A precise holding and multi-degree-of-freedom positioning system for the spatial pose of a tube

Abstract

The application discloses a kind of accurate holding and multi-degree-of-freedom positioning system of pipe space pose and working method thereof, including T-shaped groove split base plate (1), straight pipe area quick centering positioning fine adjustment mechanism (2) and multi-degree-of-freedom adjustable support mechanism (3).The system device utilizes the scissor unit in straight pipe area quick centering positioning fine adjustment mechanism (2) to realize vertical lifting centering, and realizes the non-rigid locking and axial positioning of pipe fitting in combination with the pneumatic negative pressure adsorption effect of quick positioning clamp jaw (2-5).Utilize the collaborative cooperation of X-Y plane 360° rotator (3-4-4) and X-Z plane 180° rotator (3-4-5) in multi-degree-of-freedom adjustable support mechanism (3) floating system (3-4), realize intelligent matching of support end face to the normal attitude of pipe complex space section.By adjusting wedge gap top pin (3-4-3) and fine adjustment screw, stable elastic pre-tightening support system is formed, and then precision detection operation is completed.The application has wide application range, high integration degree, and can meet the high precision and high reliability requirements of pipe fitting positioning in automatic detection production line.

Description

Technical Field

[0001] This invention relates to the field of precision testing technology, and in particular to a system for accurately maintaining the spatial orientation of pipe fittings and a multi-degree-of-freedom positioning system, belonging to the field of precision tooling fixtures and testing auxiliary equipment. Background Technology

[0002] In the fields of aerospace, energy and power, and high-end equipment manufacturing, high-temperature alloy tubing is widely used in complex service environments, such as engine fuel lines, heat exchange systems, and structural load-bearing components. These tubing materials typically possess high strength, high heat resistance, and complex spatial bending forms, placing extremely high demands on their geometric accuracy and structural integrity.

[0003] In existing technologies, fixed supports or simple clamping devices are often used to position pipes, but these methods generally have the following problems: First, they have poor adaptability and are only suitable for pipes of specific diameters or simple shapes; second, they lack multi-degree-of-freedom adjustment capabilities and cannot meet the spatial posture adjustment requirements of complex bends; third, the centering accuracy is low, and the adjustment process relies on manual experience, resulting in low efficiency; fourth, the clamping method is too rigid and can easily damage the surface of the pipe; and fifth, the overall structure is complex to adjust, which is not conducive to rapid changeover and automated testing.

[0004] Therefore, there is an urgent need for a spatial posture holding system that can achieve rapid centering, multi-degree-of-freedom adjustment, high-precision positioning, and stable locking to meet the high precision and high reliability requirements of high-temperature alloy pipe bending inspection. Summary of the Invention

[0005] The purpose of this invention is to provide a spatial posture precision holding system for the inspection of high-temperature alloy pipes. Through modular structural design and multi-degree-of-freedom coordinated adjustment, it can achieve rapid positioning, precise centering and stable holding of bent pipe workpieces during the inspection process.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] The present invention provides a system for accurately maintaining the spatial pose of pipe fittings and for multi-degree-of-freedom positioning, including a T-slot split base plate (1), a rapid centering and positioning fine-tuning mechanism for straight pipe areas (2), and a multi-degree-of-freedom adjustable support mechanism (3).

[0008] The straight pipe area rapid centering and positioning fine-tuning mechanism (2) and the multi-degree-of-freedom adjustable support mechanism (3) can be tunably installed on the base plate (1), and the connection and position adjustment are achieved through the groove and hole system opened on the base plate (1).

[0009] The quick centering and fine-tuning mechanism (2) for the straight pipe section includes an adjustable bending clamp mechanism (2-1), a bending clamp base (2-2), a bending V-shaped support block (2-3), a clamping cantilever (2-4), and a quick-positioning gripper (2-5). The bending clamp base (2-2) and the adjustable bending clamp mechanism (2-1) are fixedly connected by bolts; the bending V-shaped support block (2-3) is divided into left and right parts, which are connected to the fine-tuning threaded rod through the threaded hole below; the clamping cantilever (2-4) is connected to both sides of the bending clamp base (2-2) through a spherical bearing, and the fine-tuning threaded rod is connected to the left and right clamping cantilever (2-4) through the threaded hole. A quick-positioning gripper (2-7) fixed by bolts is attached above the clamping cantilever (2-4); the clamping cantilever (2-4) is used to fix the pipe circumferentially; the quick-positioning gripper (2-7) is used to fix the pipe axially.

