阅读说明：本技术 一种齿轨座在中部槽上的定位方法 (Method for positioning rack rail seat on middle groove ) 是由 赵德民 宋智丽 王永江 董曼淑 杨战利 唐麒龙 赵宝 周坤 白德滨 郝路平 杨永 于 2021-08-25 设计创作，主要内容包括：一种齿轨座在中部槽上的定位方法,它涉及煤矿井下刮板输送设备领域。本发明解决了现有的齿轨座在中部槽上的定位方法采用人工定位,存在质量差、效率低、通用性差、一致性差、且无法满足自动化生产需求的问题。本发明的齿轨座在中部槽上的定位方法是通过以下步骤实现,步骤1、摆位中部槽；步骤11、中部槽的高度定位；步骤12、中部槽的X向定位；步骤12中所述中部槽的X向定位的具体过程为,步骤121、粗定位中部槽；步骤122、精定位中部槽；步骤13、中部槽的Y向定位；步骤2、摆位齿轨座；步骤21、齿轨座的高度定位；步骤22、齿轨座44的X向定位；步骤23、齿轨座的Y向定位。本发明用于齿轨座在中部槽上的定位。(A method for positioning a rack rail seat on a middle groove relates to the field of underground scraper conveying equipment of coal mines. The invention solves the problems that the existing method for positioning the rack rail seat on the middle groove adopts manual positioning, has poor quality, low efficiency, poor universality and poor consistency, and can not meet the requirement of automatic production. The positioning method of the rack rail seat on the middle groove is realized by the following steps of 1, positioning the middle groove; step 11, positioning the height of the middle groove; step 12, positioning the middle groove in the X direction; the specific process of the X-direction positioning of the middle groove in step 12 is step 121, roughly positioning the middle groove; step 122, fine positioning of the middle groove; step 13, positioning the middle groove in the Y direction; step 2, positioning the rack rail seat; step 21, positioning the height of the rack rail seat; step 22, positioning the rack rail seat 44 in the X direction; and 23, positioning the gear rail seat in the Y direction. The positioning device is used for positioning the rack rail seat on the middle groove.)

1. A method for positioning a rack rail seat on a middle groove is characterized by comprising the following steps: the positioning method is realized by the following steps,

step 1, a positioning middle groove (43):

step 11, positioning the height of the middle groove (43):

directly placing the reference surface B o of the middle groove on a supporting table surface of the middle groove positioning device to ensure that the middle groove (43) is kept horizontal, namely realizing the height positioning of the middle groove (43);

step 12, positioning the middle groove (43) in the X direction:

the center line of the middle groove (43) is superposed with the center line of the middle groove positioning device, and the center line of the middle groove (43) is formed by two points, namely the distance Bt/2 between the ledge tenon (N) and the distance Bw/2 between the ledge tenon (Z);

step 13, positioning the middle groove (43) in the Y direction:

the Y direction of the middle groove (43) is not adjusted, the length Lz of the baffle ledge W of the middle groove (43) is measured, the Lz/2 position is the Y-direction central line of the middle groove (43), the distance between the Y-direction central line and the Y-direction central line of the middle groove positioning device is Yzo, and then Yzo compensation is carried out in the positioning process of the rack rail seat (44);

step 2, positioning the rack rail seat (44):

step 21, positioning the height of the rack rail seat (44):

directly placing a middle groove (43) on a supporting table surface formed by two middle groove supporting plates a (9) of a left positioning unit and two middle groove supporting plates B (13) of a right positioning unit, horizontally placing a reference surface B O of the middle groove on the supporting table surface of a middle groove positioning device, and placing a toothed rail seat (44) on a reference surface B O1 of the middle groove, namely realizing the height positioning of the toothed rail seat (44);

step 22, positioning the rack rail seat (44) in the X direction:

a rack rail seat positioning head a (ZTw3) and a rack rail seat positioning head b (ZTt3) of the middle groove swinging device move to Xt3 positions, then a left positioning head (CTw2) and a right positioning head (CTt2) of the rack rail seat swinging device move to push a rack rail seat (44) to abut against the rack rail seat positioning head a (ZTw3) and the rack rail seat positioning head b (ZTt3), and X-direction positioning of the rack rail seat (44) is realized;

step 23, Y-direction positioning of the rack rail seat (44):

step 231, initial positioning of the gear rail seat (44) in the Y direction:

the left positioning arm (CTw1) of the rack rail seat positioning device moves to a theoretical position Yw2 which is Lco/2, Lco is the theoretical length of the rack rail seat (44), then the right positioning arm (CTt1) of the rack rail seat positioning device moves to push the rack rail seat (44) tightly, the length Lc of the rack rail seat (44) is measured, and the distance Yco from the Y-direction center of the rack rail seat to the origin of the rack rail seat positioning device is calculated;

step 232, fine positioning of the gear rail seat (44) in the Y direction:

and then adjusting the position Yw2, wherein Yw2 is Lco/2+ Yco + Yzo, Yzo is the distance between the Y-direction central line of the middle groove (43) and the Y-direction central line of the middle groove positioning device, and the Y-direction central line of the middle groove (43) is coincided with the central line of the rack rail seat (44) measured in the middle groove positioning process, so that the Y-direction centering alignment of the rack rail seat (44) on the middle groove (43) is realized.

2. A method of positioning a rack bar seat on a tundish according to claim 1, wherein: the specific process of the X-direction positioning of the middle groove (43) in the step 12 is that,

step 121, roughly positioning the middle groove (43):

a middle groove push head a (ZTt2) of a left positioning unit and a middle groove push head b (ZTw2) of a right positioning unit of the middle groove positioning device move in the positive direction of X and push to the upper flange position of the baffle ledge to jointly push a middle groove (43) to move together until Xt2 is equal to By +10mm, By is the distance from the upper flange of the baffle ledge to the center, the known size is that the center X of the middle groove deviates 10mm, and coarse positioning is completed;

wherein Xt2 is the distance from the positioning surface of the middle slot pushing head a (ZTt2) or the middle slot pushing head b (ZTw2) to the Y axis of the middle slot positioning device;

step 122, fine positioning of the middle groove (43):

firstly, a tenon fork (ZTw1) of a left positioning unit of the middle groove positioning device is moved to a position Xw1+20mm, a tenon fork (ZTt1) of a right positioning unit is moved to a position Xt1-20mm, then the tenon fork (ZTw1) and the tenon fork (ZTt1) synchronously move along the X direction,

at the moment, the concave tenon shifting fork (ZTw1) is matched with the ledge convex tenon (N), the convex tenon shifting fork (ZTt1) is matched with the ledge concave tenon (Z) and pushes the middle groove (43) to synchronously move along the X direction,

when the tenon fork (ZTw1) and the tenon fork (ZTt1) respectively move to the Xw 1-Bw/2 position and the Xt 1-Bt/2 position, the tenon fork (ZTw1) and the tenon fork (ZTt1) stop moving, the middle groove (43) also stops moving, namely the center X of the middle groove reversely moves by 10mm, the center of the middle groove X is coincided with the center of the middle groove swinging device X,

