Multifunctional manipulator and rotating platform

Abstract

The invention relates to the field of automated assembly equipment, in particular to a multifunctional manipulator and a rotating platform. The multifunctional manipulator and the rotating platform comprise a hole alignment detection device and a C-axis rotating anti-backlash device, the hole alignment detection device comprises four distance measuring sensors annularly and uniformly arrayed at ashaft part of the upper end of a workpiece, an X-axis feeding device is mounted on the C-axis rotating anti-backlash device, a Y-axis feeding device is mounted on the X-axis feeding device, a Z-axis lifting device is mounted on the Y-axis feeding device, a clamping device is mounted on the Z-axis lifting device, and a deflection adjusting device, an oblique angle adjusting device and a rotating adjustment device are arranged at the junction between the clamping device and the Z-axis lifting device. Four-dimensional feeding and three-dimensional fine adjustment are adopted, high-precision automatic assembly of a steam generator pipe connector can be completely achieved, the time consumed for assembly is short, the precision is high, the situation that the workpiece is scrapped due to irreparable defects such as friction and crush injuries of the pipe wall is avoided, and economic losses caused by the assembly process are reduced.

Description

technical field [0001] The present invention relates to the field of automatic assembly equipment, and further relates to the field of steam generator automatic assembly equipment, specifically a multifunctional manipulator and a rotary platform. Background technique [0002] The precision assembly robot for steam generator pipe joints is the key automation equipment in the nuclear field. At present, when the relevant units in my country are assembling steam generator pipe joints, they are completely completed manually. Non-repairable defects such as friction and bruising, etc., make the workpiece scrapped and cause huge economic losses. Furthermore, such heavy workpieces are manually assembled, and the gap between the holes and shafts is uneven, which cannot meet the requirements of the subsequent welding process. It is necessary to develop a precision assembly robot for steam generator pipe joints. [0003] The pipe joint is the installation object in the steam generator u...

AI Technical Summary

Problems solved by technology

[0009] (3) When the shaft is inserted into the hole, the axis deviation β in a certain section due to machining errors or the movement angle deviation β due to the non-parallel insertion movement direction and the axis of the shaft

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