Device and method for processing inner wall surface of large-diameter seat ring

Abstract

A large-caliber seat ring inner wall processing device and method, comprising an electric vehicle arranged on the ring mouth, a notch is arranged on the electric vehicle, a three-axis servo slide is installed on the electric vehicle, a power head is installed on the moving end of the three-axis servo slide, a milling cutter is installed on the power head, the milling cutter is located in the notch, positioning mechanisms are installed at both ends of the electric vehicle, target balls for use with a laser tracker are arranged on the electric vehicles on both sides of the three-axis servo slide; the positioning mechanism comprises a first electric cylinder and a plurality of guide sleeves installed on the side wall of the electric vehicle, a guide rod is arranged in the guide sleeve, the guide rod and the electric cylinder piston rod are fixedly connected to the sleeve, a box is fixedly connected to the upper end of the sleeve, a second electric cylinder is installed on the box, a shaft rod is assembled in the sleeve, the upper end of the shaft rod is fixedly connected to the second electric cylinder piston rod, and the lower end of the shaft rod is connected to an electromagnet. The present invention is used to solve the problems of large processing errors and low efficiency of the existing inner wall of the ring mouth.

Description

Technical Field

[0001] The invention relates to a device and method for processing the inner wall surface of a large-diameter seat ring. Background Art

[0002] The stator frame and seat ring are important components of the hydro-turbine generator set. After long-term operation, the unit will have defects on the inner wall of the seat ring due to rust, foreign matter stuck or mechanical wear. Excessive defects will affect the installation and sealing of the equipment, and seriously affect the safe and stable operation of the unit. Therefore, it is necessary to process the inner wall of the seat ring. However, the diameter of the ring is about 15m, and the seat ring cannot be removed for processing. It can only be processed on site while the inner wall of the ring is inspected using an angle grinder. This processing method not only has large errors, but also has low efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a device and method for machining the inner wall surface of a large-diameter seat ring, so as to solve the problems of large error and low efficiency in the existing machining of the inner wall surface of the ring.

[0004] In order to solve the above problems, the technical solution of the present invention is:

[0005] A large-caliber seat ring inner wall processing device comprises an electric vehicle arranged on the ring mouth, a notch is arranged on the electric vehicle, a three-axis servo slide is installed on the electric vehicle, a power head is installed on the moving end of the three-axis servo slide, a milling cutter is installed on the power head, and the milling cutter is located in the notch, positioning mechanisms are respectively installed at both ends of the electric vehicle, and target balls for use with a laser tracker are arranged on the electric vehicles on both sides of the three-axis servo slide;

[0006] The positioning mechanism includes a first electric cylinder and multiple guide sleeves installed on the side wall of the electric vehicle, a guide rod is arranged in the guide sleeve, the guide rod and the electric cylinder piston rod are fixedly connected to the sleeve, a box body is fixedly connected to the upper end of the sleeve, a second electric cylinder is installed on the box body, a shaft rod is assembled in the sleeve, the upper end of the shaft rod is fixedly connected to the second electric cylinder piston rod, and the lower end of the shaft rod is connected to the electromagnet.

[0007] A level sensor is installed on the electric vehicle and is connected to the electromagnet through a universal ball seat at the lower end of the shaft.

[0008] A magnetic isolation copper plate is connected between the universal ball seat and the electromagnet.

[0009] The electric vehicle comprises a vehicle body and four wheels mounted on the vehicle body, and the four wheels are respectively driven by an adjustable speed motor.

[0010] A controller is provided on the electric vehicle, and the controller is connected to the computer through a wireless communication module. The computer remotely controls the walking of the electric vehicle, the movement of the three-axis servo slide, the start and stop of the power head, the extension and retraction of the first electric cylinder, the extension and retraction of the second electric cylinder, and the switching of the electromagnet through the controller.

[0011] A method for machining the inner wall surface of a large-caliber seat ring, comprising the following steps: initially, the milling cutter is located at an initial position, and a gap exists between the electromagnet and the bottom surface of the ring groove on the end surface of the ring;

[0012] In the first step, the electric vehicle moves to the inner wall of the ring to be processed;

[0013] In the second step, the second electric cylinder drives the electromagnet to fall onto the ring groove on the end face of the ring mouth, and then the electromagnet is energized to fix the electric vehicle;

[0014] The third step is to use a laser tracker to detect the distance between the target balls on both sides of the electric vehicle and the laser tracker to detect whether the two distances are within a preset value. If not, the controller controls the two first electric cylinders to extend and retract to adjust the electric vehicle to within the preset value.