Xw1＝Bw/2

wherein Bw is the distance between the concave tenons (Z) of the ledge and is a known size; xw1 is the distance from the positioning surface of the tenon fork (ZTw1) to the Y axis of the middle groove positioning device;

Xt1＝Bt/2

wherein Bt is the distance between the raised tenons (N) of the ledge and is a known size; xt1 is the distance from the locating surface of the tenon fork (ZTt1) to the Y axis of the central slot positioning device.

3. A method of positioning a rack bar seat on a tundish according to claim 2, wherein: the specific calculation process of the rack seat length Lc in step 23 is as follows:

Lc＝Yw2+Yt2

wherein the content of the first and second substances,

yw2 is the distance from the positioning surface of the left positioning arm (CTw1) to the center of the rack rail seat positioning device, the size is measured by a system,

yt2 is the distance from the positioning surface of the right positioning arm (CTt1) to the center of the rack and pinion positioning device, and the dimension is measured by the system.

4. A method of positioning a rack bar seat on a tundish according to claim 3, wherein: the specific calculation process of the distance Yco from the Y-direction center of the rack rail seat to the origin of the rack rail seat positioning device in the step 23 is as follows:

Yco＝Yw2-Lc/2

wherein the content of the first and second substances,

yw2 is the distance from the positioning surface of the left positioning arm (CTw1) to the center of the rack rail seat positioning device, the size is measured by a system,

lc is the length of the tooth track seat,

and adjusting the position Yw2, and setting Yco to be 0 and Yw2 to be Lc/2 to realize the Y-direction centering alignment of the rack seat relative to the origin of the equipment.

Because the Y-direction central line of the middle groove (43) has deviation Yzo with the center of the equipment, the position Yw2 needs to be adjusted, namely the rack rail seat moves Yzo distance again, so that the Y-direction central line of the middle groove (43) is coincided with the rack rail central line.

5. A method of positioning a rack rail seat on a center tunnel according to claim 4, wherein: the specific calculation process for measuring the length of the baffle ledge W of the middle groove (43) in the step 13 is as follows:

Lz＝(Yw1-Lw)+(Yt1-Lt)

wherein the content of the first and second substances,

lz is the length of the baffle ledge W,

yw1 is the measurement device a (cw) position,

lw is the distance from the measuring device a (Cw) to the end face of the ledge rabbet (Z),

yt1 is the measurement device b (ct) position,

lt is the distance from the measuring device b (Ct) to the end face of the ledge tenon (N).

6. A method of positioning a rack rail seat on a center tunnel according to claim 5, wherein: the specific calculation process of the distance between the Y-direction central line of the middle groove (43) and the center of the middle groove positioning device in the step 13 is as follows:

yzo (Yw1-Lw) -Lz/2, Yzo has sign,

wherein the content of the first and second substances,

yzo is the distance between the Y-direction central line of the middle groove (43) and the center of the middle groove positioning device,

yw1 is the measurement device a (cw) position,

lw is the distance from the measuring device a (Cw) to the end face of the ledge rabbet (Z),

lz is the baffle ledge W length.

7. A method of positioning a rack bar seat on a tundish according to claim 6, wherein: automatically measuring the distance Lw from the measuring device a (Cw) to the end face of the ledge rabbet (Z) by adopting the measuring device a (Cw) of the left positioning unit of the middle groove positioning device,

and (3) automatically measuring the distance Lt from the measuring device b (Ct) to the end face of the ledge tenon (N) by using the measuring device b (Ct) of the right positioning unit of the middle groove positioning device.

8. A method of positioning a rack bar seat on a tundish according to claim 7, wherein: the specific calculation process of Xt3 in step 22 is as follows:

Xt3＝B＝Bc+Bo

wherein the content of the first and second substances,

xt3 is the distance from the positioning surface of the rack positioning head a (ZTw3) or the rack positioning head b (ZTt3) to the center of the rack positioning device,

bc is the distance from the center of the square hole of the rack rail seat to the center of the middle groove, and the size is known,

b is the distance from the center of the middle groove to the inner side of the vertical plate of the rack rail seat, which is the key positioning size,

bo is the distance from the center of the square hole of the rack seat to the vertical plate, and the size is known.

Technical Field

The invention relates to the field of underground scraper conveying equipment of coal mines, in particular to a method for positioning a rack rail seat on a middle groove.

Background

The scraper conveyor is special equipment for coal transportation of an underground coal face of a coal mine, is also used for guiding and supporting a coal mining machine and is key equipment of an underground coal mining conveying line. The scraper conveyor works in a mine, working conditions are quite severe, the middle groove is often damaged, and in order to prolong the service life of the middle groove, the manufacturing precision and quality of the middle groove must be improved. The middle groove 43 is a main body of the scraper conveyor body and is a supporting mechanism for coal carrying and scraper chain; the middle groove 43 is a welded structure, and comprises a middle plate U, a bottom plate V, a baffle ledge W, a shovel ledge M, a ledge tenon N, a ledge tenon Z, a rack rail seat 44 and the like, wherein the weight of the middle groove accounts for 75 percent of the total machine; the rack rail seat 44 is provided with a rack rail which is a walking rail of the coal mining machine. The positioning of the rack rail seat 44 on the middle groove 43 is a critical process for manufacturing the middle groove 43, and the positioning accuracy thereof directly affects the manufacturing accuracy of the middle groove 43 and also determines the service life of the middle groove 43. The rack rail seat 44 is positioned on the middle groove 43 by firstly positioning the middle groove 43 longitudinally and transversely, namely accurately positioning the rack rail seat 44 in the direction of X, Y, and then placing the rack rail seat 44 on the middle groove 43 for accurate longitudinal and transverse positioning. At present, the positioning process of the existing rack rail seat 44 on the middle groove 43 is mainly completed manually, namely manual positioning, manual measurement and manual position moving and positioning are performed, the manual positioning precision is low, the labor intensity is high, and the positioning can be performed by repeated adjustment; in addition, the middle grooves 43 are preheated to 100 ℃ or above for operation, so that the working environment is very poor, and the physical and mental damage to workers is great. The middle grooves 43 are very many in types, the difference of the overall dimensions is large, and each type of the middle grooves needs a positioning device, so that the tooling is complicated, the universality is poor, and the automatic production is influenced.

