Hexagonal pipe shape righting method

Abstract

The invention relates to a hexagonal tube shape righting method which is used for righting through a hexagonal tube high-precision shape righting device and comprises the following steps that one end of a hexagonal tube is rotationally arranged, and the other end of the hexagonal tube is movably inserted into a shape righting hexagonal sleeve, a driving hollow shaft and a fixed hexagonal sleeve; the angle sensor detects the current deviation angle of the hexagonal tube and transmits the deviation angle to the control device; the control device starts the clutch and the shape righting driving device to drive the hollow shaft and the clutch to drive the shape righting hexagonal sleeve to rotate for shape righting; after shape righting is completed, the control device drives the shape righting hexagonal sleeve, the driving hollow shaft and the fixed hexagonal sleeve to move to set positions through the moving device; the control device controls the clutch and the shape righting driving device to perform shape righting; the shape correction is repeated until the shape correction of the whole hexagonal pipe is completed; the control device drives the shape correcting hexagonal sleeve, the driving hollow shaft and the fixing hexagonal sleeve to reset through the moving device, and the overall angle deviation of the hexagonal pipe is detected through the angle sensor. The method is accurate in correction angle and good in correction effect.

Description

Technical Field

[0001] The invention relates to a hexagonal tube correction, in particular to a hexagonal tube correction method. Background Art

[0002] The fuel assembly is the core of the entire nuclear energy system, and the quality of the pipe is directly related to the safe service of the fuel assembly and the normal operation of the core. At present, in the design of new nuclear energy systems, the outer sleeve of the fuel assembly generally adopts a seamless pipe with a special hexagonal cross-section. When assembling the assembly, the two end faces of the hexagonal tube need to be butt-welded with parts of the same cross-section. In view of the long-term safe and stable operation requirements of nuclear power, in addition to the strict quality requirements of the hexagonal tube during the production and manufacturing process, its assembly quality is equally important during the assembly of the assembly. Because the shape and position of the parts butt-welded with the hexagonal tube are relatively fixed, in order to ensure that there is no torsional stress between the two parts after butt welding, the projection of the two end faces of the hexagonal tube needs to coincide (twisting degree) before welding.

[0003] During the manufacturing process of hexagonal tubes, after heat treatment, the shape of the tube will produce a certain degree of deformation and twisting, which cannot ensure that each edge is parallel to the center line, and cannot meet the requirements of the overlap (twist degree) of the projections of the two end faces of the product before welding.

[0004] In order to make the hexagonal tube meet the requirements, the hexagonal tube needs to be corrected. The existing correction methods include: using a twisting device, that is, using two three-jaw chucks to clamp the two ends of the hexagonal tube, one chuck is fixed, and the other chuck is rotated at an angle, so that the hexagon as a whole is twisted at a certain angle to correct its torsional deformation, but this overall twisting method has an uncontrollable torsional position, and the correction angle is difficult to confirm, and the correction effect is not ideal. Another method uses a hexagonal sleeve for manual correction, but this correction method requires a lot of manpower and the correction angle is uncontrollable. Summary of the invention

[0005] In order to solve the problem that the correction angle is difficult to control, the present invention provides a hexagonal tube correction method, and the specific technical solution is as follows: A hexagonal tube correction method, which is corrected by a hexagonal tube high-precision correction device, comprises the following steps: Step 1, one end of the hexagonal tube is rotatably set, and the other end is movably inserted into the orthopedic hexagonal sleeve, the driving hollow shaft and the fixed hexagonal sleeve; Step 2: The angle sensor detects the current deviation angle of the hexagonal tube and transmits it to the control device; Step 3: The control device starts the clutch and the orthopedic drive device, and the orthopedic drive device drives the orthopedic hexagonal sleeve to rotate by driving the hollow shaft and the clutch, and the orthopedic hexagonal sleeve drives the hexagonal tube to rotate in the opposite direction to the deviation angle for correction; Step 4, the control device stops the orthopedic drive device and releases the clutch after the angle sensor detects that the hexagonal tube eliminates the deviation angle; Step 5: The control device drives the orthopedic hexagonal sleeve, the driving hollow shaft and the fixed hexagonal sleeve to move to a set position through the moving device; Step 6: The control device controls the clutch and the orthopedic drive device to perform orthopedic surgery; Repeat steps 5 and 6 until the whole hexagonal tube is corrected; Step 7: The control device drives the orthopedic hexagonal sleeve, the driving hollow shaft and the fixed hexagonal sleeve to reset through the moving device, and detects the angle deviation of the entire hexagonal tube through the angle sensor.

