CN208147336U - A kind of extreme misery cutting correction hull reamer stage apparatus - Google Patents

Abstract

The utility model discloses a kind of extreme misery to cut correction hull reamer stage apparatus, mainly includes：Operating platform, bracket, crossbearer, working arm one, working arm two, infrared calibrator, fire-water correcting arm, beats arm, position indicator, cutting arm at workbench, there are two bracket is total, it is respectively arranged in crossbearer both ends, crossbearer is equipped with displacement slot, working arm one and working arm two are all installed on the displacement slot on crossbearer, and infrared calibrator is installed on crossbearer bottom surface and is located at immediately below displacement slot both ends；The technical issues of the utility model is repaired after the damage of super large special-shaped steel structure base component occurs for dredger, using fire-water correcting technique, reduces lifting job link waterborne, shorten the repairing time, ensure repairing quality, reduce repair cost, improves operational security.It is quickly resumed production with reaching, reduces downtime, improve dredger equipment availability and utilization rate.

Description

A kind of extreme misery cutting correction hull reamer stage apparatus

Technical field

The utility model relates to Suction Dredger reamer platform correcting technology fields, and in particular to a kind of extreme misery cutting correction Hull reamer stage apparatus.

Background technique

With the rapid development of global economic integration progress, harbor approach and hydraulic and hydroelectric engineering are invested in world wide Construction scale constantly expands, and cutter suction dredger is constantly first evolved to enlargement and strided forward, and has effectively pushed dredging tool and equipment The research and application of service technique.

7025 cutter suction dredger reamer platforms are super large special-shaped beam type steel construction piece, outer dimension 11.3m* 9.5m*7.4m always weighs about 23 tons.From the side it is " Z " font, overlooks into " A " font, intermediate "U" shaped space is for reamer The space that gantry is promoted and decentralization reserves.Its two supporting legs is joined with Cutters for Dredgers gantry lever gear door cabinet frame with two concentric hinge pins It connects, front weight undertakes by two skew cables.It is used to adjust the length and pulling force of drag-line among suspension cable with adjustment screw.Platform On be disposed with helper, railing and workbench, effect is to provide workbench for the repairing of Cutters for Dredgers and mud suction mouth.

In the end of the year 2015 in Pa Dema bridge river training works work progress, reamer platform out of control is crossed the ship by local Wheel is broken, and deformation is serious.The horizontal support legs segmentation of its upside two and box medial section are all bent and distort, and lower flat table top is stuck up Song, the fracture of two skew cables.To make dredger reply production, it is necessary to repair reamer platform as early as possible.But the river Bangladesh Pa Dema two Bank lacks large-scale lifting appliance and Ship's Repair factory, and lifting and transport are all problems.In this context, applicant determines research warp The reliable new rectification technique of Ji places under repair to the damage platform.

To serious dredger large size isomery steelwork component is deformed, lifting is usually taken and goes ashore into workshop excision and brand-new Deform the repairing method of segmentation.But in the river Bangladesh Pa Dema two sides since local industrial foundation falls behind, nearby lack waterborne big Type handling equipment, if Chittagong or Dacca city is gone to repair, expense is high, and the very long repair cycle can also seriously affect work Journey construction speed.

Utility model content

Against the above technical problems, it is repaired after the damage of super large special-shaped steel structure base component occurs for guarantee large dredger During science and engineering is made, using fire-water correcting technique, lifting job link waterborne is reduced, shortens the repairing time, it is ensured that repairing quality reduces Repair cost improves operational security.It is quickly resumed production with reaching, reduces downtime, improve dredger equipment availability With a kind of extreme misery cutting correction hull reamer stage apparatus of the target developing of utilization rate.