In conclusion, the existing method for positioning the rack rail seat on the middle groove adopts manual positioning, and has the problems of poor quality, low efficiency, poor universality and poor consistency, and the requirement of automatic production cannot be met.

Disclosure of Invention

The invention aims to solve the problems that the existing method for positioning the rack rail seat on the middle groove adopts manual positioning, has poor quality, low efficiency, poor universality and poor consistency, and cannot meet the requirement of automatic production, and further provides a method for positioning the rack rail seat on the middle groove.

The technical scheme of the invention is as follows:

a method for positioning a rack rail seat on a middle groove is realized by the following steps,

step 1, positioning the middle groove 43:

step 11, height positioning of the middle groove 43:

directly placing the middle groove reference surface B O on a supporting table surface of the middle groove positioning device to ensure that the middle groove 43 is kept horizontal, namely realizing the height positioning of the middle groove 43;

step 12, positioning the middle groove 43 in the X direction:

the center line of the middle groove 43 is superposed with the center line of the middle groove positioning device, and the center line of the middle groove 43 is the center line formed by two points, namely the distance Bt/2 between the ledge tenon N and the distance Bw/2 between the ledge tenon Z;

step 13, Y-direction positioning of the middle groove 43:

the Y direction of the middle groove 43 is not adjusted, the length Lz of the baffle ledge W of the middle groove 43 is measured, the Lz/2 position is the Y-direction central line of the middle groove 43, the distance between the Y-direction central line and the Y-direction central line of the middle groove positioning device is Yzo, and then Yzo compensation is carried out in the positioning process of the rack rail seat 44;

step 2, positioning the rack rail seat 44:

step 21, positioning the height of the rack rail seat 44:

the middle groove 43 is directly placed on a supporting table surface formed by two middle groove supporting plates a9 of the left positioning unit and two middle groove supporting plates B13 of the right positioning unit, a reference surface B O of the middle groove is horizontally placed on the supporting table surface of the middle groove positioning device, and the rack rail seat 44 is placed on a reference surface B O1 of the middle groove, so that the height positioning of the rack rail seat 44 is realized;

step 22, positioning the rack rail seat 44 in the X direction:

the rack rail seat positioning head aZTw3 and the rack rail seat positioning head bZTT3 of the middle groove swinging device move to the Xt3 position, then the left positioning head CTw2 and the right positioning head CTt2 of the rack rail seat swinging device move to push the rack rail seat 44 to abut against the rack rail seat positioning head aZTw3 and the rack rail seat positioning head bZTt3, and the X-direction positioning of the rack rail seat 44 is realized;

step 23, Y-direction positioning of the rack rail seat 44:

step 231, initial Y-direction positioning of the rack rail seat 44:

the left positioning arm CTw1 of the rack rail seat positioning device moves to a theoretical position Yw2 which is Lco/2, Yzo is the distance between the Y center line of the middle groove 43 and the Y center line of the middle groove positioning device, Lco is the theoretical length of the rack rail seat 44 measured in the middle groove positioning process, then the right positioning arm CTt1 of the rack rail seat positioning device moves to push the rack rail seat 44 tightly, the length Lc of the rack rail seat 44 is measured, and the distance Yco from the Y direction center of the rack rail seat to the origin of the rack rail seat positioning device is calculated;

step 232, fine positioning of the rack rail seat 44 in the Y direction:

then, the position of Yw2 is adjusted, Yw2 is Lco/2+ Yco + Yzo, the Y-direction center line of the middle groove 43 is overlapped with the center line of the rack rail seat 44, and the Y-direction centering alignment of the rack rail seat 44 on the middle groove 43 is realized.

Compared with the prior art, the invention has the following effects:

1. the method for positioning the rack rail seat on the middle groove can automatically and quickly realize positioning and aligning work of various types of rack rail seats 44, has high efficiency and high precision, realizes unmanned operation and meets the requirement of automatic production. The middle positioning unit can move transversely along the Y-axis direction, and the middle positioning unit and the lower sliding plate unit work cooperatively to realize transverse movement, positioning and straightening of the rack rail seat 44; the left positioning unit can move longitudinally along the X-axis direction and is used for longitudinally positioning and righting the left side of the rack rail seat 44; the right positioning unit can move longitudinally along the X-axis direction and is used for longitudinally positioning and righting the right side of the rack rail seat 44; the right positioning unit and the left positioning unit work cooperatively to realize the longitudinal movement, positioning and straightening of the rack rail seat 44.

2. The method for positioning the rack rail seat on the middle groove can automatically measure the longitudinal length of the rack rail seat 44 and can realize real-time adjustment of the longitudinal position. The positioning system of the rack rail seat on the middle groove can automatically measure the transverse position of the rack rail seat 44 and can realize real-time adjustment of the transverse position.

3. In the method for positioning the rack rail seat on the middle trough, the middle trough push head aZTT2 of the left positioning unit and the middle trough push head bZTw2 of the right positioning unit are pushed on the baffle ledge W of the middle trough 43 together, the transverse linear driving unit a6 in the left positioning unit and the transverse linear driving unit b23 of the right positioning unit drive synchronous motion to drive the middle trough push head aZTT2 and the middle trough push head bZTw2 to move transversely, and the coarse positioning of the middle trough 43 is realized.