[0006] Preferably, the length of the hexagonal tube and the position of the corrective hexagonal sleeve are detected by a grating ruler.

[0007] Preferably, an angle compensation value is set in the control system so that the correction angle is the sum of the current deviation angle and the angle compensation value.

[0008] Preferably, the hexagonal tube high-precision orthopedic device comprises: an orthopedic base; a moving device, the moving device is arranged on the orthopedic base; a moving seat, slidably arranged on the orthopedic base and connected to the moving device; an orthopedic hexagonal sleeve, rotatably arranged on the moving seat; an angle sensor, arranged on the moving seat and arranged opposite to the orthopedic hexagonal sleeve; a driving hollow shaft, rotatably arranged on the moving seat and arranged opposite to the orthopedic hexagonal sleeve; an orthopedic driving device, arranged on the moving seat and connected to the driving hollow shaft; a clutch, respectively connected to the orthopedic hexagonal sleeve and the driving hollow shaft; a fixed hexagonal sleeve. An angle sleeve, slidably disposed on the orthopedic base and connected to the movable seat, for being slidably inserted on the hexagonal tube so that the hexagonal tube does not rotate; a rotating hexagonal sleeve, rotatably disposed on one end of the orthopedic base, for being inserted into the end of the hexagonal tube; and a control device, respectively connected to the angle sensor, the clutch, the movable device and the orthopedic drive device; wherein, during correction, the clutch causes the orthopedic hexagonal sleeve to rotate with the driving hollow shaft to correct the deviation angle of the hexagonal tube, and when the movable seat moves, the clutch causes the orthopedic hexagonal sleeve to be separated from the driving hollow shaft so that the orthopedic hexagonal sleeve can rotate freely.

[0009] Furthermore, the orthopedic drive device includes: a drive box, which is arranged on the movable seat; a turbine, which is rotatably arranged in the drive box and connected to the driving hollow shaft; a worm, which is rotatably arranged on the drive box and meshes with the turbine; and an orthopedic servo motor, which is installed on the drive box and connected to the worm and the control device.

[0010] Furthermore, it also includes: a locking device, which is arranged on the movable seat and the fixed hexagonal sleeve and is arranged opposite to the orthopedic base to fix the movable seat and the fixed hexagonal sleeve on the orthopedic base.

[0011] Furthermore, the locking device includes: a locking cylinder, which is arranged on both sides of the movable seat and the fixed hexagonal sleeve and is connected to the control device; and a locking block, which is arranged on the locking cylinder and movably inserted into the locking groove of the orthopedic base, and is used to be pressed onto the orthopedic base through the locking cylinder.

[0012] Furthermore, the moving device includes: a screw rod, which is rotatably arranged on the orthopedic base; a translation nut, which is arranged on the screw rod and connected to the moving seat; and a translation servo motor, which is arranged on the orthopedic base and connected to the screw rod and the control device.

[0013] Furthermore, it also includes: a follower seat, which is slidably installed on the orthopedic base and connected to the movable seat, and the fixed hexagonal sleeve is fixed on the follower seat.

[0014] Furthermore, it also includes: a rotating seat, which is arranged at one end of the orthopedic base and is rotatably connected to the rotating hexagonal sleeve.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The invention provides a hexagonal tube correction method which uses an angle sensor and a correction hexagonal sleeve to accurately correct the distortion of the hexagonal tube, and cooperates with a moving device to correct the distortion section by section, thereby completing the correction of the entire hexagonal tube. The clutch enables the correction hexagonal sleeve to move freely on the twisted hexagonal tube, which is convenient for correcting each part. The correction angle is easy to confirm, the correction position is reliable, and no manual correction is required. The correction effect is good and the correction accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of the hexagonal tube orthosis method.

