Multi-dimensional adjustment device and method of operation thereof

Abstract

The application provides a multi-dimensional adjustment device and a working method thereof, and relates to the technical field of machining.The multi-dimensional adjustment device of the application realizes multi-directional adjustment through a rotating mechanism, a first moving mechanism and a second moving mechanism, can effectively improve the flexibility and accuracy of part position adjustment, adjusts the posture of the part while moving the part, effectively avoids the collision between the part and the cylinder assembly, can realize accurate installation of the part in place, is favorable for improving the installation safety and installation precision of the internal part of the cylinder assembly, and is further provided with a control element which is electrically connected with the rotating mechanism, the first moving mechanism and the second moving mechanism, can control the operation and process of the rotating mechanism, the first moving mechanism and the second moving mechanism through the control element, realizes the automatic control of the whole multi-dimensional adjustment device, effectively improves the convenience of part installation, reduces the labor input, and can also improve the installation safety to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and more specifically, to a multi-dimensional adjustment device and its working method. Background Technology

[0002] Pressure vessels are crucial equipment in the nuclear power and petrochemical technology fields. For example, the pressure vessel in a nuclear reactor not only contains the reactor core but also serves as a radiation shield. A pressure vessel mainly consists of a cylindrical assembly and a top cover assembly. The cylindrical assembly is relatively large, requiring the installation of multiple components within it during on-site installation with high precision requirements.

[0003] Currently, when installing internal components of a pressure vessel's cylindrical assembly, the components are usually moved into the assembly manually or using mechanical equipment. During this process, the components experience significant shaking, and their posture and position inside the assembly are difficult to adjust, making collisions between the components and the assembly more likely. Furthermore, it is difficult to install the components properly, which negatively impacts the overall safety and accuracy of the pressure vessel installation. Summary of the Invention

[0004] The problem addressed by this invention is how to improve the installation safety and accuracy of internal components of the cylindrical assembly.

[0005] To address the aforementioned problems, this invention provides a multi-dimensional adjustment device for installing components inside the cylinder of a pressure vessel. The multi-dimensional adjustment device includes a rotary mechanism, a first moving mechanism, a second moving mechanism, and a control element. The rotary mechanism is mounted on the cylinder. The first moving mechanism is mounted on the rotary mechanism, with the cylinder opening facing the first moving mechanism. The rotary mechanism drives the first moving mechanism to move around a first direction, which is the rotation axis of the cylinder. The second moving mechanism is mounted on the first moving mechanism. The first moving mechanism drives the second moving mechanism to move along a second direction, which is perpendicular to the first direction. The second moving mechanism connects to the component and drives the component to move into the cylinder along the first direction.

[0006] The control element is driven and connected to the rotary mechanism, the first moving mechanism, and the second moving mechanism respectively, and the control element is used for:

[0007] After the component is installed on the second moving mechanism, the second moving mechanism is driven to move by the rotary mechanism and the first moving mechanism to adjust the position of the component to correspond vertically with the installation point inside the cylinder.

[0008] The component is moved into the cylinder by the second moving mechanism, and the component is adjusted to be close to the mounting point.

[0009] The rotation mechanism drives the component to move around the first direction, thereby adjusting the posture of the component;

[0010] The component is moved by the first and second moving mechanisms, adjusting its horizontal and vertical positions, and then moved to the mounting location.

[0011] Compared to existing technologies, the advantages of the multidimensional adjustment device of the present invention include: The device comprises a rotary mechanism, a first moving mechanism, a second moving mechanism, and a control element. The rotary mechanism is mounted on the cylinder of the pressure vessel, while the first moving mechanism is mounted on the rotary mechanism. The second moving mechanism is mounted on the first moving mechanism, and the second moving mechanism can be connected to a component to be installed inside the cylinder. The opening of the cylinder faces the first moving mechanism, meaning the first moving mechanism is located above the cylinder. The rotary mechanism can drive the first moving mechanism to move around a first direction, which is the rotation axis of the cylinder. This allows adjustment of the circumferential position of the first moving mechanism relative to the cylinder. Furthermore, the second moving mechanism can drive the component to move, adjusting the circumferential position of the component relative to the cylinder, so that the component can initially align vertically with its mounting point inside the cylinder, achieving initial adjustment of the component's position. Simultaneously, the first moving mechanism drives the second moving mechanism along a second direction... The first moving mechanism drives the second moving mechanism to move in a plane perpendicular to the rotation axis of the cylinder, allowing the component to align vertically with its mounting point inside the cylinder. The second moving mechanism then drives the component to move into the cylinder along the first direction, bringing it close to the mounting point. At this point, the first moving mechanism can be driven to rotate around the first direction, thereby rotating the component around the first direction and adjusting its posture to match the finished installation posture. The first and second moving mechanisms then drive the component to move inside the cylinder, adjusting its horizontal and vertical positions until it reaches the mounting point, thus completing the installation. This multi-dimensional adjustment effectively avoids collisions between the component and the cylinder assembly, ensuring precise installation and improving the safety and accuracy of component installation within the cylinder assembly. Furthermore, connecting control elements electrically to the rotation mechanism, the first moving mechanism, and the second moving mechanism enables automated control of their movements, improving ease of installation, reducing manual labor, and enhancing installation safety to some extent.

[0012] Optionally, the slewing mechanism includes a slewing drive assembly, a slewing base, and a slewing bearing. The slewing base and the slewing bearing are both arranged in a ring shape. The slewing base is installed on the opening edge of the cylinder. The slewing bearing is slidably installed on the slewing base and coaxially arranged with the slewing base. The slewing drive assembly is drivenly connected to the slewing bearing and is used to drive the slewing bearing to rotate around the first direction. The first moving mechanism is installed on the slewing bearing.