4. In the method for positioning the rack seat on the middle groove, the mounting position of the tenon fork ZTw1 is adjustable, the method is suitable for middle grooves 43 of different models, the tenon fork ZTw1 is positioned (contacted) in the ledge tenon Z of the middle groove 43, and the transverse linear driving unit a6 of the left positioning unit drives the transverse movement to pull the transverse movement of the middle groove 43. The tenon shifting fork ZTt1 is adjustable in installation position and suitable for middle grooves 43 of different models, the tenon shifting fork ZTt1 is positioned (contacted) on a ledge tenon N of the middle groove 43 and is driven by a transverse linear driving unit b23 of the right positioning unit to move transversely to push the middle groove 43 to move transversely. The tenon fork ZTw1 and the tenon fork ZTt1 are respectively driven by the transverse linear driving unit a6 and the transverse linear driving unit b23 to synchronously move and drive the middle groove 43 to transversely move and stop simultaneously, so that the precise positioning of the middle groove 43 is realized

5. The method for positioning the rack rail seat on the middle groove can automatically measure the ledge length of the middle groove 43, and can work together with each sliding plate positioning device to calculate the longitudinal position and the transverse position of the middle groove 43 and determine the longitudinal central line and the transverse central line of the middle groove 43.

6. The method for positioning the rack rail seat on the middle groove can automatically adjust the middle groove 43 to be suitable for various types and specifications, can automatically perform model changing production, and realizes unmanned operation.

Drawings

FIG. 1 is a front elevational view of the rack mount assembly dimensional requirements of the present invention;

FIG. 2 is a top plan view of the tooth rack mount assembly dimensional requirements of the present invention;

FIG. 3 is a front view of the positioning principle of the middle groove of the present invention;

FIG. 4 is a top view of the positioning principle of the inner slot of the present invention;

FIG. 5 is a front view of the rack mount positioning principle of the present invention;

FIG. 6 is a schematic top view of the rack mount positioning of the present invention;

FIG. 7 is an isometric view of the present invention with the central slot 43 and rack mount 44 assembled;

FIG. 8 is a schematic view showing the assembled structure of the middle groove 43 and the rack holder 44 according to the present invention;

FIG. 9 is an isometric view of the positioning system of the rack rail seat on the center channel of the present invention;

FIG. 10 is a front view of the positioning system of the rack rail seat on the center channel of the present invention;

FIG. 11 is a left side view of the positioning system of the rack rail seat on the center channel of the present invention;

FIG. 12 is a right side view of the positioning system of the rack rail seat on the center channel of the present invention;

FIG. 13 is a top view of the positioning system of the rack rail seat on the center channel of the present invention (center channel 43 positioned on the horizontal support platform)

Fig. 14 is a top view of the rack rail seat on center channel positioning system of the present invention (rack rail seat 44 is positioned on center channel 43).

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 8, and a positioning method of the rack rail seat on the middle groove of the embodiment is realized by the following steps,

step 1, positioning the middle groove 43:

step 11, height positioning of the middle groove 43:

directly placing the middle groove reference surface B O on a supporting table surface of the middle groove positioning device to ensure that the middle groove 43 is kept horizontal, namely realizing the height positioning of the middle groove 43;

step 12, positioning the middle groove 43 in the X direction:

the center line of the middle groove 43 is superposed with the center line of the middle groove positioning device, and the center line of the middle groove 43 is the center line formed by two points, namely the distance Bt/2 between the ledge tenon N and the distance Bw/2 between the ledge tenon Z;

step 13, Y-direction positioning of the middle groove 43:

the Y direction of the middle groove 43 is not adjusted, the length Lz of the baffle ledge W of the middle groove 43 is measured, the Lz/2 position is the Y-direction central line of the middle groove 43, the distance between the Y-direction central line and the Y-direction central line of the middle groove positioning device is Yzo, and then Yzo compensation is carried out in the positioning process of the rack rail seat 44;

step 2, positioning the rack rail seat 44:

step 21, positioning the height of the rack rail seat 44:

the middle groove 43 is directly placed on a supporting table surface formed by two middle groove supporting plates a9 of the left positioning unit and two middle groove supporting plates B13 of the right positioning unit, a reference surface B O of the middle groove is horizontally placed on the supporting table surface of the middle groove positioning device, and the rack rail seat 44 is placed on a reference surface B O1 of the middle groove, so that the height positioning of the rack rail seat 44 is realized;

step 22, positioning the rack rail seat 44 in the X direction:

the rack rail seat positioning head aZTw3 and the rack rail seat positioning head bZTT3 of the middle groove swinging device move to the Xt3 position, then the left positioning head CTw2 and the right positioning head CTt2 of the rack rail seat swinging device move to push the rack rail seat 44 to abut against the rack rail seat positioning head aZTw3 and the rack rail seat positioning head bZTt3, and the X-direction positioning of the rack rail seat 44 is realized;

step 23, Y-direction positioning of the rack rail seat 44:

step 231, initial Y-direction positioning of the rack rail seat 44:

the left positioning arm CTw1 of the rack rail seat positioning device moves to a theoretical position Yw2 which is Lco/2, Lco is the theoretical length of the rack rail seat 44, then the right positioning arm CTt1 of the rack rail seat positioning device moves to push the rack rail seat 44 tightly, the length Lc of the rack rail seat 44 is measured, and the distance Yco from the Y-direction center of the rack rail seat to the origin of the rack rail seat positioning device is calculated;

step 232, fine positioning of the rack rail seat 44 in the Y direction:

then, the position of Yw2 is adjusted, Yw2 is Lco/2+ Yco + Yzo, Yzo is the distance between the Y-direction center line of the middle groove 43 and the Y-direction center line of the middle groove positioning device, and the Y-direction center line of the middle groove 43 is coincided with the center line of the rack rail seat 44 measured in the middle groove positioning process, so that the Y-direction centering alignment of the rack rail seat 44 on the middle groove 43 is realized.

In the embodiment, the centering of the middle tank is to place the X, Y axis coordinate system of the middle tank and the X, Y axis coordinate system of the equipment in parallel, and measure the difference value Xo and Y0 between the center point of the middle tank and the center point of the equipment.