[0017] Figure 2 This is the front view of the hexagonal tube high-precision orthopedic device; Figure 3 is along Figure 2 Sectional view along line AA; Figure 4 is along Figure 2 Partial view of the middle BB line; Figure 5 is along Figure 2 Partial view of the mid-CC line; Figure 6is along Figure 2 Partial view of the middle DD line; Figure 7 is along Figure 2 Partial view of the middle EE line; Figure 8 yes Figure 3 A partial enlarged view of the H in the middle; Fig. 9 This is a schematic diagram of the hexagonal tube before correction; Fig.10 This is a schematic diagram of the hexagonal tube after correction. DETAILED DESCRIPTION

[0018] The present invention will be further described with reference to the accompanying drawings.

[0019] like Figures 1 to 10 As shown, a hexagonal tube correction method is performed by using a hexagonal tube high-precision correction device, comprising the following steps: Step 1, one end of the hexagonal tube is rotatably set, and the other end is movably inserted into the orthopedic hexagonal sleeve 13, the driving hollow shaft 15 and the fixed hexagonal sleeve 25; Step 2, the angle sensor 14 detects the current deviation angle of the hexagonal tube and transmits it to the control device; Step 3, the control device starts the clutch 12 and the orthopedic drive device, the orthopedic drive device drives the hollow shaft 15 and the clutch 12 to drive the orthopedic hexagonal sleeve 13 to rotate, and the orthopedic hexagonal sleeve 13 drives the hexagonal tube to rotate in the opposite direction to the deviation angle for correction; Step 4, the control device stops the orthopedic drive device and releases the clutch 12 after the angle sensor 14 detects that the hexagonal tube eliminates the deviation angle; Step 5, the control device drives the orthopedic hexagonal sleeve 13, the driving hollow shaft 15 and the fixed hexagonal sleeve 25 to move to the set position through the moving device; Step 6, the control device controls the clutch 12 and the orthopedic drive device to perform orthopedic surgery; Repeat steps 5 and 6 until the entire hexagonal tube is corrected; Step 7: The control device drives the orthopedic hexagonal sleeve 13, the driving hollow shaft 15 and the fixed hexagonal sleeve 25 to reset through the moving device, and detects the angle deviation of the entire hexagonal tube through the angle sensor 14.

[0020] The length of the hexagonal tube and the position of the corrective hexagonal sleeve 13 are detected by the grating scale 9 .

[0021] The angle compensation value is set in the control system so that the correction angle is the sum of the current deviation angle and the angle compensation value.

[0022] like Figures 2 to 8As shown, the hexagonal tube high-precision orthopedic device includes an orthopedic base 1, a moving device, a moving seat 10, an orthopedic hexagonal sleeve 13, an angle sensor 14, a driving hollow shaft 15, an orthopedic driving device, a clutch 12, a fixed hexagonal sleeve 25 and a rotating hexagonal sleeve 23. The moving seat 10 is slidably mounted on the orthopedic base 1 through a linear guide pair, and the moving device is mounted on the orthopedic base 1 and connected to the moving seat 10 to drive the moving seat 10 to move. The orthopedic hexagonal sleeve 13 is rotatably mounted on the moving seat 10 through a bearing; the angle sensor 14 is fixed on the moving seat 10 and is arranged opposite to the orthopedic hexagonal sleeve 13 to detect the current angle of the orthopedic hexagonal sleeve 13; the driving hollow shaft 15 is rotatably mounted on the moving seat 10 through a bearing, and is arranged opposite to the orthopedic hexagonal sleeve 13 and is coaxially arranged; the orthopedic driving device is mounted on the moving seat 10 and is connected to the driving hollow shaft 15; the clutch 12 is respectively connected to the orthopedic hexagonal sleeve 13 and the driving hollow shaft 15; the fixed hexagonal sleeve 25 It is slidably installed on the orthopedic base 1 through a linear guide pair and is connected to the moving seat 10, and is used to be slidably inserted on the hexagonal tube so that the hexagonal tube does not rotate; the rotating hexagonal sleeve 23 is used to rotatably install one end of the orthopedic base 1, and is used to be inserted into the end of the hexagonal tube so that the hexagonal tube can rotate freely; the clutch 12 makes the orthopedic hexagonal sleeve 13 follow the driving hollow shaft 15 to rotate to correct the deviation angle of the hexagonal tube during correction, and the clutch 12 separates the orthopedic hexagonal sleeve 13 from the driving hollow shaft 15 when the moving seat 10 moves so that the orthopedic hexagonal sleeve 13 can rotate freely.

