Welding turn-milling device for upper guide cylinder and machining method of welding turn-milling device

Abstract

The invention provides an upper guide cylinder welding turn-milling device and a machining method thereof. A welding manipulator is arranged on one side of a five-axis machining center or / and at least one welding arm is arranged at the top in the five-axis machining center, and at least two adjustable center frames are arranged on a base in the five-axis machining center; a first clamping jaw and a second clamping jaw are distributed at the two ends of the base, the two adjustable center frames are used for containing a cylinder body of a guide cylinder, and the first clamping jaw and the second clamping jaw are used for clamping a cover plate and a flange plate respectively. The production cost is reduced, the rejection rate is reduced through high-precision welding and machining, the production cost is reduced, material waste is reduced through precise machining, and the material utilization rate is increased. And by means of the design of the adjustable center frame and the welding mechanical arm, the device can adapt to guide cylinders of different sizes and shapes, and high flexibility and adaptability are achieved.

Description

Technical Field

[0001] The invention relates to the field of guide cylinder processing, in particular to an upper guide cylinder welding turning and milling device and a processing method thereof. Background Art

[0002] In nuclear power plants, the safe and stable operation of nuclear reactors is crucial, and the control rod guide tube assembly (CRGT), as one of the key components, plays an important role in the power regulation process of nuclear reactors. It is responsible for guiding and limiting the vertical movement of the control rods, ensuring that the control rods can be accurately inserted or withdrawn from the predetermined position between the fuel assemblies, thereby achieving effective control of the nuclear reactor power. The processing quality of the control rod guide tube assembly is directly related to the movement speed and accuracy of the control rods, which in turn affects the safety and reliability of the nuclear reactor.

[0003] For advanced nuclear power units, such as the "Hualong One", the requirements for the control rod guide cylinder assembly are more stringent. In particular, for the processing of the upper guide cylinder, not only does it need to meet extremely high precision standards, but the process flow is also extremely complex. The circumferential positioning pin hole on the guide cylinder (diameter is 18.5 mm, tolerance is +0.021 mm to 0 mm) and the upper guide cylinder axis and upper flange end face positioning pin hole (diameter is 13 mm, tolerance is +0.011 mm to 0 mm) must maintain strict position requirements (position accuracy is Φ0.15 mm). Such high-standard processing requirements pose great challenges to traditional processing methods.

[0004] In addition, the two ends of the guide cylinder are usually connected by laser welding. After laser welding, it is processed by traditional horizontal lathes and horizontal machining centers. This processing process is not only complicated, but also difficult to ensure processing efficiency and accuracy.

[0005] When using traditional horizontal lathes and horizontal machining centers for processing, special tooling needs to be designed and manufactured to ensure precise positioning, and frequent adjustments and re-clamping are required during the processing process, which not only greatly reduces the processing efficiency but also makes it difficult to ensure the required processing accuracy. Summary of the invention

[0006] The main purpose of the present invention is to provide an upper guide cylinder welding turning and milling device and a processing method thereof, so as to solve the problem of frequent adjustment and re-clamping during the processing, which not only greatly reduces the processing efficiency but also makes it difficult to ensure the required processing accuracy.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: an upper guide cylinder welding turning and milling device, a welding robot is provided on one side of the five-axis machining center and / or at least one welding arm is provided on the top inside the five-axis machining center, at least two adjustable center frames are provided on the base inside the five-axis machining center, and a first claw and a second claw are distributed at both ends of the base. The two adjustable center frames are used to place the cylinder body of the guide cylinder, and the first claw and the second claw are used to clamp the cover plate and the flange plate respectively.

[0008] In a preferred embodiment, at least a plurality of infrared distance measuring devices are provided inside the five-axis machining center, wherein three infrared distance measuring devices are arranged on the same surface and face the cylinder surface of the guide cylinder.

[0009] In the preferred embodiment, the welding manipulator is arranged on one side of the five-axis machining center, the welding gun is arranged at the end of the welding manipulator, the welding manipulator is slidably connected to the ground rail, and the bottom of the welding manipulator is driven by a motor to slide on the ground rail.

[0010] In the preferred embodiment, a driving motor is provided at the bottom of the welding manipulator, a gear is provided at the output end of the driving motor, a rack is provided on one side of the ground rail, and the rack is meshed with the gear.

[0011] In the preferred embodiment, one end of the welding arm is hinged to a housing on one side of the top of the five-axis machining center, and the welding gun is arranged at the other end of the welding arm; The welding arm is hinged to the housing on the other side of the top of the five-axis machining center through a first electric push rod near the end of the welding gun, and the first electric push rod is hinged to the welding arm.