The second embodiment is as follows: referring to fig. 1 to 8, the embodiment will be described, and a specific process of the X-direction positioning of the middle groove 43 in step 12 of the embodiment is,

step 121, roughly positioning the middle groove 43:

the middle groove push head aZTT2 of the left positioning unit and the middle groove push head bZTw2 of the right positioning unit of the middle groove positioning device both move along the positive direction X and push to the upper flange position of the baffle ledge to jointly push the middle groove 43 to move together until Xt2 is equal to By +10mm, By is the distance from the upper flange of the baffle ledge to the center, the known size is that the center X of the middle groove deviates 10mm, and the rough positioning is completed;

wherein Xt2 is the distance from the positioning surface of the middle slot pushing head aZTT2 or the middle slot pushing head bZTw2 to the Y axis of the middle slot positioning device;

step 122, fine positioning of the middle groove 43:

firstly, the tenon fork ZTw1 of the left positioning unit of the middle groove positioning device is moved to the position Xw1+20mm, the tenon fork ZTt1 of the right positioning unit is moved to the position Xt1-20mm, then the tenon fork ZTw1 and the tenon fork ZTt1 are synchronously moved along the X direction,

at this time, the tenon fork ZTw1 is engaged with the tenon N of the ledge, the tenon fork ZTt1 is engaged with the tenon Z of the ledge, and pushes the middle slot 43 to move synchronously in the opposite direction X,

when the tenon head fork ZTw1 and the tenon head fork ZTt1 move to the Xw 1-Bw/2 position and the Xt 1-Bt/2 position respectively, the tenon head fork ZTw1 and the tenon head fork ZTt1 stop moving, the middle groove 43 also stops moving, namely the center X of the middle groove reversely moves by 10mm, the center of the middle groove X is coincided with the center of the middle groove swing device X,

Xw1＝Bw/2

wherein Bw is the Z distance between the concave tenons of the ledge and is a known size; xw1 is the distance from the positioning surface of the tenon fork ZTw1 to the Y axis of the middle groove positioning device;

Xt1＝Bt/2

wherein Bt is the distance between the raised tenons N of the ledge and is a known size; xt1 is the distance from the locating surface of tenon fork ZTt1 to the Y axis of the central slot positioning device.

Other components and connections are the same as in the first embodiment.

The third concrete implementation mode: the present embodiment will be described with reference to fig. 1 to 8, and a specific procedure of calculating the rack holder length Lc in step 23 of the present embodiment is as follows:

Lc＝Yw2+Yt2

wherein the content of the first and second substances,

yw2 is the distance from the positioning surface of the left positioning arm CTw1 to the center of the rack rail seat positioning device, and the size is measured by a system,

yt2 is the distance from the positioning surface of the right positioning arm CTt1 to the center of the rack seat positioning device, and the dimension is measured by the system.

Other compositions and connections are the same as in the first or second embodiments.

The fourth concrete implementation mode: referring to fig. 1 to 8, the embodiment will be described, and a specific calculation procedure of the distance Yco from the center of the rack rail seat Y to the origin of the rack rail seat positioning device in step 23 of the embodiment is as follows:

Yco＝Yw2-Lc/2

wherein the content of the first and second substances,

yw2 is the distance from the positioning surface of the left positioning arm CTw1 to the center of the rack rail seat positioning device, and the size is measured by a system,

lc is the length of the tooth track seat,

and adjusting the position Yw2, and setting Yco to be 0 and Yw2 to be Lc/2 to realize the Y-direction centering alignment of the rack seat relative to the origin of the equipment.

Since the Y-axis of the central slot 43 is offset Yzo from the center of the machine, the position of Yw2 is adjusted, i.e., the rack rail seat is moved Yzo further, so that the Y-axis of the central slot 43 coincides with the rack rail center line.

Other compositions and connection relationships are the same as in the first, second or third embodiment.

The fifth concrete implementation mode: referring to fig. 1 to 8, the embodiment will be described, and the specific calculation process for measuring the length of the baffle ledge W of the middle trough 43 in step 13 of the embodiment is as follows:

Lz＝(Yw1-Lw)+(Yt1-Lt)

wherein the content of the first and second substances,

lz is the length of the baffle ledge W,

yw1 is the measuring device aCw position,

lw is the distance from the measuring device aCw to the ledge rebate Z face,

yt1 is the measuring device bCt position,

lt is the distance from the measuring device bCt to the end surface of the ledge tenon N.

Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.

The sixth specific implementation mode: referring to fig. 1 to 8, the embodiment will be described, and a specific process of calculating the distance between the Y-direction center line of the center slot 43 and the center of the center slot positioning device in step 13 of the embodiment is as follows:

yzo (Yw1-Lw) -Lz/2, Yzo has sign,

wherein the content of the first and second substances,

yzo is the distance between the Y-direction central line of the middle slot 43 and the center of the middle slot positioning device,

yw1 is the measuring device aCw position,

lw is the distance from the measuring device aCw to the ledge rebate Z face,

lz is the baffle ledge W length.

Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.

The seventh embodiment: referring to fig. 1 to 8, the measuring device aCw of the left positioning unit of the middle groove positioning device automatically measures the distance Lw from the measuring device aCw to the ledge tenon Z end face,

and a measuring device bCt of the right positioning unit of the middle groove positioning device is adopted to automatically measure the distance Lt from the measuring device bCt to the N end face of the ledge tenon.

Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.

The specific implementation mode is eight: referring to fig. 1 to 8, the present embodiment will be described, and a specific calculation procedure of Xt3 in step 22 of the present embodiment is as follows:

Xt3＝B＝Bc+Bo

wherein the content of the first and second substances,

xt3 is the distance from the positioning surface of the rack positioning head aZTw3 or the rack positioning head bZTt3 to the center of the rack positioning device,

bc is the distance from the center of the square hole of the rack rail seat to the center of the middle groove, and the size is known,

b is the distance from the center of the middle groove to the inner side of the vertical plate of the rack rail seat, which is the key positioning size,

bo is the distance from the center of the square hole of the rack seat to the vertical plate, and the size is known.

Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.

The assembly size requirement of the rack rail seat is as follows:

as shown in fig. 1 and 2, determination of the center of reference (origin) of the center groove:

the central line position of the X axis is the length Lz/2 of the baffle ledge;

the Y-axis central line position is a line formed by two points of the convex tenon space Bt/2 of the ledge and the concave tenon space Bw/2.