[0023] One end of the hexagonal tube is installed in the rotating hexagonal sleeve 23, and the other end of the hexagonal tube is movably inserted in the driving hollow shaft 15, the orthopedic hexagonal sleeve 13 and the fixed hexagonal sleeve 25. The angle sensor 14 detects the distortion of the hexagonal tube, that is, the current deviation angle of the hexagonal tube, and then the clutch 12 is started, and the clutch 12 makes the driving hollow shaft 15 and the orthopedic hexagonal sleeve 13 rotate synchronously, and then the orthopedic driving device drives the driving hollow shaft 15 and the orthopedic hexagonal sleeve 13 to rotate, and the orthopedic hexagonal sleeve 13 drives the hexagonal tube to rotate, and the angle sensor 14 detects the angle of the hexagonal tube in real time. When the hexagonal tube rotates to an angle that eliminates the distortion, the orthopedic driving device stops to complete the correction of the hexagonal tube at this position, and then the clutch 12 is released to separate the driving hollow shaft 15 from the orthopedic hexagonal sleeve 13, and the orthopedic hexagonal sleeve 13 can rotate freely. After the moving device drives the orthopedic hexagonal sleeve 13 to move a set distance in the direction of the rotating hexagonal sleeve 23, the next section of the hexagonal tube is corrected until the correction of the entire hexagonal tube is completed.

[0024] The orthopedic base 1 is rectangular; two linear guide rails 2 are provided, symmetrically fixedly installed on the orthopedic base 1, and linear bearings 3 are slidably installed on the linear guide rails 2. The linear bearings 3 are connected to the moving seat 10 and the fixed hexagonal sleeve 25. The moving device includes a screw 4, a translation nut 8 and a translation servo motor 7; two bearing seats 6 are provided and fixedly installed at both ends of the orthopedic base 1, which are used to fix the screw 4; the screw 4 is connected to the translation servo motor 7 through a coupling 5, and the screw 4 is driven by the translation servo motor 7 to realize the rotation of the screw 4. The translation nut 8 is mounted on the screw 4 and connected to the moving seat 10; the grating ruler 9 is installed on the orthopedic base 1, parallel to the linear guide rail 2 on one side, and the reading head of the grating ruler 9 is connected to the moving seat 10.

[0025] The angle sensor 14 is mounted on the orthopedic hexagonal sleeve 13. A platform is provided on the upper portion of the orthopedic hexagonal sleeve 13 for horizontally mounting the angle sensor 14.

[0026] In order to facilitate the installation of the rotating hexagonal sleeve 23, it also includes: a rotating seat 22, which is fixed to one end of the orthopedic base 1 and is rotatably connected to the rotating hexagonal sleeve 23 through a bearing.

[0027] In order to facilitate the replacement of the fixed hexagonal sleeve 25 and improve the versatility, a follower seat 24 is also included. The follower seat 24 is slidably mounted on the orthopedic base 1 through a linear guide pair. The follower seat 24 is connected to the moving base 10 through a follower rod 28, and the fixed hexagonal sleeve 25 is fixed on the follower seat 24. The fixed hexagonal sleeve 25 can be replaced with different specifications as needed.

[0028] The clutch 12 is an electromagnetic friction plate clutch 12 .

