Pipeline flexible posture platform

Abstract

The invention provides a pipeline flexible posture platform. The pipeline flexible posture platform comprises a six-axis robot arm, a working platform and a positioning support. The positioning support is fixed in the center of the working platform; the six-axis robot arms are arranged on the two sides of the positioning support and fixed to the working platform, and the clamping jaws are installed at the tail ends of the six-axis robot arms. The positioning support comprises a base, a cross-shaped sliding table fixing plate, an upper cross-shaped sliding table, a lower cross-shaped sliding table, a cross-shaped sliding table circular pipe support and a V-shaped block. The cross-shaped sliding table fixing plate is fixed on the base, the upper cross-shaped sliding table and the lower cross-shaped sliding table are stacked and fixed on the cross-shaped sliding table fixing plate in a crossed manner through bottom bolts, and the upper cross-shaped sliding table and the lower cross-shaped sliding table respectively carry out radial and axial movement through bottom slideways; and the V-shaped block is fixed on the cross-shaped sliding table through the cross-shaped sliding table circular tube bracket. Posture simulation is carried out through digital platform data, space limitation is avoided, accurate simulation production is carried out on the researched and developed pipe assembly, and the research and development speed and the production efficiency are greatly improved.

Description

Technical Field

[0001] The invention belongs to the field of thermal energy and power engineering, and in particular relates to a pipeline flexible posture platform. Background Art

[0002] In the field of gas turbines and aircraft engines, the pipeline system is one of the core components of gas turbines. The functions of the pipeline system are different due to different materials and specifications. The main function of the fuel pipeline in the pipeline system is to store and purify the oil injected into it, and then supply qualified fuel to the power system and fuel boiler of the ship to ensure the operation needs of the ship; the function of the lubricating oil pipeline is to deliver clean lubricating oil to the friction surface between the internal moving parts of the machinery such as the power system and the power transmission system, so that the liquid friction between the moving parts can be maintained, thereby reducing the loss of parts and friction loss. The lubricating oil can also strengthen the seal between the piston cylinder and the cylinder.

[0003] The pipeline assembly system is an important component of the gas turbine. Its production process mainly involves welding a single pipe with various curved shapes with a variety of flanges and pipe joints to form an assembly, and then connecting the components to form a pipeline system. In the production of pipeline assemblies, the welding of single pipes and various pipe joints has always been known as a difficult point in the industry. The difficulty lies in the fact that the current component welding uses contoured tooling for positioning, which requires manual swinging to the relevant position, resulting in low positioning accuracy. During assembly, individual pipeline components need to be manually calibrated, causing quality risks. Therefore, a device with high positioning accuracy and strong practical effect is urgently needed to solve the dilemma. Summary of the invention

[0004] The purpose of the present invention is to provide a pipeline flexible posture platform.

[0005] A pipeline flexible posture platform comprises a six-axis robot arm, a working platform and a positioning support; the positioning support is fixed at the center of the working platform; the six-axis robot arm is arranged on both sides of the positioning support and fixed on the working platform, and a clamp is installed at the end of the six-axis robot arm; the positioning support comprises a base, a cross slide fixing plate, a cross slide, a cross slide, a cross slide round tube bracket and a V-block; the cross slide fixing plate is fixed to the base, the cross slide and the cross slide are stacked in a cross shape through bottom bolts and fixed on the cross slide fixing plate, and the cross slide and the cross slide are respectively moved radially and axially through the bottom slide; the V-block is fixed to the cross slide through the cross slide round tube bracket.

[0006] Furthermore, the clamp includes a flange, a chuck, three jaws and a sliding top screw; the flange is connected to the end of the six-axis robot arm, one end of the chuck is connected to the flange, and the other end is connected to the three jaws. A sliding top screw is installed on the side of the chuck to adjust the diameter of the three jaws.

[0007] Furthermore, the six-axis robotic arm is cocentric with the positioning support, and the two six-axis robotic arms are at the same distance from the positioning support (14).

[0008] Furthermore, a flange storage plate is installed on the side of the base.

[0009] Furthermore, the cross slide fixing plate is provided with scale marks to record the position of the cross slide.

[0010] Furthermore, the notch direction of the V-block needs to be opposite to the six-axis robot arm.