[0010] According to claim 2, a system for precise spatial orientation maintenance and multi-degree-of-freedom positioning of pipe fittings is characterized in that the adjustable mechanism (2-1) of the pipe bending clamp consists of a pipe bending clamp support platform (2-1-1), a support rod (2-2-2), a transition connecting seat (2-2-3), and a base (2-2-4); the upper end of the support rod (2-2-2) is symmetrically arranged on both sides of the pipe bending clamp support platform (2-1-1), and is rotatably connected to the pipe bending clamp support platform (2-1-1) through a joint bearing, and its lower end is fixedly connected to the transition connecting seat (2-2-3); the fine-tuning threaded rod passes through the transition connecting seat (2-2-3) horizontally and is connected to the transition connecting seat (2-2-3). A threaded fit is formed. The lower end of the transition connecting seat (2-2-3) is symmetrically provided with another set of support rods (2-2-2). One end of the support rods (2-2-2) is rotatably connected to the transition connecting seat (2-2-3) through a spherical bearing, and the other end is also rotatably connected to the base (2-2-4) through a spherical bearing. By rotating the fine-tuning threaded rod, the transition connecting seat (2-2-3) can be driven to produce a horizontal displacement, thereby driving the bending pipe clamp support platform (2-1-1) to achieve high-precision linear lifting and lowering motion in the vertical direction. At the same time, a straight rod is provided on the outside to connect the bending pipe clamp support platform (2-1-1) and the base (2-2-4) to maintain the whole and produce other movements except for vertical movement.

[0011] The multi-degree-of-freedom adjustable support mechanism (3) includes a connecting base (3-1), a high-density bolt-shaped component (3-2), a support tube seat (3-3), and a floating system (3-4); the high-density bolt-shaped component (3-2) is placed in the central through circular groove of the connecting base (3-1), and a rubber ring is installed at its annular groove; the support tube seat (3-3) is set on the connecting base (3-1), with inner and outer layers connected by threaded engagement, and fine adjustment of the multi-degree-of-freedom spatial pose is achieved by fine adjustment screws.

[0012] The floating system (3-4) includes a floating support tube (3-4-1), a wedge-shaped cylindrical support pin (3-4-2), and a wedge-shaped top pin (3-4-3). The floating support tube (3-4-1) has a sliding groove inside, which is slidably connected to the sliding rods protruding on both sides of the wedge-shaped cylindrical support pin (3-4-2). A support spring is placed at the bottom of the floating support tube (3-4-1), and its upper end abuts against the wedge-shaped cylindrical support pin (3-4-2). The wedge-shaped top pin (3-4-3) is composed of an inclined cylindrical surface and a bolt connection, and is threaded to the side opening of the floating support tube (3-4-1). The middle section of the wedge-shaped cylindrical support pin (3-4-2) has an inclined surface with an upper included angle of 6°. After initial support positioning and locking by the wedge-shaped top pin (3-4-3), fine adjustment is performed by the support seat fine-tuning screw.

[0013] The quick positioning gripper (2-5) includes a gripper cylinder base (2-5-1), a gripper body (2-5-2), and a gripper hollow fine-tuning threaded rod (2-5-3); the gripper body (2-5-2) is transitionally fitted with the gripper cylinder base (2-5-1) and connected to a pneumatic drive, and the gripper hollow fine-tuning threaded rod (2-5-3) is coaxially arranged between the two; the quick positioning gripper (2-5) is suitable for locking the gripper body (2-5-2) by negative pressure adsorption.

[0014] The bent pipe V-shaped support block (2-7) is a long strip V-shaped reference block with an initial included angle of 120° between two parts; its dimensional accuracy is IT5 to IT6 grade, and its surface roughness is Ra0.2 to 0.8μm.

