Adjusting mechanism, automatic system and automatic forming device for flexible forming moulding bed of nuclear power steel lining

Abstract

The invention provides an adjusting mechanism, an automation system and an automatic forming device for a flexible forming moulding bed of a nuclear power steel lining, and belongs to the technical field of nuclear power plant building construction.The adjusting mechanism comprises a transverse adjusting mechanism and a longitudinal adjusting mechanism, and the transverse adjusting mechanism and the longitudinal adjusting mechanism are both arranged on a supporting bridge; the transverse adjusting mechanism comprises a vertical jacking mechanism, a horizontal pushing mechanism and a positioning mechanism, the vertical jacking mechanism is connected to the supporting bridge in a sliding mode, and the position of a workpiece in the width direction is adjusted through sliding; the supporting bridge is arranged in the radial direction of the supporting bridge overall base, and the middle pressing mechanism, the long edge clamping mechanism, the short edge clamping mechanism and the control system are arranged on the supporting bridge overall base. And in addition, bending forming of a cylinder steel plate can be completed, and clamping is continued after forming so as to complete welding of related parts on the cylinder.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant construction, and particularly relates to an adjustment mechanism, an automation system and an automatic forming device for a flexible forming die of a nuclear power steel lining. Background Art

[0002] A steel lining refers to a layer of steel plate or metal material added inside a structure to enhance the strength and corrosion resistance of the structure. In the construction of a nuclear power plant, the steel lining is an important part of the containment; in addition, in the construction of a nuclear power plant, the cylindrical forming prefabrication technology is widely used. For example, the cylindrical part of the containment is usually composed of multiple prefabricated plates, which are processed and welded in a workshop and then transported to the site for assembly. That is to say, in the forming construction of the nuclear power steel lining in the workshop, the cylindrical forming prefabrication is a key process in the prefabrication process. Currently, in the workshop according to the prefabricated forming process, generally, through a pre-determined sizing forming jig, different specifications of forming jigs are prefabricated according to the core and steel lining sizes with different requirements. After completing the forming jig, the cylindrical steel plate is clamped on the forming jig manually. Since the cylindrical steel plate is generally 4-6 mm thick, when placed on the forming jig, the self-weight of the cylindrical steel plate can complete the bending, thus completing the forming of the cylindrical steel plate.

[0003] Since the size of the customized forming jig is fixed and generally made by welding section steel, it only meets the needs of prefabricating a single-size cylindrical steel plate. As a result, when replacing different products, a new forming jig needs to be remade, which not only wastes materials to make a new forming jig, but also requires removing the original forming jig, taking time and effort and affecting work efficiency.

[0004] Therefore, there is an urgent need for an automatic system for a flexible forming die of a steel lining, which is applicable to forming jigs of different sizes of cylinders, and can complete the bending and forming of the cylindrical steel plate and continue to clamp it after forming to complete the welding of related components on the cylinder. Summary of the Invention

[0005] Object of the Invention: The object of the present invention is to provide an adjustment mechanism, an automation system and an automatic forming device for a flexible forming die of a nuclear power steel lining, which are not only applicable to forming jigs of different sizes of cylinders, but also can complete the bending and forming of the cylindrical steel plate and continue to clamp it after forming to complete the welding of related components on the cylinder in view of the deficiencies of the prior art.

[0006] Technical Solution: The adjustment mechanism for the flexible forming die of the nuclear power steel lining according to the present invention includes a transverse adjustment mechanism and a longitudinal adjustment mechanism. Both the transverse adjustment mechanism and the longitudinal adjustment mechanism are arranged on the support bridge. The transverse adjustment mechanism includes a vertical jacking mechanism, a horizontal pushing mechanism and a positioning mechanism. The vertical jacking mechanism is slidably connected to the support bridge to adjust the position of the workpiece in the width direction by sliding.

[0007] Furthermore, the vertical lifting mechanism is arranged on at least one support bridge and includes an adjustment frame, an adjustment cylinder and an electric roller. The adjustment frame is slidably connected between two support bridges along the width direction of the workpiece. The adjustment cylinder is arranged on the frame of the adjustment frame, and the electric roller is arranged at the top end of the adjustment frame. The output end of the adjustment cylinder is connected with the electric roller. When it is necessary to adjust the position of the workpiece in the width direction, that is, the transverse direction, the adjustment cylinder is driven, so as to drive the electric roller to rotate. Since there is friction between the electric roller and the workpiece, the electric roller drives the workpiece to displace in the transverse direction.

[0008] Furthermore, the horizontal pushing mechanism includes a pushing frame and a pushing cylinder. The pushing cylinder is arranged on the pushing frame to adjust the relative position between the workpiece and the supporting wheel in the width direction.

[0009] Furthermore, the positioning mechanism is a positioning supporting wheel and is arranged at both ends of the pushing frame. When the workpiece contacts the rotating part on the positioning supporting wheel, the rotating part rotates through the outer ring of the rolling bearing, so as to realize the positioning and guiding of the workpiece.