[0012] In the preferred embodiment, a lifting roller that can be raised and lowered is provided on the middle support shell of the adjustable center frame, and side adjustment arms are provided on both sides of the lifting roller. The middle part of the side adjustment arm is hinged to the support shell, the head end of the side adjustment arm is provided with a roller, and the tail end of the side adjustment arm is connected to the telescopic device; The side adjustment arms and lifting rollers on both sides adjust the coaxiality between the cylinder body, the cover plate and the flange plate.

[0013] In the preferred embodiment, the lower end of the lifting roller is connected to the second electric push rod.

[0014] In the preferred embodiment, the rear end of the side adjustment arm is hinged to the telescopic end of the third electric push rod, and the rear end of the third electric push rod is hinged to the support shell.

[0015] In the preferred embodiment, the control computer is electrically connected to the plurality of infrared distance measuring devices and the plurality of adjustable center frames.

[0016] In a preferred embodiment, the method comprises: S1. First install the cover plate on the first clamping claw, adjust the cover plate to ensure that the cover plate is coaxial with the first clamping claw, then install the flange plate on the second clamping claw, adjust the flange plate to ensure that the flange plate is coaxial with the second clamping claw, and the four surfaces of the flange plate are perpendicular to the surface of the second clamping claw; S2. Use a crane to lift the cylinder and place it on two adjustable center frames. The side adjustment arms on both sides of the adjustable center frames are opened, and the cylinder falls onto the lifting rollers. The side adjustment arms on both sides are moved closer to the side walls of the cylinder, and the rollers at the ends of the side adjustment arms are against the surface of the cylinder. S3, three infrared distance measuring devices form a group, two groups of distance measuring devices adjust the distance between the two ends of the cylinder, the three infrared distance measuring devices are evenly set, the three infrared distance measuring devices are irradiated on the surface of the cylinder, and then the cylinder is rotated, and the three infrared distance measuring devices measure the distance between the cylinder and the three infrared distance measuring devices; Then, the position information of the two ends of the cylinder is obtained according to the obtained distance data, and then the lifting roller and the side adjustment arm on the adjustable center frame are used to adjust the position of the cylinder. The height of the cylinder is adjusted by the lifting roller, and the horizontal position of the cylinder is adjusted by the side adjustment arm so that the axis of the cylinder gradually coincides with the desired axis. S4. After the cylinder is adjusted, edit the code to control the first clamping jaw and the second clamping jaw to move toward the cylinder position. Write the code according to the length of the cylinder so that the end faces of the cover plate and the flange plate on the first clamping jaw and the second clamping jaw are close to the end face of the cylinder, and the distance between them is 3-5mm. S5, the welding manipulator moves to the contact position between the cover plate and the cylinder, and the welding gun on the welding manipulator welds the cover plate and the upper part of the cylinder for a distance, and then the welding manipulator moves to the position between the cylinder and the flange plate, and welds the cylinder and the flange plate for a distance; The welding distance is 1 / 2 of the circumference of the cylinder; S6, then the first electric push rod drives the welding arm to descend, the welding gun approaches the docking position between the cylinder and the cover plate, the first clamping claw and the second clamping claw rotate slowly, the first electric push rod drives the welding arm to descend, and the welding gun on the welding arm starts welding at the position that has not been welded; At the same time, the welding manipulator also welds the cylinder and the flange plate synchronously. After the first clamping jaw and the second clamping jaw rotate one circle, the welding is completed. S7, the welding position is detected, and then the welding gun on the welding arm and the welding gun on the welding manipulator perform a second welding, the first clamping jaw and the second clamping jaw rotate slowly, the welding gun on the welding arm and the welding manipulator perform synchronous welding, and the welding is completed; S8, the second clamping jaw releases the flange plate, the second clamping jaw returns to the initial position, the processing head processes the surface of the flange plate, and the processing head and the first clamping jaw cooperate to perform turning, milling and drilling on the surface of the cylinder; S9, the second clamping jaw clamps the flange plate, the first clamping jaw releases the cover plate and returns to the initial position, the processing head and the second clamping jaw cooperate to perform turning and milling processing on the welding position of the cover plate and the cylinder body. After the processing is completed, the entire guide cylinder is taken out from the five-axis machining center to complete the processing.

[0017] The present invention provides an upper guide cylinder welding turning and milling device and a processing method thereof, which improves welding accuracy and efficiency, ensures the comprehensiveness and quality of welding through multi-position welding and synchronous welding, significantly improves welding efficiency, and reduces processing time.

[0018] To improve processing accuracy, three sets of infrared distance measuring devices are used to accurately measure the distances at both ends of the cylinder to generate detailed position data to ensure the accuracy of the cylinder's position information. The height and horizontal position of the cylinder are automatically adjusted through the lifting rollers and side adjustment arms on the adjustable center frame to make the axis of the cylinder coincide with the desired axis, ensuring processing accuracy.