[0015] The working principle of the rapid centering and positioning fine-tuning mechanism (2) for the straight pipe area is as follows: First, rotate the fine-tuning threaded rod to drive the adjustable mechanism (2-1) of the bending pipe clamp to rise and fall to the working height of the bending pipe to be tested and lock it in place; then, place the straight pipe area of ​​the bending pipe workpiece above the mechanism; next, adjust the fine-tuning threaded rod to drive the left and right parts of the bending pipe V-shaped support block (2-3) to move relative to each other until they fit the diameter of the bending pipe to achieve initial lifting and positioning; further, rotate the fine-tuning threaded rod to drive the clamping cantilever (2-4) on both sides to retract inward to achieve circumferential pressing of the straight pipe area of ​​the bending pipe; finally, start and extend the rapid positioning gripper (2-5) to axially lock the bending pipe workpiece through the pneumatic negative pressure adsorption effect, thereby completing the high-precision rapid centering and three-dimensional positioning of the straight pipe area of ​​the bending pipe.

[0016] The working principle of the multi-degree-of-freedom adjustable support mechanism (3) is as follows: First, when the floating system (3-4) is in the initial locking state, push the connecting base (3-1) to slide along the guide groove of the T-slot split base plate (1). When it slides to the preset position, the high-density bolt-shaped component (3-2) automatically falls into and is positioned in the corresponding vent hole under the action of gravity, and press to trigger the pneumatic locking. Then, rotate the fine adjustment screw to change the vertical position of the support tube seat (3-3), thereby completing the overall height adjustment of the multi-degree-of-freedom adjustable support mechanism (3). Finally, adjust the floating system fine adjustment rod to change the overall spatial tilt angle of the floating system (3-4), so that the posture of its support end face is completely matched with the spatial normal of the contact surface of the bend, thereby achieving flexible and stable overall support for the remaining complex spatial sections of the bend.

[0017] The workflow of this invention includes the following steps:

[0018] S1: Based on the geometric parameters of the bent pipe workpiece to be tested, select the installation position of the multi-degree-of-freedom adjustable support mechanism (3) and install it into the T-slot of the T-slot split base plate (1) for fixation;

[0019] S2: Clamp the bent pipe workpiece in the bent pipe V-shaped support block (2-3) of the quick centering and positioning fine adjustment mechanism (2) in the straight pipe area, and rotate the clamping cantilever (2-4) to achieve the initial centering and circumferential fixation of the bent pipe workpiece;

[0020] S3: Adjust the hollow fine-tuning threaded rod (2-5-3) in the jaw to the preset position, and lock the bent pipe workpiece through negative pressure adsorption to complete the axial positioning of the bent pipe workpiece;

[0021] S4: Use the wedge top pin (3-4-3) to lock the wedge cylindrical support pin (3-4-2), and fine-tune the support tube seat (3-3) and the floating system (3-4) by the fine-tuning screw;

[0022] S5: Remove the quick centering and fine-tuning mechanism in the straight pipe area (2), establish a measurement benchmark using a standard plug gauge, and carry out subsequent testing operations.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] (1) High versatility: Through modular design, it can be adapted to bent pipe workpieces of different lengths and curvatures;

[0025] (2) High centering accuracy: The use of threaded fine adjustment and symmetrical structure design achieves high-precision axis alignment;

[0026] (3) Multi-degree-of-freedom adjustment: The support system has the ability to rotate in multiple directions and adjust its height, adapting to complex spatial structures;

[0027] (4) Good protection: Flexible support and negative pressure locking are used to avoid damage to the surface of the pipe;

[0028] (5) High stability: The combination of multi-point support and elastic pre-tightening structure improves the stability and repeatability of the testing process;

[0029] (6) Easy to operate: The modular structure simplifies the installation and adjustment process, making it suitable for automated testing production lines. Attached Figure Description

[0030] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 is a schematic diagram of the rapid centering and fine-tuning mechanism for the direct-control area;

[0032] Figure 3 is a schematic diagram of the multi-degree-of-freedom adjustable support mechanism;

[0033] Figure 4 is a schematic diagram of the internal structure of the floating system;

[0034] Figure 5 is a schematic diagram of the quick positioning gripper structure. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] As shown in Figure 1, the spatial pose precision holding system for pipe inspection disclosed in this embodiment consists of a T-slot split base plate (1), a straight pipe area rapid centering and positioning fine adjustment mechanism (2), and a multi-degree-of-freedom adjustable support mechanism (3). Both mechanisms rely on the T-slot to achieve position adjustment, meeting the clamping requirements of different specifications of bent pipes.