[0015] Step 4: After the electric vehicle position is adjusted, the three-axis servo slide drives the milling cutter to move from the initial position to the processing position, and the power head is started at the same time. The three-axis servo slide drives the milling cutter to mill the inner wall of the ring according to the set trajectory;

[0016] In the fifth step, after the milling of the inner wall of the ring mouth is completed, the initial state is restored, and then the electric vehicle moves on the ring mouth to the next defect to be processed to mill the inner wall of the ring mouth.

[0017] When the third step is performed, the level sensor detects the levelness of the electric vehicle. If the levelness of the electric vehicle exceeds a preset value, the controller controls the extension and retraction of the second electric cylinder to adjust the electric vehicle to a level state.

[0018] The beneficial effects of the present invention are as follows: two target balls are used to locate the position of the electric vehicle. After the positioning is completed, the milling cutter is driven by a three-axis servo slide to process the inner wall of the ring mouth, and the milling cutter processing trajectory for processing various defects is consistent, thereby ensuring the roundness of the inner wall surface of the ring mouth and the processing quality. Compared with the grinding processing with an angle grinder, the processing accuracy and efficiency are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings:

[0020] Figure 1 is the front view of the present invention,

[0021] Figure 2 It is a left view of the present invention,

[0022] Figure 3 is a top view of the present invention,

[0023] Figure 4 A top view of the present invention when it is implemented

[0024] Figure 5 It is a schematic diagram of the connection relationship between various electrical components of the present invention.

[0025] In the figure: electric vehicle 1, target ball 2, power head 3, three-axis servo slide 4, notch 5, milling cutter 6, wheel 7, ring mouth 8, first electric cylinder 9, guide sleeve 10, guide rod 11, electromagnet 12, ring groove 13, universal ball seat 14, sleeve 15, shaft rod 16, second electric cylinder 17, horizontal sensor 18, magnetic isolation copper plate 19, laser tracker 20, adjustable speed motor 21. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] A large-diameter seat ring inner wall processing device comprises an electric vehicle 1 arranged on the ring mouth 8, a notch 5 is arranged on the electric vehicle 1, when the electric vehicle 1 is placed on the ring mouth 8, the inner wall of the ring mouth 8 is located in the notch 5, a three-axis servo slide 4 is installed on the electric vehicle 1, a power head 3 is installed on the moving end of the three-axis servo slide 4, a milling cutter 6 is mounted on the power head 3, the three-axis servo slide 4 moves with the milling cutter 6 into the notch 5, positioning mechanisms are respectively installed at both ends of the electric vehicle 1, target balls 2 for use with a laser tracker 20 are arranged on the electric vehicle 1 on both sides of the three-axis servo slide 4, and the position of the electric vehicle 1 in the X direction and the Y direction can be known by measuring the distance between the two target balls 2 and the laser tracker 20; in addition, the purpose of setting the notch 5 is to allow the milling cutter 6 to mill the inner wall of the ring mouth;

[0028] The positioning mechanism includes a first electric cylinder 9 and a plurality of guide sleeves 10 installed on the side wall of the electric vehicle 1. A guide rod 11 is provided in the guide sleeve 10. The guide rod 11 and the piston rod of the first electric cylinder 9 are fixedly connected to the sleeve 15. A box is fixedly connected to the upper end of the sleeve 15. A second electric cylinder 17 is installed on the box. A shaft rod 16 is assembled in the sleeve 15. The upper end of the shaft rod 16 is fixedly connected to the piston rod of the second electric cylinder 17, and the lower end of the shaft rod 16 is connected to the electromagnet 12. The first electric cylinder 9 is used to drive the electromagnet 12 to move along the X direction, and the second electric cylinder 17 is used to drive the electromagnet 12 to move along the Z direction. When the electromagnet 12 is placed on the bottom surface of the annular groove 13 on the end face of the ring mouth 8, the side surface of the annular groove 13 can limit the electromagnet 12, so that the first electric cylinder 9 cannot pull the electromagnet 12 out of the annular groove.

[0029] The electric vehicle 1 is provided with a level sensor 18, which is connected to the electromagnet 12 through a universal ball seat 14 at the lower end of the shaft 16. The level sensor 18 can detect the level of the milling cutter 6. Figure 2 The horizontal direction (i.e., X direction) in the middle is detected, and the purpose of the detection is to ensure that the surface of the ring opening 8 milled by the milling cutter 6 is perpendicular to the horizontal plane.