[0019] Reduce the number of clamping times. Through the multifunctional processing capabilities of the five-axis machining center, multiple processes such as welding, turning and milling can be completed in one clamping, avoiding the cumulative errors caused by multiple clampings and improving processing accuracy and efficiency. Improve production efficiency. The entire welding and processing process is automatically controlled by the control computer, reducing manual intervention and improving production efficiency. The first and second jaws can slowly rotate the cylinder, so that the welding and processing processes are carried out continuously, further improving processing efficiency.

[0020] Enhanced safety: through the precise control of the infrared distance measuring device and the adjustable center frame, the position of the cylinder is always ensured to be within the safe range, avoiding the potential safety hazards caused by position deviation, reducing the error of human operation, and improving the safety of the overall system. Reduced production costs: high-precision welding and processing reduce the scrap rate, reduce production costs, and precise processing reduces material waste and improves material utilization. Strong adaptability: the design of the adjustable center frame and welding manipulator enables the device to adapt to guide cylinders of different sizes and shapes, with strong flexibility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is the overall appearance structure diagram of the present invention; Figure 2 This is a side view of the installation structure of the welding manipulator of the present invention; Figure 3 This is a structural diagram of the guide cylinder installation welding of the present invention; Figure 4 This is a disassembled structural diagram of the guide cylinder of the present invention; Figure 5 This is a structural diagram of the guide cylinder of the present invention placed on an adjustable center frame; Figure 6 This is a structural diagram of the welding arm installation of the present invention; Figure 7 This is a distance measurement structure diagram of the infrared distance measurement device of the present invention; Figure 8 It is the internal structure diagram of the adjustable center frame of the present invention.

[0022] In the figure: a five-axis machining center 1; a welding robot 2; a driving motor 201; a gear 202; a rack 203; a ground rail 3; a base 4; a first clamping claw 5; a machining head 6; a second clamping claw 7; a guide cylinder 8; a cover plate 801; a flange plate 802; a cylinder body 803; an adjustable center frame 9; a lifting roller 901; a side adjustment arm 902; a second electric push rod 903; a third electric push rod 904; a supporting shell 905; a moving seat 906; a welding gun 10; a welding arm 11; a first electric push rod 12; and an infrared distance measuring device 13. DETAILED DESCRIPTION

[0023] Example 1 like Figures 1 to 8 As shown, an upper guide cylinder welding turning and milling device is provided, a welding robot 2 is provided on one side of a five-axis machining center 1 and / or at least one welding arm 11 is provided on the top inside the five-axis machining center 1, at least two adjustable center frames 9 are provided on the base 4 inside the five-axis machining center 1, and first clamping claws 5 and second clamping claws 7 are distributed at both ends of the base 4, the two adjustable center frames 9 are used to place the cylinder body 803 of the guide cylinder 8, and the first clamping claws 5 and the second clamping claws 7 are used to clamp the cover plate 801 and the flange plate 802 respectively.

[0024] The two adjustable center frames 9 are used to place the cylinder 803 of the guide cylinder 8, and the first clamping claw 5 and the second clamping claw 7 are used to clamp the cover plate 801 and the flange plate 802 respectively. The cylinder 803 is placed on the adjustable center frame 9, and the first clamping claw 5 and the second clamping claw 7 are used to clamp the cover plate 801 and the flange plate 802 respectively, and then the first clamping claw 5 and the second clamping claw 7 on the first clamping claw 5 and the second clamping claw 7 are controlled to approach the cylinder 803, and the welding gun on the welding manipulator 2 and the welding arm 11 welds the cylinder 803, the cover plate 801 and the flange plate 802 to achieve synchronous welding. This welding method is more efficient and has a high welding strength. After welding, the cylinder 803, the cover plate 801 and the flange plate 802 are processed again, and no clamping is required again, and the molding is performed in one time.

[0025] The five-axis machining center 1 is the core of the entire device, providing multi-axis linkage machining capabilities. The welding manipulator 2 and the welding arm 11 are responsible for high-precision welding of the cylinder 803, the cover plate 801 and the flange plate 802 to ensure welding quality and efficiency. The adjustable center frame 9 provided on the base 4 is used to support and fix the cylinder 803 to ensure its stability and precision during the machining process. The first clamping jaw 5 and the second clamping jaw 7 clamp the cover plate 801 and the flange plate 802 respectively, and by precisely controlling the movement of the clamping jaws, the cover plate 801 and the flange plate 802 are tightly fitted with the cylinder 803, which is convenient for welding. After welding is completed, the five-axis machining center 1 can directly turn and mill the guide cylinder assembly without re-clamping, thereby improving machining efficiency and precision.