[0037] As shown in Figure 2, the quick centering and positioning fine-tuning mechanism (2) for the straight pipe section includes an adjustable bending clamp mechanism (2-1), a bending clamp base (2-2), a bending V-shaped support block (2-3), a clamping cantilever (2-4), and a quick positioning gripper (2-5). By rotating the fine-tuning threaded rod, the adjustable bending clamp mechanism (2-1) is positioned to a suitable position, and the clamping cantilever (2-4) is adjusted by the fine-tuning threaded rod to circumferentially press the bending pipe; at the same time, the quick positioning gripper (2-5) ( Figure 5 The chuck cylinder base (2-5-1) of the chuck is engaged with the chuck body (2-5-2) and axial locking is achieved through pneumatic drive combined with negative pressure adsorption, thereby achieving three-dimensional stable fixation.

[0038] As shown in Figures 3 and 4, the floating system (3-4) in the multi-degree-of-freedom adjustable support mechanism (3) adopts a layered structure design. The floating system (3-4) includes a floating support tube (3-4-1), a wedge-shaped cylindrical support pin (3-4-2), and a wedge-shaped top pin (3-4-3). The floating support tube (3-4-1) and the support tube seat (3-3) are connected by a ball joint, which can realize the spatial turning of the floating system (3-4). Complex spatial attitude adjustment can be achieved through combined motion. The support spring is set inside the floating support tube (3-4-1), and the wedge-shaped cylindrical support pin (3-4-2) cooperates with the floating support tube (3-4-1) to complete the tightening.

[0039] In actual use, multiple support modules are reasonably arranged according to the different curvatures and spatial distribution of the bends, so that the pipe as a whole is in a stable stress state.

[0040] Through the above structural design, the present invention can effectively solve the problems of centering difficulties, insufficient support and unstable positioning in the prior art, and significantly improve the accuracy and efficiency of the high-temperature alloy pipe bending inspection process.

[0041] It should be noted that the above embodiments are only preferred embodiments of the present invention. For those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and all such modifications and improvements should be considered within the scope of protection of the present invention.

[0042] Further explanation based on the claims reveals a clear synergistic relationship between the various technical features of this invention. The T-slot split substrate provides a basic installation and position adjustment platform, the rapid centering and fine-tuning mechanism for the straight pipe area enables high-precision positioning of the key reference section of the curved pipe, and the multi-degree-of-freedom adjustable support system is used for flexible support and attitude maintenance in complex spatial sections.

[0043] In a preferred embodiment, the symmetrically arranged support arms and threaded drive structure enable rapid alignment of the pipe axis. Compared with the traditional single-sided adjustment method, this structure can effectively reduce the accumulation of adjustment errors and improve positioning efficiency.

[0044] In a further embodiment, the floating system adopts a structure that combines multi-stage rotating joints with elastic supports, so that the support points have both spatial attitude self-adaptation capability and stable support force, thereby avoiding detection errors caused by local stress concentration.

[0045] In another embodiment, the quick-positioning gripper uses pneumatic drive combined with negative pressure adsorption to achieve non-rigid locking of the bent pipe. Compared with traditional mechanical clamping methods, it can effectively protect the workpiece surface and improve the locking reliability.

[0046] In practical applications, multiple support units can be set according to the length and curvature distribution of the bend, and a support system adapted to different workpieces can be formed through modular combination, thereby significantly improving the versatility of the system.

[0047] The present invention can also be extended into an automated inspection auxiliary system according to actual needs, such as by integrating with a vision inspection system, a CNC inspection platform or a robot system to achieve automatic clamping, automatic posture adjustment and online inspection.