The utility model has opened a kind of extreme misery cutting correction hull reamer stage apparatus, mainly includes：Operating platform, work Platform, crossbearer, working arm one, working arm two, infrared calibrator, fire-water correcting arm, beats arm, position indicator, cutting arm at bracket, There are two the bracket is total, the crossbearer both ends are respectively arranged in, the crossbearer is equipped with displacement slot, the working arm one and institute It states on the displacement slot that working arm two is all installed on crossbearer, the infrared calibrator is total to there are two and is installed on crossbearer bottom Face and it is located at immediately below displacement slot both ends, the fire-water correcting arm beats arm and position indicator and is all installed on one bottom of working arm, Fire-water correcting arm is located at the position indicator left side, beats arm and is located on the right of position indicator, the cutting arm is installed on two bottom surface of working arm, institute It states workbench to be located at immediately below crossbearer, workbench includes：Idler wheel, calibration receiver, roller bearing, support rod, idler wheel motor, rolling Turbin generator actuator, there are two the idler wheel, calibration receiver, roller bearing, support rod, idler wheel motor, idler wheel electric motor actuator are each, Two idler wheels are not originally installed on two roller bearings, and two calibration receivers are respectively installed on workbench top surface both ends, two roller bearings Two support rod one end are respectively arranged in, the other end of two support rods is respectively arranged in workbench bottom surface, two idler wheel electricity Machine is installed respectively on the left of two support rod bottom ends, and two idler wheel electric motor actuators are respectively arranged on the left of two idler wheel motors, Working arm one includes：One displacement actuator of arm, one displacement motor of arm, arm one reverse motor, arm one reverses actuator, arm one reverses Axis, one displacement actuator of arm, one displacement motor of arm are all located at one inner top of working arm, and one displacement actuator of arm is installed on arm On the right side of one displacement motor and one displacement actuator of arm is connect by data line with one displacement motor of arm, and the arm one reverses motor It is all installed on one inner bottom surface of working arm with the arm one torsion actuator, arm one reverses motor and is located on the left of the torsion actuator of arm one And arm one reverses motor and is connect by data line with the torsion actuator of arm one, and one torsional axis of arm is installed on one bottom of working arm End；Working arm two includes：Two displacement actuator of arm, arm two reverse motor, two displacement motor of arm, arm two and reverse actuator, arm two Torsional axis, two displacement actuator of arm and two displacement motor of arm are all located at two inner top of working arm, and the displacement of arm two executes Device is installed on the right side of two displacement motor of arm and two displacement actuator of arm is connect by data line with two displacement motor of arm, described Arm two reverses motor and the arm two reverses actuator and is all installed on bottom in working arm two, and arm two reverses motor and is installed on arm two On the left of torsion actuator and arm two reverses motor and is connect by data line with the torsion actuator of arm two, two torsional axis of the arm peace Loaded on two bottom end of working arm, the operating platform includes：Host, control panel, PCL controller, the host and the PCL Controller connection and host are located at PCL controller right side, and the control panel is connect and controlled with host by data line Panel is located at operating platform top surface, and host is also connect with calibration receiver, PCL controller also with infrared calibrator, idler wheel motor Actuator, one displacement actuator of arm, arm one reverse actuator, two displacement actuator of arm, arm two and reverse actuator connection；Operator Member is inputted operation information by operating control panel, and host passes to PCL controller, PCL after receiving the information of control panel Controller control infrared calibrator, idler wheel electric motor actuator, one displacement actuator of arm, arm one reverse actuator, the displacement of arm two is held Row device, arm two reverse actuator completion operator and input the corresponding work of instruction, while infrared calibrator and calibration receive Device completes calibration and detection and will test result and send host to be handled when in same vertical straight line.

Further, the fire-water correcting arm includes：Extreme misery large arm, extreme misery forearm, fuel valve, electronic lighter, valve Switch actuator, Huo Gongguan, the extreme misery large arm include：Extreme misery large arm movable axis, extreme misery large arm activity spindle motor, extreme misery large arm Movable axis actuator, the extreme misery forearm include：Extreme misery forearm movable axis, extreme misery forearm activity spindle motor, extreme misery forearm activity Axis actuator, one acetylene cylinder of oxygen, extreme misery large arm is connect by the extreme misery large arm movable axis with the working arm one and extreme misery Large arm movable axis is located at extreme misery large arm one end, and the extreme misery large arm other end is connected by the extreme misery forearm movable axis and extreme misery forearm It connects, extreme misery forearm movable axis is located at the extreme misery large arm other end and is also located at extreme misery forearm one end, and the fuel valve is installed on water The fiery forearm other end, the valve switch actuator are installed on the fuel valve other end, and the electronic lighter is installed on valve and opens Close the actuator other end, firer's pipe is installed on the electronic lighter other end, the extreme misery large arm activity spindle motor with it is described Extreme misery large arm movable axis actuator is all located in extreme misery large arm, and extreme misery large arm activity spindle motor is located at the execution of extreme misery large arm movable axis Above device and extreme misery large arm activity spindle motor is connect by data line with extreme misery large arm movable axis actuator；The extreme misery forearm Movable spindle motor, extreme misery forearm movable axis actuator, one acetylene cylinder of oxygen are all located in extreme misery forearm, extreme misery forearm activity spindle motor Above extreme misery forearm movable axis actuator and extreme misery forearm activity spindle motor passes through data line and extreme misery forearm movable axis Actuator connection, one acetylene cylinder of oxygen are connect by fuel valve with valve switch actuator, the valve switch actuator other end and fire Work pipe connection, the PCL controller also with extreme misery large arm movable axis actuator, extreme misery forearm movable axis actuator, electronic striking Device, the connection of valve switch actuator；Operator is inputted operation information by operation control panel, and host receives control panel Information after pass to PCL controller, PCL controller passes through control extreme misery large arm movable axis actuator, extreme misery forearm movable axis Actuator, electronic lighter, valve switch actuator complete firer's instruction in the fire-water correcting technique of user's input.