[0026] In a preferred embodiment, at least a plurality of infrared distance measuring devices 13 are further provided inside the five-axis machining center 1 , wherein three infrared distance measuring devices 13 are arranged on the same surface, and the three infrared distance measuring devices 13 face the surface of the cylinder body 803 of the guide cylinder 8 .

[0027] At least a plurality of infrared distance measuring devices 13 are also provided inside the five-axis machining center 1, wherein three infrared distance measuring devices 13 are arranged on the same surface, and the three infrared distance measuring devices 13 face the surface of the cylinder 803 of the guide cylinder 8. The three infrared distance measuring devices 13 form a group, and two groups of distance measuring devices perform distance adjustment on both ends of the cylinder 803. The three infrared distance measuring devices 13 are evenly arranged, and the three infrared distance measuring devices 13 are irradiated on the surface of the cylinder 803, and then the cylinder 803 is rotated, and the three infrared distance measuring devices 13 measure the distance between the cylinder 803 and the three infrared distance measuring devices 13; then the position information of both ends of the cylinder 803 is obtained according to the obtained distance data, and then the lifting roller 901 and the side adjustment arm 902 on the adjustable center frame 9 adjust the position of the cylinder 803, and the height of the cylinder is adjusted by the lifting roller 901, and the horizontal position of the cylinder is adjusted by the side adjustment arm 902 so that the axis of the cylinder 803 gradually coincides with the desired axis.

[0028] The infrared distance measuring device 13 is used to measure the distance between the surface of the cylinder 803 and the distance measuring device. The three groups of distance measuring devices are used to measure the distances of the two ends of the cylinder 803 respectively, and the precise position information of the two ends of the cylinder 803 is obtained. The distance measuring devices are evenly arranged to ensure the accuracy of the measurement results. When the cylinder 803 is rotated, the infrared distance measuring device 13 continuously measures the distances at different positions and generates detailed position data. Based on these data, the lifting roller 901 and the side adjustment arm 902 on the adjustable center frame 9 make fine adjustments to the cylinder 803. The lifting roller 901 is used to adjust the height of the cylinder to ensure that its axis is aligned in the vertical direction; the side adjustment arm 902 is used to adjust the horizontal position of the cylinder so that its axis coincides with the desired axis in the horizontal direction. In this way, the accurate centering of the cylinder 803 can be ensured, and the processing accuracy and efficiency can be improved.

[0029] In the preferred embodiment, the welding robot 2 is arranged on one side of the five-axis machining center 1, the welding gun 10 is arranged at the end of the welding robot 2, the welding robot 2 is slidably connected to the ground rail 3, and the bottom of the welding robot 2 is driven by a motor to slide on the ground rail 3.

[0030] The welding robot 2 can move to multiple positions via the ground rail 3 to weld the cylinder 803 , the cover plate 801 and the flange plate 802 .

[0031] Specifically, the welding manipulator 2 is used to perform welding operations, and a welding gun 10 is installed at its end, which can accurately weld the cylinder 803, the cover plate 801 and the flange plate 802. The welding manipulator 2 is slidably connected to the ground rail 3, and the bottom is driven by a motor, and can slide freely on the ground rail 3, thereby realizing multi-position movement. This design enables the welding manipulator 2 to weld the guide cylinder assembly at different positions to ensure the comprehensiveness and quality of the welding. In this way, the welding efficiency and welding strength can be improved, manual intervention can be reduced, and the overall processing accuracy and reliability can be improved.

[0032] In the preferred embodiment, a driving motor 201 is provided at the bottom of the welding robot 2 , a gear 202 is provided at the output end of the driving motor 201 , a rack 203 is provided at one side of the ground rail 3 , and the rack 203 meshes with the gear 202 .

[0033] A driving motor 201 is provided at the bottom of the welding manipulator 2, a gear 202 is provided at the output end of the driving motor 201, a rack 203 is provided on one side of the ground rail 3, and the rack 203 is meshed with the gear 202. The gear rack drive can realize precise position welding according to code control.

[0034] Specifically, the drive motor 201 is installed at the bottom of the welding manipulator 2 to provide power. A gear 202 is installed at the output end of the drive motor 201, and a rack 203 is provided on one side of the ground rail 3, and the gear 202 is meshed with the rack 203. This gear rack drive system can convert the rotational motion of the motor into the linear motion of the welding manipulator 2 along the ground rail 3. By programming and controlling the rotation angle and direction of the drive motor 201, the precise position movement of the welding manipulator 2 on the ground rail 3 can be achieved. In this way, the welding manipulator 2 can perform precise position welding on the cylinder 803, the cover plate 801 and the flange plate 802 according to the preset code control to ensure the welding quality and efficiency.