[0029] The orthopedic hexagonal sleeve 13 is installed in the shaft hole on one side of the driven part of the clutch 12. The outer surface of the orthopedic hexagonal sleeve 13 is circular as a whole, and the inner part is divided into two parts, one part is circular on the outer side, and the other part is hexagonal on the inner side. The circular shape is slightly larger than the hexagonal shape. The orthopedic drive device includes a drive box 11, a turbine 16, a worm 17 and an orthopedic servo motor 18; the drive box 11 is connected to the moving seat 10 through a follower pull rod 28, and the drive box 11 can also be directly fixed on the moving seat 10. The driving hollow shaft 15 is installed in the shaft hole on one side of the active part of the clutch 12, and the inner part is circular, and the size is larger than the outer size of the hexagonal tube; the turbine 16 is sleeved on the driving hollow shaft 15, and is rotatably installed in the driving box 11 through a bearing, and the turbine 16 is also meshed with the worm rod 17; the worm rod 17 is connected to the orthopedic servo motor 18 through a coupling 2 19, and the rotation of the worm rod 4 is realized by the drive of the orthopedic servo motor 18, thereby driving the turbine 16.

[0030] The turbine 16 is connected and fixed to the driving hollow shaft 15 by a flat key, and the orthopedic servo motor 18 drives the worm rod 17 to rotate, and the worm rod 17 drives the turbine 16 to rotate, thereby rotating the inner friction plate of the electromagnetic friction plate clutch 12; when the clutch 12 is not in action, the outer friction plate of the driven part of the clutch 12 is in a free state, and when the coil 121 of the electromagnetic friction plate clutch 12 is energized, the armature 122 is attracted, so that the armature 122 slides to the right and presses the outer friction plate 123 and the inner friction plate 124, and the clutch 12 is engaged. The driving force is transmitted to the driven part of the clutch 12, driving the orthopedic hexagonal sleeve 13 to rotate; the coil 121 of the clutch 12 loses power, the armature 122 slides to the left to loosen the outer friction plate 123, the outer friction plate 123 is separated from the inner friction plate 124, and the clutch 12 is opened, so that the driven part of the clutch 12 is restored to a free state, thereby allowing the orthopedic hexagonal sleeve 13 to rotate freely. When the orthopedic hexagonal sleeve 13 moves on the hexagonal tube, it will not be stuck on the hexagonal tube due to the distortion of the hexagonal tube, which facilitates the movement of the orthopedic hexagonal sleeve 13.

[0031] In order to improve the stability during correction and make the force uniform, a locking device is also included. The locking device is arranged on the movable seat 10 and the fixed hexagonal sleeve 25, and is arranged opposite to the orthopedic base 1, so that the movable seat 10 and the fixed hexagonal sleeve 25 are fixed on the orthopedic base 1. The locking device includes a locking cylinder 20 and a locking block 21. The locking cylinder 20 is a hydraulic cylinder. The locking cylinder 20 is installed on both sides of the movable seat 10 and the fixed hexagonal sleeve 25. The locking block 21 is installed on the piston rod of the locking cylinder 20 and is movably inserted in the locking groove 31 of the orthopedic base 1. The locking groove 31 is arranged along the length direction of the orthopedic base 1 and is a waist-shaped groove. The locking cylinder 20 presses the locking block 21 on the orthopedic base 1 to fix the movable seat 10. The locking block 21 is a T-shaped block.

[0032] The locking device further comprises a roller 30, which is arranged on both sides of the movable seat 10 and the fixed hexagonal sleeve 25 and movably abuts against the orthopedic base 1. The roller 30 can reduce the force on the linear guide pair and improve stability.

[0033] The follower pull rod 28 can adjust the distance between the moving seat 10 and the follower seat 24, so as to facilitate adjustment according to the needs of correction. Adjusting the distance between the moving seat 10 and the follower seat 24 is to adjust the distance between the fixed hexagonal sleeve 25 and the correction hexagonal sleeve 13. A smaller distance can better constrain the hexagonal tube of the corrected part and prevent it from deforming again.

[0034] Two modes, automatic and inching, can be realized; the translation servo motor 7 is controlled to move forward according to the translation distance, and the angle sensor 14 detects the deviation angle of the corresponding position of the hexagonal tube in the free state, and the deviation angle is transmitted to the correction servo motor 18. At the same time, a certain over-correction angle is required according to the tube rebound characteristics, and a suitable value can be set in the angle compensation option. The angle compensation value is also controlled by the correction servo motor 18, and the two jointly control the reverse correction angle of the correction servo motor 18. After the correction is completed, the moving seat 10 retreats. During the retreat of the moving seat 10, the grating ruler 9 and the angle sensor 14 are used to detect the overall length and angle deviation of the tube to ensure the quality of the correction and achieve high-precision correction.