[0013] Optionally, the rotary drive assembly includes a drive gear and a first rotary drive member, the rotary bearing includes an inner ring and an outer gear ring, the first rotary drive member is mounted on the rotary base and is drivenly connected to the drive gear, the inner ring is coaxially mounted on the rotary base, the outer gear ring is slidably sleeved on the outside of the inner ring and meshes with the drive gear, and the first moving mechanism is mounted on the outer gear ring.

[0014] Optionally, the first moving mechanism includes a first frame, a first slide rail, a first slider, and a first linear drive assembly. The first frame is mounted on the rotary mechanism, the first slide rail is mounted on the first frame and extends along the second direction, the first slider is slidably mounted on the first slide rail and connected to the second moving mechanism, and the first linear drive assembly is mounted on the first frame and drivenly connected to the second moving mechanism. The first linear drive assembly is used to drive the second moving mechanism to move along the second direction.

[0015] Optionally, the first linear drive assembly includes a first lead screw, a first lead screw nut, and a second rotary drive member. The second rotary drive member is mounted on the first frame, the first lead screw is rotatably mounted on the first frame and driven by the second rotary drive member, the first lead screw extends along the second direction, and the first lead screw nut is sleeved on the first lead screw and connected to the second moving mechanism.

[0016] Optionally, the second moving mechanism includes a second frame, a second slide rail, a second slider, a second linear drive assembly, and a moving beam. The second frame is mounted on the first moving mechanism, the second slide rail is mounted on the moving beam and extends along the first direction, the second slider is slidably mounted on the second slide rail and connected to the second frame, and the second linear drive assembly is mounted on the moving beam and drivenly connected to the second frame. The second linear drive assembly is used to drive the moving beam to move relative to the second frame along the first direction.

[0017] Optionally, the second linear drive assembly includes a second lead screw, a second lead screw nut, and a third rotary drive component. The third rotary drive component is mounted on the moving beam, the second lead screw is rotatably mounted on the moving beam and drivenly connected to the third rotary drive component, the second lead screw extends along the first direction, and the second lead screw nut is sleeved on the second lead screw and connected to the second frame.

[0018] Optionally, the multidimensional adjustment device further includes a rotation mechanism, a tilt adjustment mechanism, and a slide table. The rotation mechanism includes a fourth rotation drive, a drive shaft, and a bearing. The fourth rotation drive and the bearing are both mounted on the second moving mechanism. The second moving mechanism is used to drive the fourth rotation drive and the bearing to move along the first direction. The drive shaft is drivenly connected to the fourth rotation drive and is rotatably mounted on the bearing.

[0019] The tilt adjustment mechanism includes a fifth rotary drive component and a connecting plate. The fifth rotary drive component is installed at the end of the drive shaft and is drivenly connected to the connecting plate. The fifth rotary drive component is used to drive the connecting plate to rotate around a third direction. The third direction is perpendicular to the first direction and intersects the second direction.

[0020] The slide table includes an upper slide table and a lower slide table. The upper slide table is mounted on the connecting plate and slidably connected to the lower slide table. The lower slide table is used to mount the component. The upper slide table and the lower slide table are used to slide relative to each other along a preset plane. The preset plane is perpendicular to the first direction.

[0021] Optionally, the multidimensional adjustment device further includes a suspended basket, which is connected to the second moving mechanism and driven by the first moving mechanism, wherein the first moving mechanism is used to drive the suspended basket to move along the second direction;

[0022] And / or, the multidimensional adjustment device further includes an electric hoist, which is mounted on a support frame. The support frame is drivenly connected to the second moving mechanism, which drives the support frame to move along the first direction. The hoisting end of the electric hoist is used to reciprocate along the first direction.

[0023] On the other hand, the present invention also provides a method for operating a multi-dimensional adjustment device, based on the multi-dimensional adjustment device described above, for installing components inside the cylinder of a pressure vessel, the method for operating the multi-dimensional adjustment device comprising:

[0024] After the component is installed on the second moving mechanism of the multidimensional adjustment device, the second moving mechanism is driven to move by the rotation mechanism and the first moving mechanism of the multidimensional adjustment device to adjust the position of the component to correspond vertically with the installation point inside the cylinder.

[0025] The component is moved into the cylinder by the second moving mechanism, and the component is adjusted to be close to the mounting point.

[0026] The rotation mechanism drives the component to move around a first direction, thereby adjusting the posture of the component;

[0027] The component is moved by the first and second moving mechanisms, adjusting its horizontal and vertical positions, and then moved to the mounting location.

[0028] Compared to the prior art, the beneficial effects of the working method of the multidimensional adjustment device of the present invention are the same as those of the multidimensional adjustment device described above, and will not be repeated here. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the multidimensional adjustment device in an embodiment of the present invention;

[0030] Figure 2 This is an exploded view of the multidimensional adjustment device in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the rotary mechanism in an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of the first moving mechanism in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the second moving mechanism from one perspective in an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the second moving mechanism from another perspective in an embodiment of the present invention;

[0035] Figure 7 This is a structural schematic diagram of the second moving mechanism from another perspective in an embodiment of the present invention;

[0036] Figure 8 This is an assembly diagram of the rotating mechanism, tilt adjustment mechanism, and slide table in an embodiment of the present invention;

[0037] Figure 9 This is a flowchart illustrating the working method of the multidimensional adjustment device in an embodiment of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1-Cylinder; 2-Rotation mechanism; 21-Rotation drive assembly; 211-Drive gear; 212-First rotary drive component; 22-Rotation base; 23-Rotation bearing; 231-Inner ring; 232-Outer gear ring; 3-First moving mechanism; 31-First frame; 32-First slide rail; 33-First slider; 34-First linear drive assembly; 341-First lead screw; 342-First lead screw nut; 343-Second rotary drive component; 4-Second moving mechanism; 41-Second Frame; 42-Second slide rail; 43-Second slider; 44-Second linear drive assembly; 441-Second lead screw; 442-Second lead screw nut; 443-Third rotary drive component; 45-Moving beam; 5-Rotating mechanism; 51-Fourth rotary drive component; 52-Drive shaft; 53-Bearing; 6-Tilting angle adjustment mechanism; 61-Fifth rotary drive component; 62-Connecting plate; 7-Slide table; 71-Upper slide table; 72-Lower slide table; 8-Hanging basket; 9-Electric hoist; 91-Support frame. Detailed Implementation