Drawing assembly requirements:

1. height location requirement

The center tank height Ho, known conditions, is such that the benchmarks B O and B O1 are parallel, and B O1 is also horizontal as long as the B O level is guaranteed. The rack seats are placed on the face B o 1.

Requirement for X-direction positioning

The dimension guaranteed by the X-direction positioning is the width Bc, namely the distance from the center of the square hole of the rack rail seat to the center of the middle groove.

Bc size is not easy to measure, and we adopt indirect method to guarantee.

The formula: Bc-B-Bo

Wherein, the width B refers to the distance from the center of the middle groove to the inner side of the vertical plate of the rack seat; bo is the distance from the center of the square hole of the rack seat to the vertical plate and is a known size.

As can be seen from the formula, the correctness of Bc can be ensured as long as B is ensured.

Y-direction positioning requirement

The Y-direction positioning ensures that the center of the length of the rack rail seat, namely the Lc/2 position, is superposed with the X axis of the central line of the middle groove. I.e. the Lz/2 and Lc/2 centre lines coincide.

Description of the center of the device:

the equipment support table is the reference, B O, of the central tank, known conditions.

The X axis of the device refers to the transverse center of the two middle groove aligning devices.

The Y axis of the device refers to the longitudinal center of the two middle groove aligning devices.

This is the original reference center of the project.

The invention relates to a method for positioning a rack rail seat on a middle groove, which is realized based on a positioning system of the rack rail seat on the middle groove, and combines the drawings of 7 to 14, the positioning system of the rack rail seat on the middle groove comprises a middle groove swinging device and a rack rail seat swinging device, the middle groove swinging device comprises a left positioning unit and a right positioning unit, the left positioning unit is arranged at the side of a concave tenon of the middle groove 43, the right positioning unit is arranged at the side of a convex tenon of the middle groove 43, the rack rail seat swinging device is arranged at the side of a baffle ledge W of the middle groove 43, the left positioning unit comprises a base assembly a, a transverse sliding plate assembly a and a longitudinal sliding plate assembly a, the transverse sliding plate assembly a is arranged on the base assembly a, the transverse sliding plate assembly a can transversely move along the Y-axis direction, the longitudinal sliding plate assembly a is arranged on the transverse sliding plate assembly a, and the longitudinal sliding plate assembly a can longitudinally move along the X-axis direction, the longitudinal sliding plate assembly a comprises a longitudinal sliding plate a7, a tenon fork ZTw1 and a middle groove push head aZTT2, wherein the tenon fork ZTw1 and the middle groove push head aZTT2 are arranged on the longitudinal sliding plate a7, the middle groove push head aZTT2 is used for transversely coarsely positioning the middle groove 43, and the tenon fork ZTw1 is used for transversely finely positioning the middle groove 43; the right positioning unit comprises a base assembly b, a transverse sliding plate assembly b and a longitudinal sliding plate assembly b, the transverse sliding plate assembly b is arranged on the base assembly b and can transversely move along the Y-axis direction, the longitudinal sliding plate assembly b is arranged on the transverse sliding plate assembly b and can longitudinally move along the X-axis direction, the longitudinal sliding plate assembly b comprises a longitudinal sliding plate b19, a tenon head shifting fork ZTt1 and a middle groove pushing head bZTw2, the tenon head shifting fork ZTt1 and the middle groove pushing head bZTw2 are both arranged on the longitudinal sliding plate b19, the middle groove pushing head bZTw2 is used for transverse coarse positioning of the middle groove 43, and the tenon head shifting fork ZTt1 is used for transverse fine positioning of the middle groove 43; the rack rail seat positioning device comprises a base c36, a lower sliding plate unit, a left positioning unit, a middle positioning unit and a right positioning unit, wherein the lower sliding plate unit is arranged on the base c36 and can transversely move along the X-axis direction; the left positioning unit can move longitudinally along the Y-axis direction and is used for longitudinally positioning and righting the left side of the rack rail seat 44; the right positioning unit can move longitudinally along the Y-axis direction and is used for longitudinally positioning and righting the right side of the rack rail seat 44; the right positioning unit and the left positioning unit work cooperatively to realize the longitudinal movement, positioning and straightening of the rack rail seat 44.

The lower slide plate unit is a support of a left swing unit, a middle swing unit and a right swing unit on the lower slide plate unit and is also a transverse positioning and correcting unit of the rack rail seat 44, the left positioning unit can move longitudinally and is used for longitudinally positioning and correcting the left side of the rack rail seat 44, the middle positioning unit can move transversely and cooperates with the lower slide plate unit to realize transverse movement, positioning and correcting of the rack rail seat 44, and the right positioning unit can move longitudinally and is used for longitudinally positioning and correcting the right side of the rack rail seat 44.

The transverse sliding plate component a is arranged on the base component a, and can move transversely; the longitudinal sliding plate component a is arranged on the transverse sliding plate component a, and the longitudinal sliding plate component a can move longitudinally.

The transverse sliding plate component b is arranged on the base component b, and can move transversely; the longitudinal sliding plate component b is arranged on the transverse sliding plate component b, and the longitudinal sliding plate component b can move longitudinally.

Referring to fig. 9 to 14, the base assembly a includes a base a1, a transverse linear driving unit a6, two transverse sled guides a3 and two middle groove supporting plates a9, the two transverse sled guides a3 are horizontally disposed on the base a1 in the Y-axis direction, the transverse linear driving unit a6 is horizontally disposed on the base a1 between the two transverse sled guides a3 in the Y-axis direction, and the two middle groove supporting plates a9 are horizontally disposed on the base a1 adjacent to one side of the middle groove 43 in the Y-axis direction from front to back. Thus arranged, the transverse linear drive unit a6 is provided with a positioning device which drives the transverse slide a2 to move transversely and can memorize and position the transverse position.

Referring to fig. 9 to 14, the transverse slide plate assembly a includes a transverse slide plate a2, a longitudinal linear driving unit a4, and two longitudinal slide plate guide rails a5, wherein the transverse slide plate a2 is horizontally disposed above the two transverse slide plate guide rails a3, the bottom of the transverse slide plate a2 is connected to the power output end of the transverse linear driving unit a6, two sides of the bottom of the transverse slide plate a2 are slidably connected to the two transverse slide plate guide rails a3 through two transverse sliders a, respectively, the two longitudinal slide plate guide rails a5 are horizontally disposed on the transverse slide plate a2 in the X-axis direction, and the longitudinal linear driving unit a4 is horizontally disposed on the transverse slide plate a2 between the two longitudinal slide plate guide rails a5 in the X-axis direction. Thus, the longitudinal linear driving unit a4 is provided with a positioning device, drives the longitudinal sliding plate a7 to move longitudinally and can memorize and position the longitudinal position.