Further, the arm of beating includes：It beats large arm, beat forearm, telescopic device, tup, it is described to beat large arm Including：Large arm movable axis is beaten, large arm activity spindle motor is beaten, beats large arm movable axis actuator, the forearm of beating includes： Forearm movable axis is beaten, forearm activity spindle motor is beaten, beats forearm movable axis actuator, large arm is beaten and is beaten greatly by described Arm movable axis connect with the working arm one and beats large arm movable axis positioned at large arm one end is beaten, and it is logical to beat the large arm other end Forearm movable axis is beaten described in crossing to connect with forearm is beaten, and is beaten forearm movable axis and is located at the other end for beating large arm and also position In beating forearm one end, the telescopic device, which is installed on, beats the forearm other end, and the tup is installed on the telescopic device other end, It is described beat large arm activity spindle motor and it is described beat large arm movable axis actuator and be all located at beat in large arm, beat large arm activity Spindle motor, which is located at, to be beaten above large arm movable axis actuator and beats large arm activity spindle motor by data line and beat large arm The connection of movable axis actuator；It is described beat forearm activity spindle motor with it is described beat forearm movable axis actuator be all located at beat it is small In arm, beats forearm activity spindle motor and be located to beat above forearm movable axis actuator and beat forearm activity spindle motor and pass through Data line is connect with forearm movable axis actuator is beaten, PCL controller also with large arm movable axis actuator, beat forearm activity Axis actuator, telescopic device connection；Operator is inputted operation information by operation control panel, and host receives control panel Information after pass to PCL controller, PCL controller by control large arm movable axis actuator, beat the execution of forearm movable axis Device, telescopic device are completed to beat instruction in the fire-water correcting technique of user's input.

Further, the cutting arm includes：Cutting motor, cutting actuator, cutting bearing, cutter plate, it is described to cut It cuts motor and the cutting actuator is all located in cutting arm, cutting motor is located on the left of cutting actuator and cutting motor is logical It crosses data line to connect with cutting actuator, cutting arm is connect by the cutting bearing with cutter plate, and cutting bearing, which is located at, to be cut It cuts arm bottom end and is located at cutter plate center, PCL controller is also connect with cutting actuator；Operator passes through operation control Panel inputs operation information, and host passes to PCL controller after receiving the information of control panel, and PCL controller passes through control Cut the cutting instruction that actuator completes user's input.

Plate fairing by hot working process principle is：Flame butt-welding fitting carries out the plastic deformation of generation when local heating, makes longer Metal shrink after the cooling period, with achieve the purpose that correction deformation claim flame heat orthosis.Flame heats orthosis correction weldering It is noted that following item when part residual deformation：1) heating generallys use oxy-acetylene flame with flame, and flame properties are neutral flame, if It is required that heat penetration hour, can be used oxidizing flame.2) for mild steel and low-alloy structural steel, heating temperature is 600~800 DEG C, weldment is in cherry red at this time.3) mode of flame heating has dotted, linear and Atria kind, and wherein triangular heat is suitable The weldment big for thickness, rigidity is strong.4) heating position should be the highlight of weldment deformation, cannot be recess, otherwise deform It will be more stronger more serious.5) it when correcting the deformation of thin-slab structure, in order to improve rectification effect, can be used while flame heats Water quick cooling, this method are known as fire-water correcting method.Component or tendency of hardenability larger for thickness and important is larger Steel, fire-water correcting method not can be used.6) it is corrected outside summer room, should be taken into account the influence of sunshine.Because noon and early morning are former Heating effect is often different.7) during the flame straightening of thin plate deformation, it can be used simultaneously wooden mallet and hammered, to accelerate to rectify Plus effect.

The beneficial effects of the utility model are：

1, after infrared calibrator is first monitored reamer pipe to be repaired, monitoring result is sent to host, host according to Analysis to monitoring data, analysis still cut replacement processing using fire-water correcting, when in case of needed using fire-water correcting processing, Host conveys command adapted thereto to give PCL controller, and PCL controller control respective element starts to carry out plate fairing by hot working process；Such as When meeting needs using cutting replacement processing, host reception and registration command adapted thereto gives PCL controller, and PCL controller control respective element is opened Beginning carries out cutting replacement processing.Processing of the utility model by the automatic monitoring of infrared calibrator and host to data, is realized Intelligent automation work, can be to the part for needing to correct on reamer pipe by detecting and carrying out corresponding correction process；

2, fire-water correcting renews the rectification technique combined with excision and overcomes above-mentioned repairing defect, makes to repair the duration and repair Reason quality and job security, economy are all guaranteed.Fire-water correcting is also known as plate fairing by hot working or flame straightening, is benefit It is heated with metal surface of the spray gun to deformation, and applies and sprayed, reached with cold water when temperature reaches about 600 ° with external force To the purpose of correction steel construction；

3, two idler wheels in workbench rotate reamer pipe to be repaired in all directions by rotation, guarantee wait tie up The available comprehensive monitoring of the reamer pipe repaired is repaired with correction；

4, the utility model is easy to operate, and cost is lower, and convenient disassembly, also guarantees that this is practical while convenient transportation It is novel to be installed in some more complicated geographical environments.