[0035] In the preferred embodiment, one end of the welding arm 11 is hinged to the shell on one side of the top of the five-axis machining center 1, and the welding gun 10 is arranged at the other end of the welding arm 11; the welding arm 11 is hinged to the shell on the other side of the top of the five-axis machining center 1 through the first electric push rod 12 near the end of the welding gun 10, and the first electric push rod 12 is hinged to the welding arm 11.

[0036] One end of the welding arm 11 is hinged to the shell on one side of the top of the five-axis machining center 1, and the welding gun 10 is arranged at the other end of the welding arm 11; the welding arm 11 is hinged to the shell on the other side of the top of the five-axis machining center 1 through the first electric push rod 12 near the end of the welding gun 10, and the first electric push rod 12 is hinged to the welding arm 11.

[0037] The welding robot 2 moves to the contact position between the cover plate 801 and the cylinder 803. After the welding gun 10 on the welding robot 2 welds the cover plate 801 and the upper position of the cylinder 803 for a distance, the welding robot 2 moves to the position between the cylinder 803 and the flange plate 802, and welds the cylinder 803 and the flange plate 802 for a distance; the welding distance is 1 / 2 of the circumference of the cylinder 803; then the first electric push rod 12 drives the welding arm 11 to descend, and the welding gun 10 approaches the docking position between the cylinder 803 and the cover plate 801, the first clamping claw 5 and the second clamping claw 7 rotate slowly, the first electric push rod 12 drives the welding arm 11 to descend, and the welding gun 10 on the welding arm 11 starts to weld the unwelded position; at the same time, the welding robot 2 also synchronously welds between the cylinder 803 and the flange plate 802, and the welding is completed after the first clamping claw 5 and the second clamping claw 7 rotate one circle.

[0038] Specifically, one end of the welding arm 11 is hinged to the housing on one side of the top of the five-axis machining center 1, and the other end is equipped with a welding gun 10. The end of the welding arm 11 near the welding gun 10 is hinged to the housing on the other side of the top of the five-axis machining center 1 through a first electric push rod 12, and the first electric push rod 12 is hinged to the welding arm 11 to drive the lifting action of the welding arm 11.

[0039] The welding robot 2 first moves to the contact position between the cover plate 801 and the cylinder 803, and the welding gun 10 welds the cover plate 801 and the upper position of the cylinder 803 for a distance equal to 1 / 2 of the circumference of the cylinder 803. Next, the welding robot 2 moves to the position between the cylinder 803 and the flange plate 802, and welds the cylinder 803 and the flange plate 802 for a distance equal to 1 / 2 of the circumference of the cylinder 803.

[0040] Then, the first electric push rod 12 drives the welding arm 11 to descend, so that the welding gun 10 approaches the docking position between the cylinder 803 and the cover plate 801. The first clamping claw 5 and the second clamping claw 7 rotate slowly, driving the cylinder 803 to rotate, and the first electric push rod 12 continues to drive the welding arm 11 to descend, and the welding gun 10 starts welding the unwelded position. At the same time, the welding robot 2 also welds the unwelded position between the cylinder 803 and the flange plate 802 synchronously. After the first clamping claw 5 and the second clamping claw 7 rotate one circle, the entire welding process is completed.

[0041] In the preferred embodiment, a lifting roller 901 which can be raised and lowered is provided on the support shell 905 in the middle of the adjustable center frame 9, and side adjustment arms 902 are provided on both sides of the lifting roller 901. The middle position of the side adjustment arm 902 is hinged to the support shell 905, and a roller is provided at the head end of the side adjustment arm 902, and the tail end of the side adjustment arm 902 is connected to the telescopic device; The side adjustment arms 902 and the lifting rollers 901 on both sides adjust the coaxiality between the cylinder 803 and the cover plate 801 and the flange plate 802. The lower end of the lifting roller 901 is connected to the second electric push rod 903. The tail end of the side adjustment arm 902 is hinged to the telescopic end of the third electric push rod 904, and the tail end of the third electric push rod 904 is hinged to the support shell 905.

[0042] In the preferred embodiment, the control computer is electrically connected to multiple infrared distance measuring devices 13 and multiple adjustable center frames 9. The control computer is electrically connected to multiple infrared distance measuring devices 13 and multiple adjustable center frames 9. The infrared distance measuring device 13 is used to measure the distance between the surface of the cylinder 803 and the distance measuring device to generate accurate position data. These data are transmitted to the control computer, and the control computer calculates the position information of the two ends of the cylinder 803 based on these data. Then, the control computer controls the lifting roller 901 and the side adjustment arm 902 on the adjustable center frame 9 through electrical connection for precise adjustment. The lifting roller 901 adjusts the height of the cylinder 803 through the extension and contraction of the second electric push rod 903, and the side adjustment arm 902 adjusts the horizontal position of the cylinder 803 through the extension and contraction of the third electric push rod 904, so that the axis of the cylinder 803 gradually coincides with the desired axis. This integrated control system ensures the precise centering of the cylinder 803 and improves the accuracy and efficiency of welding and processing.