[0035] During correction: the angle sensor 14 first detects the deviation angle of the current position of the hexagonal tube, transmits the data to the control device, and then the correction servo motor 18 rotates the corresponding correction angle. After the correction is completed, the moving device drives the moving seat 10 and the fixed hexagonal sleeve 25 to continue to move forward the set distance and perform correction until the overall correction of the hexagonal tube is completed.

[0036] One end of the hexagonal tube is movably inserted into a fixed hexagonal sleeve 25, which can prevent the hexagonal tube from rotating. The fixed hexagonal sleeve 25 cooperates with the orthopedic hexagonal sleeve 13 to perform orthopedic surgery. The hexagonal tube passes through the driving hollow shaft 15, and the other end of the hexagonal tube is inserted into the rotating hexagonal sleeve 23. The rotating hexagonal sleeve 23 can rotate and can rotate freely following the twisting degree of the hexagonal tube. When the clutch 12 is in the disengaged state, the orthopedic hexagonal sleeve 13 can rotate freely, and the orthopedic hexagonal sleeve 13 can deflect with the hexagonal tube. The angle sensor 14 is installed horizontally and can measure the deviation angle of the current position of the hexagonal tube. The data is transmitted to the control device. At the same time, the angle compensation option in the HMI interface fills in the appropriate compensation angle according to the performance of the tube. The two data are superimposed, which is the angle that the orthopedic servo motor 18 needs to rotate in the opposite direction for correction. The clutch 12 is engaged, and the orthopedic servo motor 18 starts to move. The worm 17 drives the turbine 16. The active part of the clutch 12 rotates to drive the driven part of the clutch 12 to rotate synchronously, so that the orthopedic hexagonal sleeve 13 rotates the corresponding correction angle; after the correction is completed, the clutch 12 is disconnected, and the translation servo motor 7 starts to move according to the set value in the translation distance option in the HMI interface, and drives the moving seat 10, the drive box 11 and the follower seat 24 to move synchronously through the screw rod 4 and the translation nut 8. Stop after the set distance. If the setting value of the translation distance is small, the number of corrections can be increased to achieve high-precision and fine correction. The angle sensor 14 starts to transmit the deviation angle of the new position to the system, and the orthotic device starts a new round of orthotic action.

[0037] During the orthopedic process, one end of the hexagonal tube is fixed on the rotating hexagonal sleeve 23 of the rotating seat 22. This end is a free end and can rotate at any angle. The other end of the hexagonal tube is movably inserted into the fixed hexagonal sleeve 25 of the follower seat 24. This end is fixed and cannot rotate. One side of the follower seat 24 is the completed orthopedic part of the hexagonal tube. The fixed hexagonal sleeve 25 is used to assist in orthopedics. During orthopedics, the end of the hexagonal tube is fixed so that the hexagonal tube cannot rotate freely and the orthopedic part is close to the fixed part, which can ensure the quality of orthopedics, reduce rebound after orthopedics, and improve the efficiency of orthopedics. The locking cylinders 20 at both ends of the drive box 11 and the follower seat 24 are firmly fixed on the orthopedic base 1 through the locking blocks 21 when the orthopedic servo motor 18 rotates, overcoming the large torque generated during orthopedics and ensuring the stability of the mechanism.

[0038] Detection of overall length and angle deviation of the tube: After the overall correction of the hexagonal tube is completed, the overall detection option in the HMI interface can be selected, and the click of back button will cause the translation servo motor 7 to start to rotate in the opposite direction, and the moving seat 10 to back off. The angle sensor 14 can detect the overall angle deviation of the hexagonal tube, and the grating ruler 9 can measure the overall length of the tube and display it on the HMI interface.