[0030] A magnetic isolation copper plate 19 is connected between the universal ball seat 14 and the electromagnet 12. The function of the magnetic isolation copper plate 19 is to magnetically isolate the shaft 16 from the electromagnet 12 to prevent iron slag from being adsorbed on the processing device and reduce the occurrence of mechanical failures. The function of the universal ball seat 14 is to automatically adjust the angle of the electromagnet 12 when the bottom surface of the annular groove 13 is uneven, so that it can be completely adsorbed on the bottom of the annular groove 13.

[0031] The electric vehicle 1 includes a vehicle body and four wheels 7 mounted on the vehicle body. The four wheels 7 are driven by an adjustable speed motor 21, and the adjustable speed motor 21 can be a servo reduction motor. Since the travel path of the electric vehicle 1 is an arc, the four wheels 7 are controlled separately, for example: the speed of the two wheels 7 close to the inner wall of the ring opening 8 is lower than the speed of the other two wheels 7, so that the electric vehicle 1 can travel along the arc; let one of the wheels 7 on the inner wall of the ring opening 8 travel, and the other three wheels 7 stop, then the electric vehicle 1 will run in the outer circle direction of the ring opening 8; thus, by controlling the four wheels 7 separately, not only can the position of the electric vehicle 1 be fine-tuned, but the electric vehicle 1 can also travel according to the set trajectory.

[0032] A controller is provided on the electric vehicle 1, and the controller is connected to the computer through a wireless communication module. The computer remotely controls the walking of the electric vehicle 1, the movement of the three-axis servo slide 4, the start and stop of the power head 3, the extension and retraction of the first electric cylinder 9, the extension and retraction of the second electric cylinder 17, and the switching of the electromagnet 12 through the controller, and the horizontal sensor transmits the detected signal to the computer through the controller and the wireless communication module. The controller is a PLC controller, which allows the staff to remotely control the processing device on the computer, which is convenient for the staff to operate.

[0033] A method for processing the inner wall surface of a large-diameter seat ring, comprising the following steps:

[0034] Initially, the milling cutter 6 is located at the initial position, the electric vehicle 1 is located on the ring opening 8, and there is a gap between the electromagnet 12 and the bottom surface of the ring groove on the end surface of the ring opening 8. In addition, the three-axis servo slide 4 has been preset in the computer to determine the initial position and processing position of the milling cutter 6;

[0035] In the first step, the electric vehicle 1 moves to the position to be processed on the inner wall of the ring opening 8;

[0036] In the second step, the second electric cylinder 17 drives the electromagnet 12 to fall onto the annular groove 13 on the end surface of the ring opening 8, and then the electromagnet 12 is energized to fix the electric vehicle 1;

[0037] The third step is to use the laser tracker 20 to detect the distance between the target balls 2 on both sides of the electric vehicle 1 and the laser tracker 20 to detect whether the two distances are within the preset values. If not, the controller controls the two first electric cylinders 9 to extend and retract to adjust the electric vehicle 1 to the preset values.

[0038] Step 4: After the position of the electric vehicle 1 is adjusted, the three-axis servo slide 4 drives the milling cutter 6 to move from the initial position to the processing position, and the power head 3 is started at the same time, and the three-axis servo slide 4 drives the milling cutter 6 to mill the inner wall surface of the ring opening 8 according to the set trajectory;

[0039] In the fifth step, after the inner wall of the ring opening 8 is milled, the initial state is restored, and then the electric vehicle 1 moves to the next processing position on the ring opening 8, and the inner wall of the ring opening 8 is milled according to the methods of the first to fourth steps above.

[0040] When the third step is performed, the level sensor 18 detects the levelness of the electric vehicle 1. If the levelness of the electric vehicle 1 exceeds a preset value, the controller controls the second electric cylinder 17 to extend and retract, so as to adjust the electric vehicle 1 to a horizontal position in the X direction.

[0041] The purpose of adjusting the position of the electric vehicle 1 is: since the initial position and processing position of the milling cutter 6 on the three-axis servo slide 4 can be determined, but the electric vehicle 1 needs to move, the precise position cannot be determined. Therefore, a target ball 2 is set on both sides of the electric vehicle 1, and a laser tracker 20 is used to detect the positions of both sides of the electric vehicle 1 to determine the precise position of the electric vehicle 1. Then, the position of the electric vehicle 1 is fine-tuned by controlling the extension and retraction of the two first electric cylinders 9 to move it to the preset value. In this way, the positions of the electric vehicle 1 and the milling cutter 6 are accurately determined, and the position of the inner wall of the ring mouth 8 and the amount to be milled (the amount to be milled, for example, 1mm of the inner wall is milled) are known. The three-axis servo slide 4 can be used to drive the milling cutter 6 to mill the inner wall of the ring mouth 8 according to the set trajectory, and the milling degree and milling trajectory of each milling point of the ring mouth 8 can be guaranteed to be consistent, and the roundness of the inner wall of the ring mouth 8 can be guaranteed.