Referring to fig. 9 to 14, the base assembly b includes a base b14, a transverse linear driving unit b23, two transverse sliding plate guide rails b24 and two middle groove support plates b13, the two transverse sliding plate guide rails b24 are horizontally and oppositely disposed on the base b14 along the Y-axis direction, the transverse linear driving unit b23 is horizontally disposed on the base b14 between the two transverse sliding plate guide rails b24 along the Y-axis direction, the two middle groove support plates b13 are horizontally disposed on the base b14 close to one side of the middle groove 43 in sequence from front to back along the Y-axis direction, and the two middle groove support plates b13 are respectively disposed in one-to-one correspondence with the two middle groove support plates a9 of the left positioning unit. Thus arranged, the transverse linear driving unit b23 is provided with a positioning device which drives the transverse sliding plate b22 to move transversely and can memorize and position the transverse position.

The two middle groove supporting plates b13 of the base assembly b and the two middle groove supporting plates a9 of the base assembly a form a horizontal supporting platform of the middle groove 43, the horizontal supporting platform comprises a plurality of groups of middle groove supporting plates with different thicknesses, and the height of the horizontal supporting platform can be adjusted by changing the middle groove supporting plates b13 and the middle groove supporting plates a9 with different thicknesses, so that the horizontal supporting platform can adapt to middle grooves 43 with different models.

Referring to fig. 9 to 14, the transverse sliding plate assembly b includes a transverse sliding plate b22, a longitudinal linear driving unit b20 and two longitudinal sliding plate guide rails b21, the transverse sliding plate b22 is horizontally disposed above the two transverse sliding plate guide rails b24, the bottom of the transverse sliding plate b22 is connected with the power output end of the transverse linear driving unit b23, two sides of the bottom of the transverse sliding plate b22 are respectively connected with the two transverse sliding plate guide rails b24 in a sliding manner through two transverse sliders b, the two longitudinal sliding plate guide rails b21 are horizontally disposed on the transverse sliding plate b22 in the X-axis direction, and the longitudinal linear driving unit b20 is horizontally disposed on the transverse sliding plate b22 between the two longitudinal sliding plate guide rails b21 in the X-axis direction. Thus, the longitudinal linear driving unit b20 is provided with a positioning device for driving the longitudinal sliding plate b19 to move transversely and memorizing and positioning the transverse position.

With reference to fig. 9 to 14, the longitudinal sliding plate assembly a further includes a measuring device aCw and a rack positioning head aZTw3, the longitudinal sliding plate a7 is horizontally disposed above the two longitudinal sliding plate guide rails a5, the bottom of the longitudinal sliding plate a7 is connected to the power output end of the longitudinal linear driving unit a4, two sides of the bottom of the longitudinal sliding plate a7 are slidably connected to the two longitudinal sliding plate guide rails a5 through two longitudinal sliders a, the measuring device aCw and the rack positioning head aZTw3 are disposed on the longitudinal sliding plate a7, the measuring device aCw is configured to measure the ledge rabbet end position of the middle slot 43, and the rack positioning head aZTw3 is configured to determine the transverse positioning reference of the rack 44 on the middle slot 43; the longitudinal sliding plate assembly b further comprises a measuring device bCt and a rack positioning head bZTT3, the longitudinal sliding plate b19 is horizontally arranged above the two longitudinal sliding plate guide rails b21, the bottom of the longitudinal sliding plate b19 is connected with the power output end of the longitudinal linear driving unit b20, two sides of the bottom of the longitudinal sliding plate b19 are respectively connected with the two longitudinal sliding plate guide rails b21 in a sliding mode through two longitudinal sliding blocks b, the measuring device bCt and the rack positioning head bZTT3 are arranged on the longitudinal sliding plate b19, the measuring device bCt is used for measuring the end face position of a tongue of a ledge of the middle groove 43, the measuring device bCt is used for measuring the length of the ledge of the middle groove 43 and positioning the longitudinal position of the middle groove 43 in cooperation with the measuring device aCw of the left positioning unit, and the rack positioning head bZTT3 is used for determining the transverse positioning reference of the rack 44 on the middle groove 43.

With reference to fig. 9 to 14, the lower slider unit includes a lower slider 37, a lower slider linear driving unit 34 and two lower slider guide rails 38, the two lower slider guide rails 38 are horizontally and relatively disposed on a base c36 along the X-axis direction, the lower slider linear driving unit 34 is horizontally disposed on a base c36 between the two lower slider guide rails 38 along the X-axis direction, the lower slider 37 is horizontally disposed above the two lower slider guide rails 38, the bottom of the lower slider 37 is connected to a power output end of the lower slider linear driving unit 34, and two sides of the bottom of the lower slider 37 are respectively connected to the two lower slider guide rails 38 through the two lower sliders. So configured, the lower slide linear drive unit 34 is provided with a servo positioning device to drive the lower slide 37 to move laterally and record the lateral position of the slide 37.

With reference to fig. 9 to 14, the middle swing unit includes a middle positioning sliding plate 31, a left positioning head CTw2, a right positioning head CTt2, a middle positioning linear driving unit 32 and two middle positioning guide rails 35, the two middle positioning guide rails 35 are horizontally and oppositely disposed in the middle of the upper end face of the lower sliding plate 37 along the X-axis direction, the middle positioning linear driving unit 32 is horizontally disposed on the lower sliding plate 37 between the two middle positioning guide rails 35 along the X-axis direction, the middle positioning sliding plate 31 is horizontally disposed above the two middle positioning guide rails 35, the bottom of the middle positioning sliding plate 31 is connected with the power output end of the middle positioning linear driving unit 32, two sides of the bottom of the middle positioning sliding plate 31 are respectively connected with the two middle positioning guide rails 35 in a sliding manner through the two middle positioning sliders, and the left positioning head CTw2 and the right positioning head CTt2 are horizontally disposed on the end face of the middle positioning sliding plate 31 close to the rack seat 44 along the Y-axis direction. With such an arrangement, the middle positioning linear driving unit 32 drives the middle positioning sliding plate to move transversely, and the middle positioning linear driving unit 32 and the lower sliding plate unit work cooperatively to realize transverse movement, positioning and straightening of the rack rail seat 44.