[0039] like Figure 8 As shown in the figure, after stress relief, the hexagonal tube produces an angle of torsion, as shown in the figure. Figure 2 and Figure 3 As shown, the rotating hexagonal sleeve 23 of the rotating seat 22 to be corrected is placed, and the other end passes through the corrective hexagonal sleeve 13, the driving hollow shaft 15 and the fixed hexagonal sleeve 25. Fig. 9As shown, the clutch 12 is in the disconnected state, and the orthopedic hexagonal sleeve 13 is in a free state and can deflect according to the shape of the hexagonal tube 29, and transmit the detected deviation angle to the control device. At this time, the coil 121 of the clutch 12 is energized, and the armature 122 is attracted, so that the armature 122 slides to the right and presses the outer friction plate 123 and the inner friction plate 124. The clutch 12 is engaged and the driving force can be transmitted to the driven part of the clutch 12. The locking cylinder 20 is activated to firmly fix the drive box 11 and the follower seat 24 to the orthopedic base 1. The orthopedic servo motor 18 starts to rotate in the opposite direction according to the deviation angle of the current position detected by the angle sensor 14 and the compensation angle set in the HMI interface. The orthopedic servo motor 18 drives the orthopedic hexagonal sleeve 13 to rotate the corresponding angle to correct the hexagonal tube 29 through the worm rod 17 and the turbine 16. During correction, the uncorrected part of the hexagonal tube 29 rotates in the corrective hexagonal sleeve 13, and the corrected part is limited by the fixed hexagonal sleeve 25 and does not twist. After the correction is completed, the coil 121 of the clutch 12 loses power, the armature 122 slides to the left, the outer friction plate 123 and the inner friction plate 124 are separated, the clutch 12 is opened, and the driven part of the clutch 12 is restored to a free state, and the locking cylinder 20 is released at the same time; the translation servo motor 7 starts to move according to the set value in the translation distance in the HMI interface, and drives the moving seat 10, the drive box 11 and the follower seat 24 to move synchronously through the screw rod 4 and the translation nut 8 to move forward the set distance and then stop; during the movement, the correction hexagonal sleeve 13 is in a free state, and the angle sensor 14 measures the deviation angle of the new position after translation and transmits the data to the control device, and the correction servo motor 18 performs corresponding angle correction according to the new data. By repeating the above actions continuously, the overall correction of the hexagonal tube is completed.

[0040] After the correction is completed, select the overall detection option in the HMI interface, click back, the translation servo motor 7 starts to rotate in the opposite direction, the moving seat 10 starts to retreat, and drives the reading head of the grating ruler 9 to move. The overall length of the tube can be measured by the grating ruler 9, and the correction hexagonal sleeve 13 is in a free state. During the translation process, the angle deviation of the hexagonal tube as a whole can be detected by the angle sensor 14 and displayed on the HMI interface.

[0041] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the protection scope of the claims of the present invention.

Claims

1. A hexagonal tube correction method, characterized in that: Correction is performed using a hexagonal tube high-precision orthotic device, including the following steps: Step 1, one end of the hexagonal tube is rotatably arranged, and the other end is movably inserted into the orthopedic hexagonal sleeve (13), the driving hollow shaft (15) and the fixed hexagonal sleeve (25); Step 2, the angle sensor (14) detects the current deviation angle of the hexagonal tube and transmits it to the control device; Step 3, the control device starts the clutch (12) and the orthopedic drive device, the orthopedic drive device drives the orthopedic hexagonal sleeve (13) to rotate by driving the hollow shaft (15) and the clutch (12), and the orthopedic hexagonal sleeve (13) drives the hexagonal tube to rotate in the opposite direction of the deviation angle to perform correction; Step 4, the control device stops the orthopedic drive device and releases the clutch (12) after the angle sensor (14) detects that the hexagonal tube eliminates the deviation angle; Step 5: The control device drives the orthopedic hexagonal sleeve (13), the driving hollow shaft (15) and the fixed hexagonal sleeve (25) to move to a set position via a moving device; Step 6, the control device controls the clutch (12) and the orthopedic drive device to perform orthopedic surgery; Repeat steps 5 and 6 until the entire hexagonal tube is corrected; Step 7: The control device drives the orthopedic hexagonal sleeve (13), the driving hollow shaft (15) and the fixed hexagonal sleeve (25) to reset through the moving device, and detects the angle deviation of the entire hexagonal tube through the angle sensor (14).