[0011] Furthermore, the six-axis robotic arm includes a mechanical structure, a sensor and a controller. The mechanical structure includes a robotic arm, a driver and a rotating axis. The control of the degrees of freedom is achieved through motor drive. The sensors include encoders and position sensors for detecting parameters such as the position, speed and direction of the robotic arm, and then the controller feeds back data for control.

[0012] The beneficial effects of the present invention are:

[0013] The present invention first installs the matching standard parts of the pipeline in the mechanical claws of the flexible platform, and the control software can identify the posture of each workpiece according to the digital platform data in Teamcenter, and then drive two groups of high-precision six-axis robot arms to post-process the changes in trajectory and posture to ensure their position in three-dimensional space. At the same time, the control software supports multiple recognition modes, mode 1 is the drawing number input mode, mode 2 is the graphic input mode, mode 3 is to identify the workpiece through a special algorithm, and mode 4 is to identify the workpiece through networking of the production scheduling system. It supports remote control of the system through a wireless handheld box and Ethernet, which greatly improves the operability of the product. Moreover, in the production of pipeline components, the welding of single pipes and pipe joints has always been known as an industry difficulty. The difficulty lies in the fact that the current component welding uses contour-based tooling for positioning, which requires manual swinging to the relevant position, resulting in low positioning accuracy. During assembly, individual pipeline components require manual correction, causing quality risks. The pipeline flexible posture platform uses digital platform data for posture simulation. It is not restricted by space and can accurately simulate the production of developed pipe components. It also supports reverse research and development. That is, after the posture is posed at the end of the platform, the mimicking data can be directly reflected in the system, greatly accelerating the research and development speed and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural block diagram of the present invention;

[0015] Figure 2 This is a structural diagram of the clamping jaws of the present invention;

[0016] Figure 3 This is a structural diagram of the base of the present invention;

[0017] Figure 4 This is a general structural diagram of the attitude platform of the present invention. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with the accompanying drawings.

[0019] like Figure 2-Figure 4 As shown, a pipeline flexible posture platform includes a six-axis robot arm 12, a working platform 13 and a positioning support 14; the positioning support 14 is fixed at the center of the working platform 13; the six-axis robot arm 12 is arranged on both sides of the positioning support 14 and fixed on the working platform 13, and a clamping claw 15 is installed at the end of the six-axis robot arm 12; the positioning support 14 includes a base 5, a cross slide fixing plate 7, a cross slide 8, a cross slide 9, a cross slide round tube bracket 10 and a V-block 11; the cross slide fixing plate 7 is fixed on the base 5, the cross slide 8 and the cross slide 9 are stacked and fixed on the cross slide fixing plate 7 in a cross shape through bottom bolts, and the cross slide 8 and the cross slide 9 are respectively radially and axially moved through the bottom slide; the V-block 11 is fixed on the cross slide 8 through the cross slide round tube bracket 10.

[0020] Among them, the positioning support 14 can adjust the distance in the radial, axial, vertical and circumferential directions to facilitate the assembly of the entire pipe. The working platform 13 maintains good flatness to ensure that the entire component is at the same level to avoid posture deviation caused by deflection and affect the assembly effect.

[0021] The clamping jaws 15 include a flange 1, a chuck 2, three jaws 3 and a sliding top screw 4; the flange 1 is connected to the end of the six-axis robot arm 12, one end of the chuck 2 is connected to the flange 1, and the other end is connected to the three jaws 3. A sliding top screw 4 is installed on the side of the chuck 2 to adjust the diameter of the three jaws.

[0022] The clamping jaw 15 has three groups of molding surfaces corresponding to different types of parts, which can achieve a diameter range of φ6-φ210.

[0023] The six-axis robot arm 12 is co-centric with the positioning support 14 , and the two six-axis robot arms 12 are at the same distance from the positioning support 14 .

[0024] A flange storage plate 6 is installed on the side of the base 5 for storing standard parts such as reducers, flanges, and bosses to be used, so as to facilitate subsequent assembly.

[0025] The cross slide fixing plate 7 is provided with scale marks to record the cross slide position.

[0026] The notch direction of the V-block 11 needs to be opposite to the six-axis robot arm 12, and the V-block 11 is kept tangent to the pipeline to facilitate the assembly of the entire pipe.