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] It should be noted that in the XYZ coordinate system provided herein, the positive direction of the X-axis represents the right, and the negative direction of the X-axis represents the left; the positive direction of the Y-axis represents the front, and the negative direction of the Y-axis represents the back; the positive direction of the Z-axis represents the top, and the negative direction of the Z-axis represents the bottom. Furthermore, it should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein.

[0042] On one hand, one embodiment of the present invention provides a multi-dimensional adjustment device for installing components inside the cylinder 1 of a pressure vessel. The multi-dimensional adjustment device includes a rotary mechanism 2, a first moving mechanism 3, a second moving mechanism 4, and a control element. The rotary mechanism 2 is mounted on the cylinder 1, and the first moving mechanism 3 is mounted on the rotary mechanism 2, with the opening of the cylinder 1 facing the first moving mechanism 3. The rotary mechanism 2 drives the first moving mechanism 3 to move around a first direction, which is the rotation axis of the cylinder 1. The second moving mechanism 4 is mounted on the first moving mechanism 3, and the first moving mechanism 3 drives the second moving mechanism 4 to move along a second direction, which is perpendicular to the first direction. The second moving mechanism 4 is used to adjust components... The components are connected, and the driving component moves into the cylinder 1 along the first direction; the control element is driven and connected to the rotary mechanism 2, the first moving mechanism 3 and the second moving mechanism 4 respectively. The control element is used to: drive the second moving mechanism 4 to move through the rotary mechanism 2 and the first moving mechanism 3 after the component is installed on the second moving mechanism 4, and adjust the position of the component to correspond vertically with the installation position in the cylinder 1; drive the component to move into the cylinder 1 through the second moving mechanism 4, and adjust the component to be close to the installation position; drive the component to move around the first direction through the rotary mechanism 2, and adjust the posture of the component; drive the component to move through the first moving mechanism 3 and the second moving mechanism 4, adjust the horizontal and vertical positions of the component, and move it to the installation position.

[0043] It should be noted that, in this invention, as Figure 1 and Figure 2 As shown, the first direction is the Z-axis direction, and the second direction is the Y-axis direction.

[0044] In this embodiment, as Figure 1As shown, a multi-dimensional adjustment device is composed of a rotary mechanism 2, a first moving mechanism 3, a second moving mechanism 4, and control elements. The rotary mechanism 2 is installed on the cylinder 1 of the pressure vessel, while the first moving mechanism 3 is installed on the rotary mechanism 2, and the second moving mechanism 4 is installed on the first moving mechanism 3. The second moving mechanism 4 can be connected to the component to be installed inside the cylinder 1. The opening of the cylinder 1 faces the first moving mechanism 3, meaning the first moving mechanism 3 is located above the cylinder 1. The rotary mechanism 2 can drive the first moving mechanism 3 to move around a first direction, which is the rotation axis of the cylinder 1. This allows adjustment of the circumferential position of the first moving mechanism 3 relative to the cylinder 1. The second moving mechanism 4 then drives the component to move, adjusting the circumferential position of the component relative to the cylinder 1, so that the component can initially align vertically with its mounting point inside the cylinder 1, achieving initial adjustment of the component's position. Simultaneously, the first moving mechanism 3 drives the second moving mechanism 4 to move along a second direction. The second moving mechanism 4 is perpendicular to the first moving mechanism 3, meaning the first moving mechanism 3 drives the second moving mechanism 4 to move on a plane perpendicular to the rotation axis of the cylinder 1. This allows the component to align vertically with the mounting point inside the cylinder 1. Based on this, the second moving mechanism 4 can drive the component to move into the cylinder 1 along the first moving mechanism, allowing the component to enter the cylinder 1 and approach the mounting point. At this point, the first moving mechanism 3 can be driven to rotate around the first moving mechanism 2, thereby driving the component to rotate around the first moving mechanism 2, adjusting the component's posture to match the posture after installation. Then, the first moving mechanism 3 and the second moving mechanism 4 drive the component to move inside the cylinder 1, adjusting the horizontal and vertical positions of the component, moving it to the mounting point, and achieving component installation. Through multi-dimensional adjustment, collisions between the component and the cylinder assembly can be effectively avoided, and precise installation of the component can be achieved, which is beneficial for improving the installation safety and accuracy of components inside the cylinder assembly. In addition, by electrically connecting the control element to the rotary mechanism 2, the first moving mechanism 3, and the second moving mechanism 4 respectively, the movement of the rotary mechanism 2, the first moving mechanism 3, and the second moving mechanism 4 can be automatically controlled, which can effectively improve the convenience of component installation, reduce manual input, and also improve installation safety to a certain extent.

[0045] Optionally, the slewing mechanism 2 includes a slewing drive assembly 21, a slewing base 22, and a slewing bearing 23. The slewing base 22 and the slewing bearing 23 are both arranged in a ring shape. The slewing base 22 is installed on the opening edge of the cylinder 1. The slewing bearing 23 is slidably installed on the slewing base 22 and is coaxially arranged with the slewing base 22. The slewing drive assembly 21 is drivenly connected to the slewing bearing 23 and is used to drive the slewing bearing 23 to rotate around a first direction. The first moving mechanism 3 is installed on the slewing bearing 23.