Detailed description of the invention

Fig. 1 is a kind of agent structure schematic diagram of extreme misery cutting correction hull reamer stage apparatus；

Fig. 2 is a kind of one structural schematic diagram of working arm of extreme misery cutting correction hull reamer stage apparatus；

Fig. 3 is a kind of two structural schematic diagram of working arm of extreme misery cutting correction hull reamer stage apparatus；

Fig. 4 is a kind of left view figure structure schematic representation of extreme misery cutting correction hull reamer stage apparatus；

1- operating platform, 2- workbench, 3- bracket, 4- crossbearer, 5- working arm one, 6- working arm two, the infrared calibration of 7- Instrument, 8- fire-water correcting arm, 9- beat arm, 10- position indicator, 11- cutting arm, 101- host, 102- control panel, 103-PCL control Device processed, 201- idler wheel, 202- calibration receiver, 203- roller bearing, 204- support rod, 205- idler wheel motor, 206- idler wheel motor are held Row device, 401- displacement slot, one displacement motor actuator of 501- arm, one displacement motor of 502- arm, 503- arm one reverse motor, 504- Arm one reverses actuator, one torsional axis of 505- arm, two displacement actuator of 601- arm, 602- arm two and reverses motor, two, 603- arm Move motor, 604- arm two reverse actuator, two torsional axis of 605- arm, 81- extreme misery large arm, 82- extreme misery forearm, 801- fuel valve, 802- electronic lighter, 803- valve switch actuator, 804- firer pipe, 811- extreme misery large arm movable axis, 812- extreme misery large arm Movable spindle motor, 813- extreme misery large arm movable axis actuator, 821- extreme misery forearm movable axis, 822- extreme misery forearm movable axis electricity Machine, 823- extreme misery forearm movable axis actuator, one acetylene cylinder of 824- oxygen, 91- beats large arm, 92- beats forearm, 901- is flexible Device, 902- tup, 911- beat large arm movable axis, 912- beats large arm activity spindle motor, 913- beats large arm movable axis and holds Row device, 921- beat forearm movable axis, 922- beats forearm activity spindle motor, 923- beats forearm movable axis actuator, 111- Cutting motor, 112- cutting actuator, 113- cut bearing, 114- cutter plate.

Specific embodiment

In order to more fully explain the implementation of the utility model, below by optimal embodiment to the utility model do into Illustrate to one step.

Embodiment 1：

As shown in Figure 1,2,3, 4, hull reamer stage apparatus is corrected in a kind of extreme misery cutting, mainly includes：Operating platform 1, Workbench 2, crossbearer 4, working arm 1, working arm 26, infrared calibrator 7, fire-water correcting arm 8, beats arm 9, is fixed bracket 3 Position instrument 10, cutting arm 11, bracket 3 altogether there are two, be respectively arranged in 4 both ends of crossbearer, crossbearer 4 is equipped with displacement slot 401, working arm 1 and working arm 26 be all installed on the displacement slot 401 on crossbearer 4, infrared calibrator 7 altogether there are two and be installed on crossbearer 4 Bottom surface and it is located at immediately below 401 both ends of displacement slot, fire-water correcting arm 8 beats arm 9 and position indicator 10 is all installed on working arm One 5 bottoms, fire-water correcting arm 8 are located at 10 left side of position indicator, beat arm 9 and are located at 10 the right of position indicator, cutting arm 11 is installed on work Make 26 bottom surface of arm, workbench 2 is located at immediately below crossbearer 4, and workbench 2 includes：Idler wheel 201, calibration receiver 202, roller bearing 203, support rod 204, idler wheel motor 205, idler wheel electric motor actuator 206, idler wheel 201, calibration receiver 202, roller bearing 203, branch There are two strut 204, idler wheel motor 205, idler wheel electric motor actuator 206 are each, two 201, idler wheel are not installed on two roller bearings On 203, two calibration receivers 202 are respectively installed on 2 top surface both ends of workbench, and two roller bearings 203 are respectively arranged in two branch 204 one end of strut, the other end of two support rods 204 are respectively arranged in 2 bottom surface of workbench, and two idler wheel motors 205 are distinguished With on the left of two 204 bottom ends of support rod, it is left that two idler wheel electric motor actuators 206 are respectively arranged in two idler wheel motors 205 for installation Side, working arm 1 include：One displacement actuator 501 of arm, one displacement motor 502 of arm, arm one reverse motor 503, the torsion of arm one is held Row device 504, one torsional axis 505 of arm, one displacement actuator 501 of arm, one displacement motor 502 of arm are all located at one 5 inner top of working arm, One displacement actuator 501 of arm is installed on one displacement motor of arm, 502 right side and one displacement actuator 501 of arm passes through data line and arm The connection of one displacement motor 502, arm one reverses motor 503 and arm one reverses actuator 504 and is all installed on one 5 inner bottom surface of working arm, The torsion motor 503 of arm one is located at 504 left side of the torsion of arm one actuator and arm one reverses motor 503 and passes through data line and the torsion of arm one Turn the connection of actuator 504, one torsional axis 505 of arm is installed on one 5 bottom end of working arm；Working arm 26 includes：Two displacement actuator of arm 601, arm two reverses motor 602, two displacement motor 603 of arm, arm two and reverses actuator 604, two torsional axis 605 of arm, and arm two is displaced Actuator 601 and two displacement motor 603 of arm are all located at 26 inner top of working arm, and two displacement actuator 601 of arm is installed in arm two 603 right side of displacement motor and two displacement actuator 601 of arm pass through data line and connect with two displacement motor 603 of arm, and arm two reverses Motor 602 and arm two reverse actuator 604 and are all installed on bottom in working arm 26, and arm two reverses motor 602 and is installed on the torsion of arm two Turn 604 left side of actuator and arm two reverses motor 602 and connect by data line with the torsion actuator 604 of arm two, arm two reverses Axis 605 is installed on 26 bottom end of working arm, and operating platform 1 includes：Host 101, control panel 102, PCL controller 103, host 101 connect and host 101 is located at the right side of PCL controller 103 with PCL controller 103, control panel 102 by data line with The connection of host 101 and control panel 102 are located at 1 top surface of operating platform, and host 101 is also connect with calibration receiver 202, PCL Controller 103 also reverses actuator with infrared calibrator 7, idler wheel electric motor actuator 206, one displacement actuator 501 of arm, arm one 504, two displacement actuator 601 of arm, arm two reverse actuator 604 and connect；Operator will be operated by operation control panel 102 Information input, host 101 pass to PCL controller 103 after receiving the information of control panel 102, and PCL controller 103 controls red External calibration instrument 7, idler wheel electric motor actuator 206, one displacement actuator 501 of arm, arm one reverse actuator 504, the displacement of arm two executes Device 601, arm two reverse the completion operator of actuator 604 and input the corresponding work of instruction, while infrared calibrator 7 and calibration Receiver 202 is completed calibration when in same vertical straight line and is handled with detecting and will test result and send host 101 to, place Managing result is to carry out extreme misery process.