[0048] Furthermore, each adjusting screw in this invention can be replaced with an electric actuator, thereby achieving electrification or intelligent control and further improving the level of automation.

[0049] In summary, this invention, through structural innovation and functional integration, effectively solves the problems of difficult positioning, insufficient support, and poor stability in the detection of high-temperature alloy bent pipes, and has good prospects for engineering applications.

Claims

1. A precise spatial pose holding and multi-degree-of-freedom positioning system for pipe fittings, characterized in that, It includes a T-slot split base plate (1), a straight pipe area rapid centering and positioning fine-tuning mechanism (2), and a multi-degree-of-freedom adjustable support mechanism (3). The straight pipe area rapid centering and positioning fine-tuning mechanism (2) and the multi-degree-of-freedom adjustable support mechanism (3) can be tunably mounted on the base plate (1). The positioning hole array and groove distributed on the base plate (1) are connected to the pneumatic locking system, thereby realizing the connection and position adjustment of the straight pipe area rapid centering and positioning fine-tuning mechanism (2) and the multi-degree-of-freedom adjustable support mechanism (3).

2. The precise spatial pose maintenance and multi-degree-of-freedom positioning system for a pipe fitting according to claim 1, characterized in that, The quick centering and fine-tuning mechanism (2) for straight pipe section is used to determine the reference axis of the pipe fitting. It includes a bend clamp adjustable mechanism (2-1), a bend clamp base (2-2), a bend V-shaped support block (2-3), a clamping cantilever (2-4), and a quick-positioning gripper (2-5). The bend clamp base (2-2) and the bend clamp adjustable mechanism (2-1) are fixed by bolts. The bend V-shaped support block (2-3) is divided into left and right parts, which are connected to the fine-tuning threaded rod through the threaded hole below. The clamping cantilever (2-4) is connected to both sides of the bend clamp base (2-2) through a spherical bearing. The fine-tuning threaded rod is connected to the left and right clamping cantilever (2-4) through the threaded hole. The quick-positioning gripper (2-5) is fixed by bolts above the clamping cantilever (2-4). The clamping cantilever (2-4) is used to fix the pipe in the circumferential direction. The quick-positioning gripper (2-5) is used to fix the pipe in the axial direction.

3. The precise spatial pose maintenance and multi-degree-of-freedom positioning system for a pipe fitting according to claim 2, characterized in that, The adjustable mechanism (2-1) of the pipe bending clamp consists of a pipe bending clamp support platform (2-1-1), a support rod (2-2-2), a transition connecting seat (2-2-3), and a base (2-2-4). The upper end of the support rod (2-2-2) is symmetrically arranged on both sides of the pipe bending clamp support platform (2-1-1) and is rotatably connected to the pipe bending clamp support platform (2-1-1) through a spherical bearing. Its lower end is fixedly connected to the transition connecting seat (2-2-3). The fine-tuning threaded rod passes through the transition connecting seat (2-2-3) horizontally and forms a threaded engagement with the transition connecting seat (2-2-3). The lower end of the transition connecting seat (2-2-3) is aligned with... Another set of support rods (2-2-2) is provided. One end of the support rods (2-2-2) is rotatably connected to the transition connecting seat (2-2-3) through a spherical bearing, and the other end is also rotatably connected to the base (2-2-4) through a spherical bearing. By rotating the fine-tuning threaded rod, the transition connecting seat (2-2-3) can be driven to produce a horizontal displacement, thereby driving the bending pipe clamp support platform (2-1-1) to achieve high-precision linear lifting and lowering motion in the vertical direction. A guide rod is also provided between the bending pipe clamp support platform (2-1-1) and the base (2-2-4) to constrain the horizontal degree of freedom of the support platform (2-1-1) during the vertical lifting and lowering process.