[0046] In this embodiment, as Figure 2 and Figure 3As shown, a rotary mechanism 2 is composed of a rotary drive assembly 21, a rotary base 22, and a rotary support 23. The rotary base 22 is arranged in a ring shape and is installed on the opening edge of the cylinder 1. The rotary support 23 is arranged in a ring shape and is slidably installed on the rotary base 22 on the same axis. Thus, the rotary support 23 can be stably rotated around a first direction by the support of the cylinder 1 and the rotary base 22. The rotary drive assembly 21 is driven to rotate around the rotary support 23. The first moving mechanism 3 is installed on the rotary support 23. The rotary drive assembly 21 can drive the rotary support 23 to rotate around the first direction, thereby driving the first moving mechanism 3 to rotate around the first direction. Then, the position and attitude of the component can be adjusted by the second moving mechanism 4.

[0047] Optionally, the rotary drive assembly 21 includes a drive gear 211 and a first rotary drive member 212, and the rotary bearing 23 includes an inner ring 231 and an outer gear ring 232. The first rotary drive member 212 is mounted on the rotary base 22 and is drivenly connected to the drive gear 211. The inner ring 231 is coaxially mounted on the rotary base 22, and the outer gear ring 232 is slidably sleeved on the outside of the inner ring 231 and meshes with the drive gear 211. The first moving mechanism 3 is mounted on the outer gear ring 232.

[0048] In this embodiment, as Figure 3 As shown, a rotary drive assembly 21 is formed by a drive gear 211 and a first rotary drive component 212, and a rotary bearing 23 is formed by an inner ring 231 and an outer gear ring 232. The first rotary drive component 212 is mounted on a rotary base 22 to ensure stability when the first rotary drive component 212 outputs rotary driving force. The drive gear 211 is driven to the first rotary drive component 212. The inner ring 231 is coaxially mounted on the rotary base 22, and the outer gear ring 232 is slidably sleeved on the outside of the inner ring 231. The inner ring 231 and the rotary base 22 support the outer gear ring 232, which can effectively improve the stability of the outer gear ring 232 when it rotates. The drive gear 211 meshes with the outer gear ring 232, so when the first rotary drive component 212 outputs rotary force, the rotation of the drive gear 211 can drive the outer gear ring 232 to rotate synchronously, which in turn can drive the first moving mechanism 3 to rotate around the first direction.

[0049] It should be noted that in this embodiment, the rotary base 22 is fixed to the cylinder 1 by bolt fastening or clamping. During installation, the rotation axis of the rotary base 22 is made to coincide with the rotation axis of the cylinder 1 by positioning or adjustment. After the inner ring 231 is installed on the rotary base 22, it needs to be pre-tightened to ensure the installation stability of the inner ring 231.

[0050] It should be noted that in this embodiment, the first rotary drive component 212 is driven and connected by a servo motor and a worm gear reducer, which can effectively improve the accuracy of the output rotary drive force. A drive motor mounting plate is provided on the side wall of the rotary base 22. The first rotary drive component 212 is mounted on the drive motor mounting plate, and the drive gear 211 is fixedly mounted on the output shaft end of the first rotary drive component 212. The gear meshing drives the external gear ring 232 to rotate.

[0051] Optionally, the first moving mechanism 3 includes a first frame 31, a first slide rail 32, a first slider 33, and a first linear drive assembly 34. The first frame 31 is mounted on the rotary mechanism 2, the first slide rail 32 is mounted on the first frame 31 and extends along a second direction, the first slider 33 is slidably mounted on the first slide rail 32 and connected to the second moving mechanism 4, and the first linear drive assembly 34 is mounted on the first frame 31 and drivenly connected to the second moving mechanism 4. The first linear drive assembly 34 is used to drive the second moving mechanism 4 to move along the second direction.

[0052] In this embodiment, as Figure 2 and Figure 4 As shown, a first moving mechanism 3 is composed of a first frame 31, a first slide rail 32, a first slider 33, and a first linear drive assembly 34. The first frame 31 is mounted on the rotary mechanism 2, serving as the main structure of the entire first moving mechanism 3 and ensuring its installation stability. The first slide rail 32 extends along a second direction and is mounted on the first frame 31. The first slider 33 is slidably mounted on the first slide rail 32 and connected to the second moving mechanism 4. Thus, the second moving mechanism 4 can move along the second direction by sliding the first slider 33 on the first slide rail 32, effectively improving the stability of the second moving mechanism 4's movement along the second direction. Based on this, the first linear drive assembly 34 is mounted on the first frame 31 and drivenly connected to the second moving mechanism 4, driving the second moving mechanism 4 to move along the second direction, thereby adjusting the position and attitude of the components mounted on the second moving mechanism 4.

[0053] It should be noted that, in this embodiment, as Figure 4 As shown, a limiting block is provided at the end of the first slide rail 32 to limit the first slider 33 and prevent the first slider 33 from sliding out along the first slide rail 32, thereby ensuring the stability of the second moving mechanism 4 moving in the second direction.

[0054] It should be noted that, in this embodiment, as Figure 4As shown, multiple first slide rails 32 are provided, and the multiple first slide rails 32 are arranged in parallel. Multiple first sliders 33 are slidably installed on each first slide rail 32 at intervals. The multiple first sliders 33 are all connected to the second moving mechanism 4, thereby further improving the stability of the second moving mechanism 4 when it moves along the second direction.

[0055] Optionally, the first linear drive assembly 34 includes a first lead screw 341, a first lead screw nut 342, and a second rotary drive member 343. The second rotary drive member 343 is mounted on the first frame 31, the first lead screw 341 is rotatably mounted on the first frame 31 and is drivenly connected to the second rotary drive member 343, the first lead screw 341 extends along a second direction, and the first lead screw nut 342 is sleeved on the first lead screw 341 and connected to the second moving mechanism 4.