Wherein, fire-water correcting arm 8 includes：Extreme misery large arm 81, extreme misery forearm 82, fuel valve 801, electronic lighter 802, valve Door switch actuator 803, firer's pipe 804, extreme misery large arm 81 include：Extreme misery large arm movable axis 811, extreme misery large arm activity spindle motor 812, extreme misery large arm movable axis actuator 813, extreme misery forearm 82 include：Extreme misery forearm movable axis 821, extreme misery forearm movable axis electricity Machine 822, extreme misery forearm movable axis actuator 823, one acetylene cylinder 824 of oxygen, extreme misery large arm 81 pass through extreme misery large arm movable axis 811 It is connect with working arm 1 and extreme misery large arm movable axis 811 is located at 81 one end of extreme misery large arm, 81 other end of extreme misery large arm passes through water Fiery forearm movable axis 821 is connect with extreme misery forearm 82, and extreme misery forearm movable axis 821 is located at 81 other end of extreme misery large arm and also position In 82 one end of extreme misery forearm, fuel valve 801 is installed on 82 other end of extreme misery forearm, and valve switch actuator 803 is installed on fuel 801 other end of valve, electronic lighter 802 are installed on 803 other end of valve switch actuator, and firer's pipe 804 is installed on electronics and beats 802 other end of firearm, extreme misery large arm activity spindle motor 812 and extreme misery large arm movable axis actuator 813 are all located at extreme misery large arm 81 Interior, extreme misery large arm activity spindle motor 812 is located at 813 top of extreme misery large arm movable axis actuator and extreme misery large arm activity spindle motor 812 are connect by data line with extreme misery large arm movable axis actuator 813；Extreme misery forearm activity spindle motor 822, extreme misery forearm activity Axis actuator 823, one acetylene cylinder 824 of oxygen are all located in extreme misery forearm 82, and extreme misery forearm activity spindle motor 822 is located at extreme misery forearm Above movable axis actuator 823 and extreme misery forearm activity spindle motor 822 passes through data line and extreme misery forearm movable axis actuator 823 connections, one acetylene cylinder 824 of oxygen are connect by fuel valve 801 with valve switch actuator 803, valve switch actuator 803 The other end is connect with firer's pipe 804, PCL controller 103 also with extreme misery large arm movable axis actuator 813, extreme misery forearm movable axis Actuator 823, electronic lighter 802, valve switch actuator 803 connect；Operator will be grasped by operation control panel 102 Make information input, host 101 passes to PCL controller 103 after receiving the information of control panel 102, and PCL controller 103 passes through Control extreme misery large arm movable axis actuator 813, extreme misery forearm movable axis actuator 823, electronic lighter 802, valve switch are held Row device 803 completes firer's instruction in the fire-water correcting technique of user's input；Beating arm 9 includes：It beats large arm 91, beat forearm 92, telescopic device 901, tup 902, beating large arm 91 includes：It beats large arm movable axis 911, beat large arm activity spindle motor 912, large arm movable axis actuator 913 is beaten, beating forearm 92 includes：It beats forearm movable axis 921, beat forearm movable axis electricity Machine 922 beats forearm movable axis actuator 923, beats large arm 91 and is connect by beating large arm movable axis 911 with working arm 1 And large arm movable axis 911 is beaten positioned at 91 one end of large arm is beaten, beats 91 other end of large arm by beating forearm movable axis 921 It is connect with forearm 92 is beaten, beats forearm movable axis 921 and be located at the other end for beating large arm 91 and be also located at and beat forearm 92 One end, telescopic device 901, which is installed on, beats 92 other end of forearm, and tup 902 is installed on 901 other end of telescopic device, beats big It arm activity spindle motor 912 and beats large arm movable axis actuator 913 and is all located at and beat in large arm 91, beat large arm activity spindle motor 912 are located at and beat the top of large arm movable axis actuator 813 and beat large arm activity spindle motor 912 by data line and beat big Arm movable axis actuator 813 connects；It beats forearm activity spindle motor 922 and beats with beating forearm movable axis actuator 923 and be all located at It beats in forearm 92, it is living positioned at beating above forearm movable axis actuator 923 and beating forearm to beat forearm activity spindle motor 922 Moving axis motor 922 is connect by data line with forearm movable axis actuator 923 is beaten, PCL controller 103 also with large arm movable axis Actuator 913 beats forearm movable axis actuator 923, the connection of telescopic device 901；Operator passes through operation control panel 102 input operation information, and host 101 passes to PCL controller 103, PCL controller after receiving the information of control panel 102 103, by controlling large arm movable axis actuator 913, beating forearm movable axis actuator 923, telescopic device 901, it is defeated to complete user Instruction is beaten in the fire-water correcting technique entered.