4. The precise spatial pose maintenance and multi-degree-of-freedom positioning system for a pipe fitting according to claim 1, characterized in that, The multi-degree-of-freedom adjustable support mechanism (3) is used to match the spatial normal posture of the bent section of the pipe fitting. It includes a connecting base (3-1), a high-density bolt-shaped component (3-2), a support pipe seat (3-3), and a floating system (3-4). The high-density bolt-shaped component (3-2) is placed in the central through circular groove of the connecting base (3-1), and a rubber ring is installed at its annular groove. The support pipe seat (3-3) is set on the connecting base (3-1), with inner and outer layers connected by threaded engagement. Fine adjustment of the multi-degree-of-freedom spatial posture is achieved by a fine-tuning screw. The floating system (3-4) is installed on the ball seat of the support pipe seat (3-3) and can be manually adjusted to any adjustable position.

5. The precise spatial pose maintenance and multi-degree-of-freedom positioning system for a pipe fitting according to claim 4, characterized in that, The floating system (3-4) includes a floating support tube (3-4-1), a wedge-shaped cylindrical support pin (3-4-2), and a wedge-shaped top pin (3-4-3). The floating support tube (3-4-1) has a sliding groove inside, which is slidably connected to the sliding rods protruding on both sides of the wedge-shaped cylindrical support pin (3-4-2). A support spring is placed at the bottom of the floating support tube (3-4-1), and its upper end abuts against the wedge-shaped cylindrical support pin (3-4-2). The wedge-shaped top pin (3-4-3) is composed of an inclined cylindrical surface and a bolt connection, and is threaded to the side opening of the floating support tube (3-4-1). The middle section of the wedge-shaped cylindrical support pin (3-4-2) has an inclined surface with an upper included angle of 6°. After initial support positioning and locking by the wedge-shaped top pin (3-4-3), fine adjustment is performed by the support seat fine-tuning screw.

6. The precise spatial pose maintenance and multi-degree-of-freedom positioning system for a pipe fitting according to claim 2, characterized in that, The quick positioning gripper (2-5) includes a gripper cylinder base (2-5-1), a gripper body (2-5-2), and a gripper hollow fine-tuning threaded rod (2-5-3); the gripper body (2-5-2) is transitionally fitted with the gripper cylinder base (2-5-1) and connected to a pneumatic drive, and the gripper hollow fine-tuning threaded rod (2-5-3) is coaxially arranged between the two; the quick positioning gripper (2-5) is suitable for locking the gripper body (2-5-2) by negative pressure adsorption.

7. The precise spatial pose maintenance and multi-degree-of-freedom positioning system for pipe fittings according to claim 1, characterized in that, The bent pipe V-shaped support block (2-7) is a long strip V-shaped reference block with an initial included angle of 120° between two parts; its dimensional accuracy is IT5 to IT6 grade, and its surface roughness is Ra0.2 to 0.8μm.

8. The precise spatial pose maintenance and multi-degree-of-freedom positioning system for pipe fittings according to claim 1, characterized in that, The concave area of ​​the central hole of the connecting base (3-1) and the high-density bolt-shaped component (3-2) adopt a clearance fit (or transition fit).

9. The working method of the precise spatial pose maintenance and multi-degree-of-freedom positioning system for a pipe fitting according to any one of claims 1 to 8, characterized in that, Includes the following steps: S1: Based on the geometric parameters of the bent pipe workpiece to be tested, select the appropriate number and installation position of the multi-degree-of-freedom adjustable support mechanism (3), and fix it in the T-slot of the T-slot split base plate (1); S2: Clamp the bent pipe workpiece in the bent pipe V-shaped support block (2-7) of the quick centering and positioning fine adjustment mechanism (2) in the straight pipe area, and adjust the clamping cantilever (2-9) to achieve the initial centering and circumferential fixation of the bent pipe workpiece; S3: Adjust the hollow fine-tuning threaded rod (2-5-3) in the jaw to the preset position, and lock the bent pipe workpiece through negative pressure adsorption to complete the axial positioning of the bent pipe workpiece; S4: Use the wedge pin (3-4-3) to lock the wedge cylindrical support pin (3-4-2), and fine-tune the support tube seat (3-3) and the floating system (3-4) by adjusting the threaded rod; S5: Remove the quick centering and fine-tuning mechanism in the straight pipe area (2), establish a measurement benchmark using a standard plug gauge, and carry out subsequent testing operations.

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