[0056] In this embodiment, as Figure 4 As shown, a first linear drive assembly 34 is formed by a first lead screw 341, a first lead screw nut 342, and a second rotary drive member 343. The second rotary drive member 343 is mounted on the first frame 31 to ensure the stability of the rotary drive force output by the second rotary drive member 343. At the same time, the first lead screw 341 is rotatably mounted on the first frame 31 and is drivenly connected to the second rotary drive member 343. The first lead screw nut 342 is sleeved on the first lead screw 341. Thus, when the second rotary drive member 343 outputs rotary drive force, the first lead screw 341 rotates, and the first lead screw nut 342 travels along the first lead screw 341 through thread engagement. Based on this, the first lead screw 341 is extended along the second direction, and the first lead screw nut 342 is connected to the second moving mechanism 4. In this way, when the second rotary drive 343 drives the first lead screw 341 to rotate, the first lead screw nut 342 can move along the second direction on the first lead screw 341, thereby driving the second moving mechanism 4 to move along the second direction. At the same time, the second moving mechanism 4 drives the first slider 33 to slide along the first slide rail 32, realizing the stable movement of the second moving mechanism 4 along the second direction, thereby adjusting the position and attitude of the component.

[0057] It should be noted that in this embodiment, the first frame 31 is a welded structural component. After welding heat treatment, it undergoes final processing to meet the requirements of precision assembly. Specifically, the first frame 31 is mounted and fixed on the outer gear ring 232 of the slewing support 23 of the slewing mechanism 2, and rotates along with the rotation of the outer gear ring 232.

[0058] It should be noted that in this embodiment, the first lead screw 341 is a ball screw, and a lead screw support seat is provided on the first frame 31. Both ends of the first lead screw 341 are supported on the lead screw support seat. There are multiple first lead screws 341, which are arranged side by side at intervals. Multiple first lead screw nuts 342 are arranged at intervals along the second direction on the first lead screw 341, and are all connected to the second moving mechanism 4, which effectively improves the stability of the second moving mechanism 4 moving along the second direction.

[0059] The second rotary drive component 343 consists of a servo motor, a reducer, a drive shaft, and a right-angle reducer. The servo motor and reducer are driven together and mounted on a mounting bracket on the first frame 31. The mounting bracket is located between the screw support seats of two adjacent first lead screws 341. The output end of the structure consisting of the servo motor and reducer is driven together with the drive shaft. The right-angle reducer is mounted on the lead screw support seat and driven together with the first lead screw 341. The drive shaft is driven together with the right-angle reducer. Thus, the servo motor and reducer drive the drive shaft to rotate, the drive shaft drives the right-angle reducer to move, and the right-angle reducer drives the first lead screw 341 to rotate, thereby driving the second moving mechanism 4 to move in the second direction. The reducer is a planetary reducer, and the servo motor is an AC servo motor.

[0060] Optionally, the second moving mechanism 4 includes a second frame 41, a second slide rail 42, a second slider 43, a second linear drive assembly 44, and a moving beam 45. The second frame 41 is mounted on the first moving mechanism 3, the second slide rail 42 is mounted on the moving beam 45 and extends along a first direction, the second slider 43 is slidably mounted on the second slide rail 42 and connected to the second frame 41, and the second linear drive assembly 44 is mounted on the moving beam 45 and drivenly connected to the second frame 41. The second linear drive assembly 44 is used to drive the moving beam 45 to move relative to the second frame 41 along the first direction.

[0061] In this embodiment, as Figure 2 and Figure 5As shown, a second moving mechanism 4 is composed of a second frame 41, a second slide rail 42, a second slider 43, a second linear drive assembly 44, and a moving beam 45. The second frame 41 is mounted on the first moving mechanism 3, so the first moving mechanism 3 can drive the second moving mechanism 4 to move in the second direction by driving the second frame 41 to move in the second direction. Furthermore, a second slide rail 42 extending in the first direction is provided on the moving beam 45, and a second slider 43 is provided on the second slide rail 42. The second slider 43 is connected to the second frame 41, so the moving beam 45 can move relative to the second frame 41 in the first direction by moving the second slider 43 on the second slide rail 42, thereby adjusting the position and orientation of the components. Meanwhile, a second linear drive assembly 44 is installed on the moving beam 45. The second linear drive assembly 44 is driven to the second frame 41. Since the second frame 41 is mounted on the first moving mechanism 3 and remains stationary, when the second linear drive assembly 44 outputs linear driving force, the moving beam 45 can move relative to the second frame 41 in the first direction, thereby driving the relative movement of the second slider 43 and the second slide rail 42, and realizing the stable movement of the moving beam 45 in the first direction.

[0062] It should be noted that, in this embodiment, as Figure 4 As shown, multiple second slide rails 42 are provided, and the multiple second slide rails 42 are arranged in parallel. Multiple second sliders 43 are slidably installed on each second slide rail 42 at intervals. The multiple second sliders 43 are all connected to the moving beam 45, thereby further improving the stability of the moving beam 45 when it moves along the first direction.

[0063] Optionally, the second linear drive assembly 44 includes a second lead screw 441, a second lead screw nut 442, and a third rotary drive member 443. The third rotary drive member 443 is mounted on the moving beam 45. The second lead screw 441 is rotatably mounted on the moving beam 45 and is drivenly connected to the third rotary drive member 443. The second lead screw 441 extends along a first direction. The second lead screw nut 442 is sleeved on the second lead screw 441 and connected to the second frame 41.