[0027] The six-axis robotic arm 12 includes a mechanical structure, a sensor and a controller. The mechanical structure includes a robotic arm, a driver and a rotating shaft. The control of the degrees of freedom is achieved through motor drive. The sensors include encoders and position sensors for detecting parameters such as the position, speed and direction of the robotic arm. The controller then feeds back data for control. The controller controls the specific movement of the robot by controlling the coordinated work of the robotic arm and the sensor, thereby achieving precise, flexible and high-speed work efficiency and realizing the robot's efficient working ability.

[0028] The positioning accuracy and repeatability of the six-axis robotic arm robot can reach the micron level, which is much higher than the existing tooling. The maximum working range of a single robot is R1800mm, and the maximum linear working range of the dual robotic arms is 2500mm, which can meet the production requirements of existing parts. The clamping device uses jaws 15, which can realize the clamping of φ6-φ210 pipeline flanges and ball joints, and at the same time, it will not cause the hidden danger of gradual reduction of workpiece accuracy due to long-term wear and contact between the workpiece and the tooling.

[0029] The present invention first imports external data into the mimicry software, and then adjusts the swing state of the six-axis robot arm in the model through the mimicry software to grab the end of the group pipe. At this time, the required posture has been achieved through digital information, and then the corresponding point information is captured in the mimicry software, and a corresponding control program is compiled for the swing arm; the compiled control program is imported into the control software, and the control software communicates through the core control board according to the MQTT protocol. After the six-axis robot arm 12 receives the movement instruction of the control software through the core control board, the control software further sends the instruction to the peripheral board through the UART serial port communication, and the peripheral board drives the driver to lead the robot arm to move and swing out the corresponding posture.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A pipeline flexible posture platform, characterized in that: The invention comprises a six-axis robot arm (12), a working platform (13) and a positioning support (14); the positioning support (14) is fixed at the center of the working platform (13); the six-axis robot arm (12) is arranged on both sides of the positioning support (14) and fixed on the working platform (13); a clamping claw (15) is installed at the end of the six-axis robot arm (12); the positioning support (14) comprises a base (5), a cross slide fixing plate (7), an upper cross slide (8), and a lower cross slide (9). , a cross slide round tube bracket (10) and a V-shaped block (11); the cross slide fixing plate (7) is fixed on the base (5); the cross slide (8) and the cross slide bottom (9) are stacked in a cross shape and fixed on the cross slide fixing plate (7) through bottom bolts; the cross slide (8) and the cross slide bottom (9) are radially and axially moved respectively through bottom slideways; the V-shaped block (11) is fixed on the cross slide (8) through the cross slide round tube bracket (10).

2. A pipeline flexible posture platform according to claim 1, characterized in that: The clamping jaw (15) comprises a flange (1), a chuck (2), three jaws (3) and a sliding top screw (4); the flange (1) is connected to the end of the six-axis robot arm (12), one end of the chuck (2) is connected to the flange (1), and the other end is connected to the three jaws (3); a sliding top screw (4) is installed on the side of the chuck (2) to adjust the diameter of the three jaws.

3. A pipeline flexible posture platform according to claim 1, characterized in that: The six-axis robot arm (12) is cocentric with the positioning support (14), and the two six-axis robot arms (12) are at the same distance from the positioning support (14).

4. The pipeline flexible posture platform according to claim 1, characterized in that: A flange storage plate (6) is installed on the side of the base (5).

5. The pipeline flexible posture platform according to claim 1, characterized in that: The cross slide fixing plate (7) is provided with scale marks for recording the position of the cross slide.

6. A pipeline flexible posture platform according to claim 1, characterized in that: The notch direction of the V-shaped block (11) needs to be opposite to the six-axis robot arm (12).

7. The pipeline flexible posture platform according to claim 1, characterized in that: The six-axis robot arm (12) comprises a mechanical structure, a sensor and a controller. The mechanical structure comprises a robot arm, a driver and a rotating shaft. The degree of freedom is controlled by a motor drive. The sensor comprises an encoder and a position sensor for detecting parameters such as the position, speed and direction of the robot arm. The controller then feeds back data for control.

Images