation examination pipe to be cut to fall into a temporary storage container;
and then, the upper part of the irradiation examination pipe to be cut is placed into a temporary storage container by using the grabbing component, and the underwater cutting of the irradiation examination pipe to be cut is completed.
2. The underwater cutting method of the irradiation scope according to claim 1, wherein the X-axis moving assembly comprises:
the X-axis internal circulation floating type flange ball screw is arranged along the X axis;
the X-axis hand wheel drives the X-axis internal circulation floating type flange ball screw to realize displacement adjustment;
the Y-axis moving assembly includes:
the Y-axis internal circulation floating type flange ball screw is arranged along the Y-axis;
the Y-axis hand wheel drives the Y-axis internal circulation floating type flange ball screw to realize displacement adjustment;
the Z-axis moving assembly comprises:
the connecting beam is horizontally arranged and provided with a first end and a second end, the first end of the connecting beam is fixedly connected with the moving end of the Y-axis moving assembly, the second end of the connecting beam is provided with a Z-axis hole parallel to the Z axis, and the inner side surface of the Z-axis hole is provided with a vertical limiting edge;
the vertical screw is vertically arranged in the Z-axis hole, and a vertical limiting groove matched with the limiting edge is formed in the outer side surface of the vertical screw;
the Z axle hand wheel, its with connect crossbeam rotatable coupling, just the axis of rotation department of Z axle hand wheel be provided with erect the internal thread hole of screw rod adaptation, the Z axle hand wheel with erect screw rod threaded connection and drive it removes along the Z axle to erect the screw rod.
3. The underwater cutting method of an irradiation scope according to claim 2, wherein said coupling rod comprises:
the upper end of the upper section rod is fixedly connected with the moving end of the Z-axis moving assembly;
the upper end of the middle rod is detachably connected with the lower end of the upper rod through a connecting flange;
the lower section rod is vertically arranged, the upper end of the lower section rod is detachably connected with the lower end of the middle section rod through a connecting flange, and the lower end of the lower section rod is fixedly connected with the supporting platform.
4. The underwater cutting method for the irradiation examination tube according to claim 1, further comprising a cutting amount control assembly provided on the feeding assembly, the cutting amount control assembly comprising:
the LVDT displacement sensor is arranged on one side of the cutter feeding rod and is used for detecting the displacement of the cutter feeding rod;
the proximity switch is arranged on the cutter feeding rod;
a displacement indicator plate disposed on the support platform and configured to cooperate with the proximity switch.
5. The underwater cutting method for the irradiation examination tube according to claim 1, wherein the fixing block is disposed below the supporting platform, the spring clamping mechanism further comprises a guiding plate fixedly disposed above the supporting platform, and a vertical guiding hole adapted to the irradiation examination tube to be cut is disposed on the guiding plate.
6. The underwater cutting method for the irradiation test tube according to claim 1, wherein the grasping assembly comprises:
the grabbing rod is vertically arranged, and the upper end of the grabbing rod is arranged on the water surface;
the claw type mechanical arm is fixedly connected with the lower end of the grabbing rod and is used for grabbing the upper end of the irradiation examination pipe to be cut;
the buffer container is arranged below the supporting platform and is used for placing the cut irradiation examination tube.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111254703.3A CN113857584B (en) | 2021-10-27 | 2021-10-27 | Underwater cutting device for irradiation examination pipe |
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| CN202111254703.3A CN113857584B (en) | 2021-10-27 | 2021-10-27 | Underwater cutting device for irradiation examination pipe |
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| CN113857584B true CN113857584B (en) | 2022-11-15 |
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| US4126092A (en) * | 1976-01-27 | 1978-11-21 | Imperial Chemical Industries Limited | Method of cutting metal elements underwater and a shaped explosive charge device therefor |
| CN101444921A (en) * | 2008-12-30 | 2009-06-03 | 哈尔滨工程大学 | Underwater rope saw cutting machine |
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| CN113857584A (en) | 2021-12-31 |
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