[0064] In this embodiment, as Figures 5 to 7As shown, a second linear drive assembly 44 is formed by a second lead screw 441, a second lead screw nut 442, and a third rotary drive member 443. The third rotary drive member 443 is mounted on a moving beam 45. The second lead screw 441 is rotatably mounted on the moving beam 45 and drivenly connected to the third rotary drive member 443. The second lead screw nut 442 is sleeved on the second lead screw 441, so that when the third rotary drive member 443 outputs a rotary driving force, the second lead screw 441 can rotate, and simultaneously, through threaded engagement, the second lead screw nut 442 moves along the second lead screw 441. Furthermore, the second lead screw 441 is extended along a first direction, and the second lead screw nut 442 is connected to the second frame 41. With this configuration, when the third rotary drive member 443 outputs a rotary driving force, the second lead screw nut 442 can move along the second lead screw 441 along the first direction, thereby allowing the moving beam 45 to move relative to the second frame 41 along the first direction while the second frame 41 remains stationary.

[0065] It should be noted that, in this embodiment, as Figures 5 to 7 As shown, there are two second frames 41, which are symmetrically arranged on both sides of the moving beam 45. The lower end face of the second frame 41 is fixed on the first slider 33 of the first moving mechanism 3. The second slider 43 on the second slide rail 42 is connected to the side wall of the second frame 41 facing the moving beam 45.

[0066] It should be noted that, in this embodiment, the third rotary drive 443 consists of a servo motor, a reducer, and a mounting plate. The servo motor and the reducer are connected and driven, and are both mounted on the upper end surface of the moving beam 45 via the mounting plate. The second lead screw 441 is a ball screw. The output end of the third rotary drive 443 is connected and fixed to the second lead screw 441 via a coupling. The moving beam 45 is provided with a lead screw shaft end mounting seat and a lead screw end support seat. The two ends of the second lead screw 441 are rotatably mounted on the lead screw shaft end mounting seat and the lead screw end support seat, respectively.

[0067] It should be noted that, in this embodiment, the second lead screw nut 442 is provided with a nut seat, which is connected and fixed to the nut seat mounting plate. The two ends of the nut seat mounting plate are respectively connected and fixed to the two second frames 41.

[0068] Optionally, the multi-dimensional adjustment device further includes a rotation mechanism 5, a tilt adjustment mechanism 6, and a slide table 7. The rotation mechanism 5 includes a fourth rotation drive 51, a drive shaft 52, and a bearing 53. The fourth rotation drive 51 and the bearing 53 are both mounted on a second moving mechanism 4. The second moving mechanism 4 is used to drive the fourth rotation drive 51 and the bearing 53 to move along a first direction. The drive shaft 52 is drivenly connected to the fourth rotation drive 51 and is rotatably mounted on the bearing 53. The tilt adjustment mechanism 6 includes a fifth rotation drive 61 and a connecting plate 62. The fifth rotary drive member 61 is installed at the end of the drive shaft 52 and is driven to connect the connecting plate 62. The fifth rotary drive member 61 is used to drive the connecting plate 62 to rotate around a third direction, which is perpendicular to the first direction and intersects the second direction. The slide table 7 includes an upper slide table 71 and a lower slide table 72. The upper slide table 71 is installed on the connecting plate 62 and is slidably connected to the lower slide table 72. The lower slide table 72 is used to install components. The upper slide table 71 and the lower slide table 72 are used to slide relative to each other along a preset plane, which is perpendicular to the first direction.

[0069] It should be noted that, in this embodiment, as Figure 2 As shown, the third direction is the X-axis direction, and the preset plane is the XY plane.

[0070] In this embodiment, as Figure 2As shown, a rotation mechanism 5 is formed by a fourth rotary drive component 51, a drive shaft 52, and a bearing 53. Both the fourth rotary drive component 51 and the bearing 53 are mounted on a second moving mechanism 4, which drives the fourth rotary drive component 51 and the bearing 53 to move along a first direction. The drive shaft 52 is rotatably connected to the fourth rotary drive component 51 and rotatably mounted on the bearing 53. Based on this, a tilt adjustment mechanism 6 is formed by a fifth rotary drive component 61 and a connecting plate 62. The fifth rotary drive component 61 is mounted on the end of the drive shaft 52 and rotatably connected to the connecting plate 62. The fifth rotary drive component 61 drives the connecting plate 62 to rotate around a third direction, which is perpendicular to the first direction and intersects the second direction. Simultaneously, a slide table 7 is formed by an upper slide table 71 and a lower slide table 72. The upper slide table 71 is mounted on the connecting plate 62 and slidably connected to the lower slide table 72. The lower slide table 72 is used to mount components. The upper slide table 71 and the lower slide table 72 slide relative to each other along a preset plane, which is perpendicular to the first direction. With this configuration, when adjusting the position and attitude of the component, the fourth rotary drive 51 outputs a rotary driving force, which can then be used to fine-tune the rotation of the component around the first direction via the drive shaft 52, the tilt adjustment mechanism 6, and the slide 7, thereby precisely adjusting the attitude and position of the component. On this basis, the fifth rotary drive 61 outputs a rotary driving force, which drives the connecting plate 62 to rotate around the third direction, thereby adjusting the tilt angle of the component relative to the horizontal direction, further precisely adjusting the attitude and position of the component. At the same time, the relative sliding of the upper slide 71 and the lower slide 72 can precisely adjust the position of the component in the horizontal direction.

[0071] It should be noted that, as Figures 5 to 8 As shown, the fourth rotary drive component 51 consists of a high-precision slewing bearing, an AC servo motor, and a planetary reducer. It is mounted on the moving beam 45 of the second moving mechanism 4 to provide rotational force. The upper end of the drive shaft 52 is connected to the slewing shaft. The upper end of the slewing shaft passes through the mounting hole of the fourth rotary drive component 51 and is connected and fixed by a fixing flange. A crossed roller bearing is fitted on the slewing shaft. The outer ring of the crossed roller bearing is mounted on the moving beam 45 and can withstand axial and radial forces. It is coaxial with the rotation center of the fourth rotary drive component 51. The bearing 53 is located below the slewing shaft and also uses a crossed roller bearing. Its outer ring is mounted on the moving beam 45 and is coaxial with the crossed roller bearing above it. The drive shaft 52 passes through the crossed roller bearing and is fixed to the inner ring of the crossed roller bearing using a fixing flange. Meanwhile, the fifth rotary drive component 61 of the tilt adjustment mechanism 6 is equipped with a high-precision rotary support, an AC servo motor and a planetary reducer. It is fixed to the lower end face of the drive shaft 52 by connecting the built-in connecting flange. The connecting plate 62 is installed on the rotary flange of the fifth rotary drive component 61, and the slide 7 is installed on the lower end face of the connecting plate 62.