[0043] Example 2 Further illustrate with reference to Example 1, Figure 1-8 The structure shown, S1, first install the cover plate 801 on the first clamping claw 5, adjust the cover plate 801 to ensure that the cover plate 801 is coaxial with the first clamping claw 5, then install the flange plate 802 on the second clamping claw 7, adjust the flange plate 802, ensure that the flange plate 802 is coaxial with the second clamping claw 7, and the four surfaces of the flange plate 802 are perpendicular to the surface of the second clamping claw 7; S2. Use a crane to lift the cylinder 803 and place it on two adjustable center frames 9. The side adjustment arms 902 on both sides of the adjustable center frames 9 are opened, and the cylinder 803 falls onto the lifting rollers 901. The side adjustment arms 902 on both sides are close to the side walls of the cylinder 803, and the rollers at the ends of the side adjustment arms 902 are against the surface of the cylinder 803. S3, three infrared distance measuring devices 13 form a group, two groups of distance measuring devices perform distance measurement adjustment on both ends of the cylinder 803, three infrared distance measuring devices 13 are evenly arranged, three infrared distance measuring devices 13 are irradiated on the surface of the cylinder 803, and then the cylinder 803 is rotated, and the three infrared distance measuring devices 13 measure the distance between the cylinder 803 and the three infrared distance measuring devices 13; Then, the position information of the two ends of the cylinder 803 is obtained according to the obtained distance data, and then the lifting roller 901 and the side adjustment arm 902 on the adjustable center frame 9 adjust the position of the cylinder 803. The height of the cylinder is adjusted by the lifting roller 901, and the horizontal position of the cylinder is adjusted by the side adjustment arm 902 so that the axis of the cylinder 803 gradually coincides with the desired axis. The infrared distance measuring device 13 is used to measure the end surface position information of the cylinder 803, and the cylinder 803 is adjusted to be coaxial with the cover plate 801 and the flange plate 802 through the adjustable center frame 9. The steps are: 1. Data Collection Two groups of three evenly spaced infrared distance measuring devices 13 are arranged and aligned with the two ends of the cylinder 803 respectively.

[0044] The infrared distance measuring device 13 is turned on to irradiate the surface of the cylinder 803 .

[0045] Slowly rotate the cylinder 803 and record the distances between the cylinder 803 and each infrared distance measuring device (13) measured by the three infrared distance measuring devices 13, which are recorded as , , (The measurements at both ends are recorded as , , and , , ).

[0046] 2. Calculate the cylinder end position information For one end of the cylinder: Calculate the average of three distances .

[0047] A coordinate system is established with the center point of the plane where the three infrared distance measuring devices (13) are located as the origin. The position deviation of the end surface of the cylinder in the coordinate system is determined based on the difference between the three distances and the average value. For example, if , , , the position coordinates of the cylinder end surface in the coordinate system can be determined by a certain algorithm (such as weighted average, etc.) .

[0048] For the other end of the cylinder, the same method is used to calculate the position coordinates .

[0049] 3. Adjust the cylinder position According to the position coordinates of both ends, the deviation angle and offset of the cylinder axis from the desired axis, that is, the deviation angle and offset of the axis of the cover plate 801 and the flange plate 802 are calculated.

[0050] Operate the lifting roller 901 and the side adjustment arm 902 on the adjustable center frame 9 to make adjustments: The height of the cylinder is adjusted by lifting the roller 901 to reduce the height difference between the two ends and gradually approach a coaxial state.

[0051] The horizontal position of the cylinder is adjusted by the side adjustment arm 902 so that the axis of the cylinder gradually coincides with the desired axis.

[0052] Repeat steps 1 and 2, measure the position information of both ends of the cylinder again, and judge whether it meets the coaxial requirements. If not, continue to adjust until it meets the requirements.

[0053] Precautions When rotating the cylinder 803, the rotation should be smooth to ensure the accuracy of the measurement data. Manual rotation is adopted, and the cylinder 803 is rotated manually using a pry bar.