2. A hexagonal tube correction method according to claim 1, characterized in that: The length of the hexagonal tube and the position of the corrective hexagonal sleeve (13) are detected by a grating ruler (9).

3. A hexagonal tube correction method according to claim 1, characterized in that: The angle compensation value is set in the control system so that the correction angle is the sum of the current deviation angle and the angle compensation value.

4. A hexagonal tube correction method according to claim 1, characterized in that: The hexagonal tube high-precision orthopedic device comprises: Orthopedic base (1); A moving device, the moving device being arranged on the orthopedic base (1); A movable seat (10) is slidably disposed on the orthopedic base (1) and is connected to the movable device; An orthopedic hexagonal sleeve (13) rotatably mounted on the movable seat (10); An angle sensor (14) is disposed on the movable seat (10) and is arranged opposite to the orthopedic hexagonal sleeve (13); A driving hollow shaft (15) is rotatably mounted on the movable seat (10) and is disposed opposite to the orthopedic hexagonal sleeve (13); An orthopedic drive device, disposed on the movable seat (10) and connected to the drive hollow shaft (15); A clutch (12) connected to the orthopedic hexagonal sleeve (13) and the driving hollow shaft (15) respectively; A fixed hexagonal sleeve (25) is slidably disposed on the orthopedic base (1) and is connected to the movable base (10), and is used for being slidably inserted on the hexagonal tube so that the hexagonal tube does not rotate; A rotating hexagonal sleeve (23) is rotatably arranged at one end of the orthopedic base (1) for being inserted into the end of the hexagonal tube; and A control device, connected to the angle sensor (14), the clutch (12), the moving device and the orthopedic drive device respectively; The clutch (12) causes the orthopedic hexagonal sleeve (13) to rotate following the driving hollow shaft (15) during correction to correct the deviation angle of the hexagonal tube, and the clutch (12) causes the orthopedic hexagonal sleeve (13) to separate from the driving hollow shaft (15) when the moving seat (10) moves to allow the orthopedic hexagonal sleeve (13) to rotate freely.

5. A hexagonal tube correction method according to claim 4, characterized in that: The orthopedic drive device comprises: A driving box (11), wherein the driving box (11) is arranged on the moving seat (10); a turbine (16), the turbine (16) being rotatably disposed in the drive box (11) and being connected to the driving hollow shaft (15); a worm (17), the worm (17) being rotatably mounted on the drive box (11) and meshing with the turbine (16); and An orthopedic servo motor (18) is mounted on the drive box (11) and is connected to the worm (17) and the control device.

6. A hexagonal tube correction method according to claim 4, characterized in that: Also includes: A locking device, wherein the locking device is disposed on the movable seat (10) and the fixed hexagonal sleeve (25), and is arranged opposite to the orthopedic base (1), so that the movable seat (10) and the fixed hexagonal sleeve (25) are fixed on the orthopedic base (1).

7. A hexagonal tube correction method according to claim 6, characterized in that: The locking device comprises: A locking cylinder (20), the locking cylinder (20) being arranged on both sides of the movable seat (10) and the fixed hexagonal sleeve (25), and being connected to the control device; and A locking block (21), wherein the locking block (21) is disposed on the locking cylinder (20) and is movably inserted into the locking groove (31) of the orthopedic base (1), and is used to be pressed onto the orthopedic base (1) through the locking cylinder (20).

8. A hexagonal tube correction method according to claim 4, characterized in that: The mobile device comprises: A screw rod (4), the screw rod (4) being rotatably mounted on the orthopedic base (1); a translation nut (8), the translation nut (8) being arranged on the screw rod (4) and connected to the moving seat (10); and A translation servo motor (7), wherein the translation servo motor (7) is arranged on the orthopedic base (1) and is connected to the lead screw (4) and the control device.

9. A hexagonal tube correction method according to claim 4, characterized in that: Also includes: A follower seat (24) is slidably mounted on the orthopedic base (1) and connected to the movable base (10); the fixed hexagonal sleeve (25) is fixed on the follower seat (24).

10. A hexagonal tube correction method according to claim 4, characterized in that: Also includes: A rotating seat (22) is arranged at one end of the orthopedic base (1) and is rotatably connected to the rotating hexagonal sleeve (23).

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