[0072] Optionally, the multi-dimensional adjustment device further includes a suspended platform 8, which is connected to the second moving mechanism 4 and driven by the first moving mechanism 3, which drives the suspended platform 8 to move along a second direction; and / or, the multi-dimensional adjustment device further includes an electric hoist 9, which is mounted on a support frame 91, which is driven by the second moving mechanism 4, which drives the support frame 91 to move along a first direction, and the hoisting end of the electric hoist 9 is used to reciprocate along the first direction.

[0073] In this embodiment, as Figure 2 and Figures 5 to 7 As shown, a suspended platform 8 is also provided. The suspended platform 8 is connected to the second moving mechanism 4 and is also driven by the first moving mechanism 3. In this way, while the first moving mechanism 3 drives the second moving mechanism 4 to move in the second direction, it can also drive the suspended platform 8 to adjust the position of the suspended platform 8. At the same time, when the moving end of the second moving mechanism 4 moves in the first direction, it can also drive the suspended platform 8 to be placed in the cylinder 1 in the first direction, so that people can enter the cylinder 1 through the suspended platform 8 to carry out operations.

[0074] In this embodiment or in other embodiments of the present invention, such as Figure 2 and Figures 5 to 7 As shown, an electric hoist 9 is also provided and mounted on the second moving mechanism 4 via a support frame 91. The support frame 91 is driven to the second moving mechanism 4. The second moving mechanism 4 drives the support frame 91 to move along the first direction, thereby enabling the electric hoist 9 to move along the first direction. This allows the electric hoist 9 to approach the cylinder 1, and the lifting end of the electric hoist 9 can also move back and forth along the first direction, allowing the lifting end to extend into and out of the cylinder 1, facilitating manual operation inside the cylinder 1 with the assistance of the electric hoist 9.

[0075] On the other hand, one embodiment of the present invention provides a method for operating a multi-dimensional adjustment device. Based on the above-mentioned multi-dimensional adjustment device, it is used for the installation of components inside the cylinder 1 of a pressure vessel. The method for operating the multi-dimensional adjustment device includes: after the component is installed on the second moving mechanism 4 of the multi-dimensional adjustment device, the second moving mechanism 4 is driven to move by the rotation mechanism 2 and the first moving mechanism 3 of the multi-dimensional adjustment device, adjusting the position of the component to correspond vertically with the installation location inside the cylinder 1; the component is driven to move into the cylinder 1 by the second moving mechanism 4, adjusting the component to be close to the installation location; the component is driven to move around a first direction by the rotation mechanism 2, adjusting the posture of the component; the component is driven to move by the first moving mechanism 3 and the second moving mechanism 4, adjusting the horizontal and vertical positions of the component, and moving it to the installation location.

[0076] like Figure 9 As shown in S1 to S4, the technical effect of the working method of the multidimensional adjustment device in this embodiment is similar to that of the multidimensional adjustment device described above, and will not be repeated here.

[0077] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A multi-dimensional adjustment device, characterized by The application discloses a multi-dimensional adjusting device for installing a component inside a cylinder (1) of a pressure container, which comprises a rotating mechanism (2), a first moving mechanism (3), a second moving mechanism (4) and a control element, the rotating mechanism (2) is arranged on the cylinder (1), the first moving mechanism (3) is arranged on the rotating mechanism (2), and the cylinder (1) is open towards the first moving mechanism (3), the rotating mechanism (2) is used for driving the first moving mechanism (3) to move in a first direction, the first direction is the rotating axis direction of the cylinder (1), the second moving mechanism (4) is arranged on the first moving mechanism (3), the first moving mechanism (3) is used for driving the second moving mechanism (4) to move in a second direction, the second direction is perpendicular to the first direction, the second moving mechanism (4) is used for being connected with the component and driving the component to move into the cylinder (1) in the first direction. The control element is drivingly connected with the rotating mechanism (2), the first moving mechanism (3) and the second moving mechanism (4) respectively, and is used for: After the component is arranged on the second moving mechanism (4), the second moving mechanism (4) is driven by the rotating mechanism (2) and the first moving mechanism (3) to move, so as to adjust the position of the component to correspond to the installation position in the cylinder (1) up and down; The component is driven by the second moving mechanism (4) to move into the cylinder (1), so as to adjust the component to be close to the installation position; The component is driven by the rotating mechanism (2) to move in the first direction, so as to adjust the posture of the component; The component is driven by the first moving mechanism (3) and the second moving mechanism (4) to move, so as to adjust the horizontal position and the vertical position of the component and move to the installation position.

2. The multi-dimensional adjustment device of claim 1, wherein, The rotating mechanism (2) comprises a rotating driving assembly (21), a rotating base (22) and a rotating support (23), the rotating base (22) and the rotating support (23) are arranged in a ring shape, the rotating base (22) is arranged on the opening edge of the cylinder (1), the rotating support (23) is slidingly arranged on the rotating base (22) and is coaxially arranged with the rotating base (22), the rotating driving assembly (21) is drivingly connected with the rotating support (23) and is used for driving the rotating support (23) to rotate in the first direction, and the first moving mechanism (3) is arranged on the rotating support (23).