[0054] S4. After the cylinder 803 is adjusted, edit the code to control the first clamping claw 5 and the second clamping claw 7 to move toward the cylinder 803. Write the code according to the length of the cylinder 803 so that the end faces of the cover plate 801 and the flange plate 802 on the first clamping claw 5 and the second clamping claw 7 are close to the end face of the cylinder 803, and the distance between them is 3-5 mm. S5, the welding manipulator 2 moves to the contact position between the cover plate 801 and the cylinder 803, and the welding gun 10 on the welding manipulator 2 welds the cover plate 801 and the upper position of the cylinder 803 for a distance, and then the welding manipulator 2 moves to the position between the cylinder 803 and the flange plate 802, and welds the cylinder 803 and the flange plate 802 for a distance; The welding distance is 1 / 2 of the circumference of the cylinder 803; S6, then the first electric push rod 12 drives the welding arm 11 to descend, the welding gun 10 approaches the docking position between the cylinder 803 and the cover plate 801, the first clamping claw 5 and the second clamping claw 7 rotate slowly, the first electric push rod 12 drives the welding arm 11 to descend, and the welding gun 10 on the welding arm 11 starts welding the position that has not been welded; At the same time, the welding robot 2 also welds the cylinder 803 and the flange plate 802 synchronously. After the first clamping claw 5 and the second clamping claw 7 rotate one circle, the welding is completed. S7, the welding position is detected, and then the welding gun 10 on the welding arm 11 and the welding gun on the welding manipulator 2 perform a second welding, the first clamping jaw 5 and the second clamping jaw 7 rotate slowly, the welding gun 10 on the welding arm 11 and the welding manipulator 2 use synchronous welding, and the welding is completed; S8, the second clamping jaw 7 releases the flange plate 802, the second clamping jaw 7 returns to the initial position, the processing head 6 processes the surface of the flange plate 802, and the processing head 6 and the first clamping jaw 5 cooperate to perform milling and drilling on the surface of the cylinder 803; S9, the second clamping jaw 7 clamps the flange plate 802, the first clamping jaw 5 releases the cover plate 801 and returns to the initial position, the processing head 6 and the second clamping jaw 7 cooperate to perform turning and milling processing on the welding position of the cover plate 801 and the cylinder body 803. After the processing is completed, the entire guide cylinder 8 is taken out from the five-axis machining center 1 to complete the processing.

[0055] 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. An upper guide cylinder welding turning and milling device, characterized in that: A welding manipulator (2) is provided on one side of the five-axis machining center (1) and / or at least one welding arm (11) is provided on the top of the inside of the five-axis machining center (1). At least two adjustable center frames (9) are provided on a base (4) inside the five-axis machining center (1). First clamping claws (5) and second clamping claws (7) are provided at both ends of the base (4). The two adjustable center frames (9) are used to place a cylinder body (803) of a guide cylinder (8). The first clamping claws (5) and the second clamping claws (7) are used to clamp a cover plate (801) and a flange plate (802), respectively.

2. According to claim 1, the upper guide cylinder welding turning and milling device is characterized in that: At least a plurality of infrared distance measuring devices (13) are also provided inside the five-axis machining center (1), wherein three infrared distance measuring devices (13) are arranged on the same surface, and the three infrared distance measuring devices (13) face the surface of the cylinder body (803) of the guide cylinder (8).

3. According to claim 1, the upper guide cylinder welding turning and milling device is characterized in that: The welding manipulator (2) is arranged on one side of the five-axis machining center (1), the welding gun (10) is arranged at the end of the welding manipulator (2), the welding manipulator (2) is slidably connected to the ground rail (3), and the bottom of the welding manipulator (2) is driven by a motor to slide on the ground rail (3).

4. According to claim 3, the upper guide cylinder welding turning and milling device is characterized in that: A driving motor (201) is provided at the bottom of the welding manipulator (2); a gear (202) is provided at the output end of the driving motor (201); a rack (203) is provided at one side of the ground rail (3); and the rack (203) is meshed with the gear (202).

5. The upper guide cylinder welding turning and milling device according to claim 1 is characterized in that: One end of the welding arm (11) is hinged to a housing on one side of the top of the five-axis machining center (1), and the welding gun (10) is arranged at the other end of the welding arm (11); The welding arm (11) is hingedly connected to the housing on the other side of the top of the five-axis machining center (1) through a first electric push rod (12) at an end position close to the welding gun (10), and the first electric push rod (12) is hingedly connected to the welding arm (11).

6. The upper guide cylinder welding turning and milling device according to claim 1, characterized in that: A lifting roller (901) that can be raised and lowered is provided on the middle support shell (905) of the adjustable center frame (9), and side adjustment arms (902) are provided on both sides of the lifting roller (901). The middle position of the side adjustment arm (902) is hinged to the support shell (905), the head end of the side adjustment arm (902) is provided with a roller, and the tail end of the side adjustment arm (902) is connected to the telescopic device; The side adjustment arms (902) and the lifting rollers (901) on both sides adjust the coaxiality between the cylinder (803) and the cover plate (801) and the flange plate (802).