Embodiment 2：

As shown in Figure 1,2,3, 4, hull reamer stage apparatus is corrected in a kind of extreme misery cutting, mainly includes：Operating platform 1, Workbench 2, crossbearer 4, working arm 1, working arm 26, infrared calibrator 7, fire-water correcting arm 8, beats arm 9, is fixed bracket 3 Position instrument 10, cutting arm 11, bracket 3 altogether there are two, be respectively arranged in 4 both ends of crossbearer, crossbearer 4 is equipped with displacement slot 401, working arm 1 and working arm 26 be all installed on the displacement slot 401 on crossbearer 4, infrared calibrator 7 is installed on 4 bottom surface of crossbearer and is located at Immediately below 401 both ends of displacement slot, fire-water correcting arm 8 beats arm 9 and position indicator 10 is all installed on one 5 bottom of working arm, and extreme misery is rectified Positive arm 8 is located at 10 left side of position indicator, beats arm 9 and is located at 10 the right of position indicator, cutting arm 11 is installed on 26 bottom surface of working arm, work Make platform 2 to be located at immediately below crossbearer 4, workbench 2 includes：Idler wheel 201, calibration receiver 202, roller bearing 203, support rod 204, idler wheel motor 205, idler wheel electric motor actuator 206, idler wheel 201, calibration receiver 202, roller bearing 203, support rod 204, rolling There are two turbin generator 205, idler wheel electric motor actuator 206 are each, two 201, idler wheel are not installed on two roller bearings 203, two rollings Axis 203 is respectively arranged in two 204 one end of support rod, and the other end of two support rods 204 is respectively arranged in 2 bottom of workbench Face, two idler wheel motors 205 are installed respectively on the left of two 204 bottom ends of support rod, and two idler wheel electric motor actuators 206 are pacified respectively Loaded on two 205 left sides of idler wheel motor, working arm 1 includes：One displacement actuator 501 of arm, one displacement motor 502 of arm, arm one Reverse motor 503, arm one reverses actuator 504, one torsional axis 505 of arm, one displacement actuator 501 of arm, one displacement motor 502 of arm It is all located at one 5 inner top of working arm, one displacement actuator 501 of arm is installed on one displacement motor of arm, 502 right side and arm one is displaced Actuator 501 is connect by data line with one displacement motor 502 of arm, and arm one reverses motor 503 and arm one reverses actuator 504 all It is installed on one 5 inner bottom surface of working arm, the torsion motor 503 of arm one is located at 504 left side of the torsion of arm one actuator and arm one reverses electricity Machine 503 reverses actuator 504 with arm one by data line and connect, and one torsional axis 505 of arm is installed on one 5 bottom end of working arm；Work Arm 26 includes：Two displacement actuator 601 of arm, arm two reverse motor 602, two displacement motor 603 of arm, arm two and reverse actuator 604, two torsional axis 605 of arm, two displacement actuator 601 of arm are all located at 26 inner top of working arm, arm with two displacement motor 603 of arm Two displacement actuators 601 are installed on the right side of two displacement motor of arm 603 and two displacement actuator 601 of arm passes through data line and arm The connection of two displacement motors 603, arm two reverses motor 602 and arm two reverses actuator 604 and is all installed on bottom in working arm 26, The torsion motor 602 of arm two is installed on 604 left side of the torsion of arm two actuator and arm two reverses motor 602 and passes through data line and arm two It reverses actuator 604 to connect, two torsional axis 605 of arm is installed on 26 bottom end of working arm, and operating platform 1 includes：Host 101, control Panel 102, PCL controller 103, host 101 is connect with PCL controller 103 and host 101 is located at 103 right side of PCL controller Side, control panel 102 is connect by data line with host 101 and control panel 102 is located at 1 top surface of operating platform, host 101 also with calibration receiver 202 connect, PCL controller 103 also with infrared calibrator 7, idler wheel electric motor actuator 206, one, arm Move actuator 501, arm one reverses actuator 504, two displacement actuator 601 of arm, arm two reverse actuator 604 and connect；Operator Member is inputted operation information by operating control panel 102, and host 101, which receives to pass to PCL after the information of control panel 102, to be controlled Device 103 processed, PCL controller 103 control infrared calibrator 7, idler wheel electric motor actuator 206, one displacement actuator 501 of arm, arm one Torsion actuator 504, two displacement actuator 601 of arm, arm two reverse the completion operator of actuator 604 and input instruction correspondence Work, while infrared calibrator 7 with calibration receiver 202 is completed when in same vertical straight line calibration and detection and will test As a result it sends host 101 to be handled, processing result is to carry out carry out cutting process.