[0042] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A method for processing the inner wall surface of a large-diameter seat ring, characterized in that: The processing device comprises an electric vehicle (1) arranged on a ring opening (8), a notch (5) being provided on the electric vehicle (1), a three-axis servo slide (4) being installed on the electric vehicle (1), a power head (3) being installed on the moving end of the three-axis servo slide (4), a milling cutter (6) being mounted on the power head (3), positioning mechanisms being installed at both ends of the electric vehicle (1), and target balls (2) for use with a laser tracker (20) being provided on the electric vehicle (1) on both sides of the three-axis servo slide (4); The positioning mechanism comprises a first electric cylinder (9) and a plurality of guide sleeves (10) mounted on the side wall of the electric vehicle (1), a guide rod (11) being arranged inside the guide sleeve (10), a shaft sleeve (15) being fixedly connected to the guide rod (11) and the first electric cylinder (9), a box being fixedly connected to the upper end of the shaft sleeve (15), a second electric cylinder (17) being mounted on the box, a shaft rod (16) being mounted inside the shaft sleeve (15), the upper end of the shaft rod (16) being fixedly connected to a piston rod of the second electric cylinder (17), and the lower end of the shaft rod (16) being connected to an electromagnet (12); A controller is provided on the electric vehicle (1), and the controller is connected to a computer through a wireless communication module. The computer remotely controls the movement of the electric vehicle (1), the movement of the three-axis servo slide (4), the start and stop of the power head (3), the extension and retraction of the first electric cylinder (9), the extension and retraction of the second electric cylinder (17), and the switching on and off of the electromagnet (12) through the controller. The method comprises the following steps: Initially, the milling cutter (6) is located at an initial position, and there is a gap between the electromagnet (12) and the bottom surface of the annular groove on the end surface of the ring opening (8); In the first step, the electric vehicle (1) moves to a position on the inner wall of the ring opening (8) to be processed; In the second step, the second electric cylinder (17) drives the electromagnet (12) to fall onto the annular groove on the end surface of the ring opening (8), and then the electromagnet (12) is energized to fix the electric vehicle (1); The third step is to use a laser tracker (20) to detect the distance between the target balls (2) on both sides of the electric vehicle (1) and the laser tracker (20), and detect whether the two distances are within a preset value. If not, the controller controls the two first electric cylinders (9) to extend and retract, so as to adjust the electric vehicle (1) to within the preset value. In the fourth step, after the position of the electric vehicle (1) is adjusted, the three-axis servo slide (4) drives the milling cutter (6) to move from the initial position to the processing position, and at the same time, the power head (3) is started, and the three-axis servo slide (4) drives the milling cutter (6) to mill the inner wall surface of the ring opening (8) according to the set trajectory; In the fifth step, after the inner wall surface of the ring opening (8) is milled, the initial state is restored, and then the electric vehicle (1) moves on the ring opening (8) to the next position to be processed to mill the inner wall surface of the ring opening (8).

2. The method for machining the inner wall surface of a large-diameter seat ring according to claim 1, characterized in that: The electric vehicle (1) is provided with a level sensor (18), which is connected to the electromagnet (12) via a universal ball seat (14) at the lower end of the shaft rod (16).

3. The method for machining the inner wall surface of a large-diameter seat ring according to claim 2, characterized in that: A magnetic isolation copper plate (19) is connected between the universal ball seat (14) and the electromagnet (12).

4. The method for machining the inner wall surface of a large-diameter seat ring according to claim 1, characterized in that: The electric vehicle (1) comprises a vehicle body and four wheels (7) mounted on the vehicle body, and the four wheels (7) are respectively driven by an adjustable speed motor (21).

5. The method for machining the inner wall surface of a large-diameter seat ring according to claim 1, characterized in that: When the third step is performed, the level sensor (18) detects the levelness of the electric vehicle (1). If the levelness of the electric vehicle (1) exceeds a preset value, the controller controls the second electric cylinder (17) to extend and retract, so as to adjust the electric vehicle (1) to a level state.

Images