3. The multi-dimensional adjustment device of claim 2, wherein, The slewing driving assembly (21) comprises a driving gear (211) and a first rotary driving member (212), the slewing bearing (23) comprises an inner ring (231) and an outer gear ring (232), the first rotary driving member (212) is installed on the slewing base (22) and is in driving connection with the driving gear (211), the inner ring (231) is coaxially installed on the slewing base (22), the outer gear ring (232) is slidably sleeved outside the inner ring (231) and is in meshing connection with the driving gear (211), and the first moving mechanism (3) is installed on the outer gear ring (232).

4. The multi-dimensional adjustment device according to any one of claims 1 to 3, characterized in that The first moving mechanism (3) comprises a first frame body (31), a first sliding rail (32), a first sliding block (33) and a first linear driving assembly (34), the first frame body (31) is installed on the slewing mechanism (2), the first sliding rail (32) is installed on the first frame body (31) and extends along the second direction, the first sliding block (33) is slidably installed on the first sliding rail (32) and is connected with the second moving mechanism (4), and the first linear driving assembly (34) is installed on the first frame body (31) and is in driving connection with the second moving mechanism (4), and the first linear driving assembly (34) is used for driving the second moving mechanism (4) to move along the second direction.

5. The multi-dimensional adjustment device of claim 4, wherein, The first linear driving assembly (34) comprises a first lead screw (341), a first lead screw nut (342) and a second rotary driving member (343), the second rotary driving member (343) is installed on the first frame body (31), the first lead screw (341) is rotatably installed on the first frame body (31) and is in driving connection with the second rotary driving member (343), the first lead screw (341) extends along the second direction, and the first lead screw nut (342) is sleeved on the first lead screw (341) and is connected with the second moving mechanism (4).

6. The multi-dimensional adjustment device according to any one of claims 1 to 3, characterized in that The second moving mechanism (4) comprises a second frame body (41), a second sliding rail (42), a second sliding block (43), a second linear driving assembly (44) and a moving beam (45), the second frame body (41) is installed on the first moving mechanism (3), the second sliding rail (42) is installed on the moving beam (45) and extends along the first direction, the second sliding block (43) is slidably installed on the second sliding rail (42) and is connected with the second frame body (41), the second linear driving assembly (44) is installed on the moving beam (45) and is in driving connection with the second frame body (41), and the second linear driving assembly (44) is used for driving the moving beam (45) to move relative to the second frame body (41) along the first direction.

7. The multi-dimensional adjustment device of claim 6, wherein, The second linear driving assembly (44) comprises a second screw rod (441), a second screw nut (442) and a third rotary driving member (443), the third rotary driving member (443) is installed on a moving beam (45), the second screw rod (441) is rotatably installed on the moving beam (45) and is in driving connection with the third rotary driving member (443), the second screw rod (441) extends along the first direction, and the second screw nut (442) is sleeved on the second screw rod (441) and is connected with the second frame body (41).

8. The multi-dimensional adjustment device according to any one of claims 1 to 3, characterized in that, Further comprising a rotating mechanism (5), an inclination adjusting mechanism (6) and a sliding table (7), the rotating mechanism (5) comprises a fourth rotary driving member (51), a driving shaft (52) and a bearing (53), the fourth rotary driving member (51) and the bearing (53) are both installed on the second moving mechanism (4), the second moving mechanism (4) is used for driving the fourth rotary driving member (51) and the bearing (53) to move along the first direction, the driving shaft (52) is in driving connection with the fourth rotary driving member (51) and is rotatably installed on the bearing (53); The inclination adjusting mechanism (6) comprises a fifth rotary driving member (61) and a connecting plate (62), the fifth rotary driving member (61) is installed at the end of the driving shaft (52) and is in driving connection with the connecting plate (62), the fifth rotary driving member (61) is used for driving the connecting plate (62) to rotate around a third direction, the third direction is perpendicular to the first direction and intersects with the second direction; The sliding table (7) comprises an upper sliding table (71) and a lower sliding table (72), the upper sliding table (71) is installed on the connecting plate (62) and is in sliding connection with the lower sliding table (72), the lower sliding table (72) is used for mounting the component, and the upper sliding table (71) and the lower sliding table (72) are used for relatively sliding along a preset plane, the preset plane is perpendicular to the first direction.

9. The multi-dimensional adjustment device according to any one of claims 1 to 3, characterized in that, Further comprising a hanging basket (8), the hanging basket (8) is connected with the second moving mechanism (4) and is in driving connection with the first moving mechanism (3), and the first moving mechanism (3) is used for driving the hanging basket (8) to move along the second direction; And / or, the multi-dimensional adjusting device further comprises an electric hoist (9), the electric hoist (9) is installed on a support frame (91), the support frame (91) is in driving connection with the second moving mechanism (4), the second moving mechanism (4) is used for driving the support frame (91) to move along the first direction, and a hoisting end of the electric hoist (9) is used for reciprocating movement along the first direction.

10. A method of operating a multi-dimensional adjustment device, characterized by A working method of a multi-dimensional adjusting device according to any one of claims 1 to 9 for component installation inside a cylinder (1) of a pressure vessel, the working method comprising: When the component is installed on the second moving mechanism (4) of the multi-dimensional adjusting device, the second moving mechanism (4) is driven to move by the rotation mechanism (2) and the first moving mechanism (3) of the multi-dimensional adjusting device, so as to adjust the position of the component to correspond to the installation position in the cylinder (1) up and down; The component is driven to move into the cylinder (1) by the second moving mechanism (4), so as to adjust the component to be close to the installation position; The component is driven to move around the first direction by the rotation mechanism (2), so as to adjust the posture of the component; The component is driven to move by the first moving mechanism (3) and the second moving mechanism (4), so as to adjust the horizontal position and the vertical position of the component and move to the installation position.

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