Wherein, cutting arm 11 includes：Cutting motor 111, cutting actuator 112, cutting bearing 113, cutter plate 114, Cutting motor 111 and cutting actuator 112 are all located in cutting arm 11, and cutting motor 111 is located at 112 left side of cutting actuator simultaneously And cutting motor 111 is connect by data line with cutting actuator 112, cutting arm 11 passes through cutting bearing 113 and cutter plate 114 connections, cutting bearing 113 are located at 11 bottom end of cutting arm and positioned at 114 centers of cutter plate, PCL controller 103 also with Actuator 112 is cut to connect；Operator is inputted operation information by operating control panel 102, and host 101 receives control plane PCL controller 103 is passed to after the information of plate 102, PCL controller 103 completes user's input by control cutting actuator 112 Cutting instruction.

Finally it should be noted that：Above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that： It can still modify to technical solution documented by previous embodiment, or be equal to part of technical characteristic Replacement；And these are modified or replaceed, the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution Spirit and scope.

Claims (4)

1. a kind of extreme misery cutting correction hull reamer stage apparatus, which is characterized in that mainly include：Operating platform (1), work are flat Platform (2), crossbearer (4), working arm one (5), working arm two (6), infrared calibrator (7), fire-water correcting arm (8), is beaten bracket (3) Arm (9), position indicator (10), cutting arm (11) are made, the bracket (3) is respectively arranged in the crossbearer (4) both ends there are two being total to, The crossbearer (4) is equipped with displacement slot (401), and the working arm one (5) and the working arm two (6) are all installed on crossbearer (4) On the displacement slot (401) on, the infrared calibrator (7) altogether there are two and be installed on crossbearer (4) bottom surface and be located at Immediately below displacement slot (401) both ends, the fire-water correcting arm (8) beats arm (9) and position indicator (10) and is all installed on working arm one (5) bottom, fire-water correcting arm (8) are located at position indicator (10) left side, beat arm (9) and are located on the right of position indicator (10), the cutting Arm (11) is installed on working arm two (6) bottom surface, and the workbench (2) is located at immediately below crossbearer (4), and workbench (2) includes： Idler wheel (201), calibration receiver (202), roller bearing (203), support rod (204), idler wheel motor (205), idler wheel electric motor actuator (206), the idler wheel (201), calibration receiver (202), roller bearing (203), support rod (204), idler wheel motor (205), idler wheel There are two electric motor actuator (206) is each, two idler wheels (201) are not originally installed on two roller bearings (203), two calibration receivers (202) workbench (2) top surface both ends are respectively installed on, two roller bearings (203) are respectively arranged in two support rod (204) one end, The other end of two support rods (204) is respectively arranged in workbench (2) bottom surface, two idler wheel motors (205) install respectively with On the left of two support rod (204) bottom ends, it is left that two idler wheel electric motor actuators (206) are respectively arranged in two idler wheel motors (205) Side, working arm one (5) include：One displacement actuator of arm (501), one displacement motor of arm (502), arm one reverse motor (503), arm One torsion actuator (504), one torsional axis of arm (505), one displacement actuator of arm (501), one displacement motor of arm (502) are all Positioned at working arm one (5) inner top, one displacement actuator of arm (501) is installed on the right side of one displacement motor of arm (502) and arm one Displacement actuator (501) is connect by data line with one displacement motor of arm (502), the torsion of arm one motor (503) with it is described Arm one reverses actuator (504) and is all installed on working arm one (5) inner bottom surface, and the torsion of arm one motor (503) is located at the torsion of arm one and holds On the left of row device (504) and arm one reverses motor (503) and is connect by data line with the torsion of arm one actuator (504), the arm One torsional axis (505) is installed on working arm one (5) bottom end；Working arm two (6) includes：Two displacement actuator of arm (601), arm two are turned round Rotating motor (602), two displacement motor of arm (603), arm two reverse actuator (604), two torsional axis of arm (605), two, the arm It moves actuator (601) and two displacement motor of arm (603) is all located at working arm two (6) inner top, two displacement actuator of arm (601) it is installed on the right side of two displacement motor of arm (603) and two displacement actuator of arm (601) passes through data line and arm two is displaced electricity Machine (603) connection, the arm two reverses motor (602) and the arm two torsion actuator (604) is all installed on working arm two (6) Interior bottom, the torsion of arm two motor (602) is installed on the left of the torsion of arm two actuator (604) and arm two reverses motor (602) and leads to It crosses data line to connect with the torsion of arm two actuator (604), two torsional axis of arm (605) is installed on working arm two (6) bottom end, institute Stating operating platform (1) includes：Host (101), control panel (102), PCL controller (103), the host (101) with it is described PCL controller (103) connection and host (101) are located at PCL controller (103) right side, and the control panel (102) passes through number It is connect according to line with host (101) and control panel (102) is located at operating platform (1) top surface, host (101) is also received with calibration Device (202) connection, PCL controller (103) are also executed with infrared calibrator (7), idler wheel electric motor actuator (206), the displacement of arm one Device (501), arm one reverse actuator (504), two displacement actuator of arm (601), the torsion of arm two actuator (604) connection.