With reference to fig. 9 to 14, the left positioning unit includes a left positioning slide plate 39, a left positioning arm CTw1, a left positioning linear driving unit 41 and two left positioning guide rails 40, the two left positioning guide rails 40 are horizontally and oppositely disposed on the lower slide plate 37 on the left side of the middle positioning slide plate 31 along the Y-axis direction, the left positioning linear driving unit 41 is horizontally disposed on the lower slide plate 37 between the two left positioning guide rails 40 along the Y-axis direction, the left positioning slide plate 39 is horizontally disposed above the two left positioning guide rails 40, the bottom of the left positioning slide plate 39 is connected to the power output end of the left positioning linear driving unit 41, two sides of the bottom of the left positioning slide plate 39 are respectively connected to the two left positioning guide rails 40 by two left positioning slide blocks in a sliding manner, and the left positioning arm CTw1 is horizontally disposed on the end surface of the left positioning slide plate 39 close to the rack seat 44 along the Y-axis direction. Thus configured, the left positioning linear drive unit 41 is provided with a servo positioning device for driving the left positioning slide 39 to move longitudinally and recording the longitudinal position of the left positioning arm CTw 1.

With reference to fig. 9 to 14, the right positioning unit includes a right positioning sliding plate 26, a right positioning arm CTt1, a right positioning linear driving unit 27, a right positioning arm position measuring device 30, and two right positioning guide rails 28, the two right positioning guide rails 28 are horizontally and oppositely disposed on the lower sliding plate 37 on the right side of the middle positioning sliding plate 31 along the Y-axis direction, the right positioning linear driving unit 27 is horizontally disposed on the lower sliding plate 37 between the two right positioning guide rails 28 along the Y-axis direction, the right positioning sliding plate 26 is horizontally disposed above the two right positioning guide rails 28, the bottom of the right positioning sliding plate 26 is connected to the power output end of the right positioning linear driving unit 27, two sides of the bottom of the right positioning sliding plate 26 are respectively connected to the two right positioning guide rails 28 in a sliding manner through the two right positioning sliders, and the right positioning arm CTt1 is horizontally disposed on the end surface of the right positioning sliding plate 26 close to the rack seat 44 along the Y-axis direction. With the arrangement, the right positioning linear driving unit 27 is provided with a positioning device, drives the right positioning sliding plate 26 to move longitudinally and records the longitudinal position of the right positioning arm CTt1, and the right positioning unit and the left positioning unit work cooperatively to realize the longitudinal movement, positioning and straightening of the rack rail seat 44.

The longitudinal linear driving unit a4, the transverse linear driving unit a6, the transverse linear driving unit b23, the longitudinal linear driving unit b20, the lower slide linear driving unit 34, the middle positioning linear driving unit 32, the left positioning linear driving unit 41 and the right positioning linear driving unit 27 include, but are not limited to, a motor screw, a hydraulic cylinder, an air cylinder, an electric cylinder and a link mechanism. The rack rail seat 44 is divided into two types, one type is a part formed by point mounting of the rack rail seat, a square hole plate, a reinforcing rib and the like; the other is a component formed by point assembling of a rack rail seat, a bent plate, a reinforcing rib and the like. The measuring device aCw, the measuring device bCt, and the right positioning arm position measuring device 30 include, but are not limited to, a laser ranging sensor, an ultrasonic ranging sensor, a grating ruler, and a magnetic grating ruler. The base a1 of the left positioning unit and the base b14 of the right positioning unit can be divided into a left base and a right base, and can also be made into a whole. The middle groove 43 is supported on a supporting platform formed by two middle groove supporting plates of the left positioning unit and the right positioning unit respectively, and can also be supported on other platforms. The middle groove 43 is a welded body composed of a shovel ledge M, a baffle ledge W and a middle plate U, and it is within the scope of the present invention to include a combination of these three components. The middle groove 43 is placed in a forward placing structure, and a reverse placing structure is also the protection scope of the invention. The middle groove is arranged in a coarse positioning movement direction and a fine positioning movement direction which are opposite, or in a coarse positioning movement direction and a fine positioning movement direction which are the same, and only the mounting positions of the tenon fork ZTw1 and the tenon fork ZTt1 are opposite. The rough positioning is pushed on an upper flange of the baffle ledge W, and can also be pushed on a chain way or other parts.

The working principle is as follows:

first), the straightening process of the rack rail seat 44:

the middle swing unit can move transversely along the X-axis direction and cooperates with the lower sliding plate unit to realize transverse movement, positioning and swing of the rack rail seat 44; the left positioning unit can move longitudinally along the Y-axis direction and is used for longitudinally positioning and righting the left side of the rack rail seat 44; the right positioning unit can move longitudinally along the Y-axis direction and is used for longitudinally positioning and righting the right side of the rack rail seat 44; the right positioning unit and the left positioning unit work cooperatively to realize the longitudinal movement, positioning and straightening of the rack rail seat 44.

Second), the centering process of the middle groove 43:

the present invention uses a two-step approach to centering the middle slot 43. Firstly, a middle groove push head aZTT2 of a left positioning unit and a middle groove push head bZTw2 of a right positioning unit synchronously push a baffle ledge W of a middle groove 43, and then a transverse sliding plate a2 of the left positioning unit and a transverse sliding plate b22 of the right positioning unit transversely synchronously move to drive a workpiece to synchronously move and stop simultaneously, so that the coarse positioning of the middle groove 43 is realized; secondly, the tenon fork ZTw1 is positioned (contacted) in the ledge tenon Z of the middle groove 43, the tenon fork ZTt1 is positioned (contacted) on the ledge tenon N of the middle groove 43, and then the transverse sliding plate a2 of the left positioning unit and the transverse sliding plate b22 of the right positioning unit move transversely and synchronously to drive the workpieces to move synchronously and stop simultaneously, so as to realize the precise positioning of the middle groove 43.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.