7. The upper guide cylinder welding turning and milling device according to claim 6 is characterized in that: The lower end of the lifting roller (901) is connected to the second electric push rod (903).

8. The upper guide cylinder welding turning and milling device according to claim 6, characterized in that: The tail end of the side adjustment arm (902) is hinged to the telescopic end of the third electric push rod (904), and the tail end of the third electric push rod (904) is hinged to the support shell (905).

9. The upper guide cylinder welding turning and milling device according to claim 2, characterized in that: The control computer is electrically connected to the plurality of infrared distance measuring devices (13) and the plurality of adjustable center frames (9).

10. A processing method for an upper guide cylinder welding turning and milling device according to any one of claims 1 to 9, characterized in that: The method includes: S1. First, install the cover plate (801) on the first clamping claw (5), adjust the cover plate (801) to ensure that the cover plate (801) is coaxial with the first clamping claw (5), and then install the flange plate (802) on the second clamping claw (7), adjust the flange plate (802), ensure that the flange plate (802) is coaxial with the second clamping claw (7), and the four surfaces of the flange plate (802) are perpendicular to the surface of the second clamping claw (7); S2. Use a crane to lift the cylinder (803) and place it on two adjustable center frames (9). The side adjustment arms (902) on both sides of the adjustable center frames (9) are opened, and the cylinder (803) falls onto the lifting rollers (901). The side adjustment arms (902) on both sides are moved closer to the side walls of the cylinder (803), and the rollers at the ends of the side adjustment arms (902) are pressed against the surface of the cylinder (803). S3, three infrared distance measuring devices (13) form a group, two groups of distance measuring devices perform distance measurement adjustment on both ends of the cylinder (803), the three infrared distance measuring devices (13) are evenly arranged, the three infrared distance measuring devices (13) are irradiated on the surface of the cylinder (803), and then the cylinder (803) is rotated, and the three infrared distance measuring devices (13) measure the distance between the cylinder (803) and the three infrared distance measuring devices (13); Then, the position information of the two ends of the cylinder (803) is obtained according to the obtained distance data, and then the lifting roller (901) and the side adjustment arm (902) on the adjustable center frame (9) are used to adjust the position of the cylinder (803). The height of the cylinder is adjusted by the lifting roller (901), and the horizontal position of the cylinder is adjusted by the side adjustment arm (902) so that the axis of the cylinder (803) gradually coincides with the desired axis. S4, after the cylinder (803) is adjusted, the code is edited to control the first clamping claw (5) and the second clamping claw (7) to move toward the cylinder (803), and the code is written according to the length of the cylinder (803) so that the end faces of the cover plate (801) and the flange plate (802) on the first clamping claw (5) and the second clamping claw (7) are close to the end face of the cylinder (803), and the distance between them is 3-5 mm; S5, the welding manipulator (2) moves to the contact position between the cover plate (801) and the cylinder (803), and the welding gun (10) on the welding manipulator (2) welds the cover plate (801) and the upper part of the cylinder (803) for a distance, and then the welding manipulator (2) moves to the position between the cylinder (803) and the flange plate (802), and welds the cylinder (803) and the flange plate (802) for a distance; The welding distance is 1 / 2 of the circumference of the cylinder (803); S6, then the first electric push rod (12) drives the welding arm (11) to descend, the welding gun (10) approaches the docking position of the cylinder (803) and the cover plate (801), the first clamping claw (5) and the second clamping claw (7) slowly rotate, the first electric push rod (12) drives the welding arm (11) to descend, and the welding gun (10) on the welding arm (11) starts welding at the position that has not been welded; At the same time, the welding manipulator (2) also synchronously welds the cylinder (803) and the flange plate (802), and the welding is completed after the first clamping claw (5) and the second clamping claw (7) rotate one circle; S7, the welding position is detected, and then the welding gun (10) on the welding arm (11) and the welding gun on the welding manipulator (2) perform a second welding, the first clamping claw (5) and the second clamping claw (7) rotate slowly, and the welding gun (10) on the welding arm (11) and the welding manipulator (2) adopt synchronous welding, and the welding is completed; S8, the second clamping jaw (7) releases the flange plate (802), the second clamping jaw (7) returns to the initial position, the processing head (6) processes the surface of the flange plate (802), and the processing head (6) and the first clamping jaw (5) cooperate to perform turning, milling and drilling on the surface of the cylinder (803); S9, the second clamping jaw (7) clamps the flange plate (802), the first clamping jaw (5) releases the cover plate (801) and returns to the initial position, the processing head (6) and the second clamping jaw (7) cooperate to perform turning and milling processing on the welding position of the cover plate (801) and the cylinder body (803), and after the processing is completed, the entire guide cylinder (8) is taken out from the five-axis machining center (1) to complete the processing.

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