2. a kind of extreme misery cutting correction hull reamer stage apparatus as described in claim 1, which is characterized in that the extreme misery is rectified Positive arm (8) includes：Extreme misery large arm (81), extreme misery forearm (82), fuel valve (801), electronic lighter (802), valve switch are held Row device (803), firer manage (804), and the extreme misery large arm (81) includes：Extreme misery large arm movable axis (811), extreme misery large arm movable axis Motor (812), extreme misery large arm movable axis actuator (813), the extreme misery forearm (82) include：Extreme misery forearm movable axis (821), Extreme misery forearm activity spindle motor (822), extreme misery forearm movable axis actuator (823), one acetylene cylinder of oxygen (824), extreme misery large arm (81) it is connect with the working arm one (5) by the extreme misery large arm movable axis (811) and extreme misery large arm movable axis (811) position In extreme misery large arm (81) one end, extreme misery large arm (81) other end passes through the extreme misery forearm movable axis (821) and extreme misery forearm (82) it connecting, extreme misery forearm movable axis (821) is located at extreme misery large arm (81) other end and is also located at extreme misery forearm (82) one end, The fuel valve (801) is installed on extreme misery forearm (82) other end, and the valve switch actuator (803) is installed on fuel valve (801) other end, the electronic lighter (802) are installed on valve switch actuator (803) other end, firer's pipe (804) it is installed on electronic lighter (802) other end, the extreme misery large arm activity spindle motor (812) and the extreme misery large arm are living Moving axis actuator (813) is all located in extreme misery large arm (81), and extreme misery large arm activity spindle motor (812) is located at extreme misery large arm movable axis Above actuator (813) and extreme misery large arm activity spindle motor (812) passes through data line and extreme misery large arm movable axis actuator (813) it connects；The extreme misery forearm activity spindle motor (822), extreme misery forearm movable axis actuator (823), one acetylene cylinder of oxygen (824) it is all located in extreme misery forearm (82), extreme misery forearm activity spindle motor (822) is located at extreme misery forearm movable axis actuator (823) top and extreme misery forearm activity spindle motor (822) pass through data line and extreme misery forearm movable axis actuator (823) even It connects, one acetylene cylinder of oxygen (824) is connect by fuel valve (801) with valve switch actuator (803), valve switch actuator (803) other end and firer manage (804) and connect, the PCL controller (103) also with extreme misery large arm movable axis actuator (813), Extreme misery forearm movable axis actuator (823), electronic lighter (802), valve switch actuator (803) connection.

3. a kind of extreme misery cutting correction hull reamer stage apparatus as described in claim 1, which is characterized in that described to beat arm (9) include：It beats large arm (91), beat forearm (92), telescopic device (901), tup (902), it is described to beat large arm (91) packet It includes：Large arm movable axis (911) is beaten, large arm activity spindle motor (912) is beaten, beats large arm movable axis actuator (913), it is described Beating forearm (92) includes：Forearm movable axis (921) is beaten, forearm activity spindle motor (922) is beaten, beats forearm movable axis and hold Row device (923) beats large arm (91) and beats large arm movable axis (911) by described and connect and beat with the working arm one (5) Large arm movable axis (911) are beaten positioned at large arm (91) one end is beaten, large arm (91) other end is beaten by described and beats forearm activity Axis (921) is connect with forearm (92) is beaten, and is beaten forearm movable axis (921) and is located at the other end for beating large arm (91) and also position In beating forearm (92) one end, the telescopic device (901), which is installed on, beats forearm (92) other end, tup (902) peace It is described to beat large arm activity spindle motor (912) and described beat large arm movable axis actuator loaded on telescopic device (901) other end (913) it is all located at and beats in large arm (91), beat large arm activity spindle motor (912) and be located at and beat large arm movable axis actuator (913) above and large arm activity spindle motor (912) is beaten by data line and beats large arm movable axis actuator (913) even It connects；It is described beat forearm activity spindle motor (922) and it is described beat forearm movable axis actuator (923) and be all located at beat forearm (92) in, it is living positioned at beating above forearm movable axis actuator (923) and beating forearm to beat forearm activity spindle motor (922) Moving axis motor (922) is connect by data line with forearm movable axis actuator (923) is beaten, PCL controller (103) also with beat Large arm movable axis actuator (913) beats forearm movable axis actuator (923), telescopic device (901) connection.

4. a kind of extreme misery cutting correction hull reamer stage apparatus as described in claim 1, which is characterized in that the cutting arm (11) include：Cutting motor (111), cutting actuator (112), cutting bearing (113), cutter plate (114), the cutting electricity Machine (111) and the cutting actuator (112) are all located in cutting arm (11), and cutting motor (111) is located at cutting actuator (112) left side and cutting motor (111) pass through data line and connect with cutting actuator (112), and cutting arm (11) passes through described Cutting bearing (113) is connect with cutter plate (114), and cutting bearing (113) is located at cutting arm (11) bottom end and is located at cutting Cutterhead (114) center, PCL controller (103) are also connect with cutting actuator (112).