[0010] Furthermore, the longitudinal adjustment mechanism includes two groups of hydraulic lifting and pressing rollers at both ends of the girder of the flexible support bridge, a longitudinal electric roller and a second guide rail. The second guide rail is arranged on the side of the girder of the flexible support bridge. One guide rail is arranged at both ends of the girder of the flexible support bridge. A group of hydraulic lifting and pressing rollers is slidably arranged on each second guide rail. When the workpiece is laid flat on the girder of the flexible support bridge, the longitudinal electric roller rolls in the longitudinal direction of the workpiece, so that the workpiece is adjusted to an appropriate position in the longitudinal direction. Then the hydraulic lifting and pressing rollers slide on the slide rail. When the hydraulic lifting and pressing rollers slide to an appropriate position, the hydraulic lifting and pressing rollers press down to press the workpiece tightly in the vertical direction.

[0011] The automatic system of the flexible forming die for nuclear power steel lining includes an adjustment mechanism, and also includes an overall support bridge base, support bridges, a middle pressing mechanism, a long side clamping mechanism, a short side clamping mechanism and a control system. The support bridges are arranged in the radial direction of the overall support bridge base. The support bridges include a group of uniformly distributed flexible support bridges and two fixed support bridges. The flexible support bridges are arranged in the middle of the overall support bridge base, and the fixed support bridges are respectively arranged on both sides of the overall support bridge base. The height of the flexible support bridges is changed by electric elevators, so as to change the radian of the flexible forming die and meet the positioning and alignment of workpieces with different curvatures. The top surfaces of the flexible support bridges and the fixed support bridges are combined to form a flexible jig with a radian. The middle pressing mechanism presses the middle part of the workpiece, the long side clamping mechanism presses the long side direction of the workpiece, the short side clamping mechanism presses the short side direction of the workpiece, and the control system controls the support bridges to reach the preset positions.

[0012] Furthermore, the support bridge includes a group of uniformly distributed flexible support bridges and two fixed support bridges. The flexible support bridges are arranged in the middle of the overall base of the support bridge, and the fixed support bridges are respectively arranged on both sides of the overall base of the support bridge. The height of the flexible support bridges is changed by electric elevators, thereby changing the arc of the flexible forming die to meet the positioning and assembly of workpieces with different curvatures. The top surfaces of the flexible support bridges and the fixed support bridges are combined to form a flexible jig with an arc.

[0013] Furthermore, each flexible support bridge includes lift seats respectively arranged on both sides. An electric elevator is fixed on each lift seat. The output ends of the electric elevators on both sides are respectively fixedly connected to both ends of a girder, and the electric elevators drive the girder to lift and lower; a group of support wheels are uniformly distributed at the top of the girder.

[0014] Furthermore, each lift seat includes a lift seat bottom plate. Above the lift seat bottom plate, two square tube brackets are arranged. An electric elevator is fixedly connected to the front of the two square tube brackets. A support plate is fixedly connected to the back of the two square tube brackets, and a lift guide rail is fixedly connected to the support plate.

[0015] Furthermore, each electric elevator includes a screw elevator. The output shaft of the screw elevator is fixedly connected to a sliding bracket at the bottom of the flexible support bridge. The sliding bracket is driven by the electric elevator and moves up and down along the lift guide rail.

[0016] Furthermore, the overall base of the support bridge includes two frame bases arranged in parallel along the axial direction. A group of frame units corresponding one by one to the flexible support bridges and the fixed support bridges are uniformly distributed on the frame bases. The frame units are respectively fixedly connected to the bottom surfaces of the flexible support bridges and the fixed support bridges.

[0017] Furthermore, the middle pressing mechanism is composed of two double channel steels welded relatively. The top surfaces of the two double channel steels form a pressing beam. The part between the two double channel steels is hollow. A pressing mechanism is slidably installed in the length direction of the pressing beam, and the pressing mechanism presses the workpiece through bolts.

[0018] Furthermore, the long side clamping mechanism is arranged on the support bridge and moves along the length direction of the support bridge. The pressing point of the long side clamping mechanism is directly above the support bridge; the short side clamping mechanism is a C-shaped clamp for clamping the workpiece.

[0019] A steel lining forming device for a nuclear power plant includes the above-mentioned steel lining flexible forming die automation system and an anchor stud welding device.

[0020] Furthermore, the anchor bolt welding device includes a pair of parallel main slide rails installed in the welding area. A movable device is installed on the parallel main slide rails. A gantry structure is installed between the two movable devices. A first guide rail is installed on the gantry structure. Two sliding plates are installed on the first guide rail. A driving device is installed on the sliding plates, and the driving device drives the sliding plates to move along the first guide rail. A laser cleaning device is installed on the lower surface of the sliding plates. A mounting plate is installed on one side of the sliding plates. A welding robot is installed on the mounting plate. An automatic feeding system is installed on the upper surface of the sliding plates. After the automatic feeding system finishes loading the anchor bolts, the laser cleaning device cleans the area to be welded, and the welding robot welds the anchor bolts.

[0021] Furthermore, the automatic feeding system includes an anchor bolt vibrating bowl and a porcelain ring vibrating bowl located on the mounting plate. Spiral tracks are provided inside both the anchor bolt vibrating bowl and the porcelain ring vibrating bowl. A first linear vibrating feeder is connected to the outlet of the anchor bolt vibrating bowl. A limiting boss is provided at the end of the first linear vibrating feeder. The first linear vibrating feeder is provided with a through groove that can accommodate the anchor bolts. When the anchor bolts reach the limiting boss, a first grasping device grabs the anchor bolts. A rotatable second grasping device is provided on the mounting plate, and the second grasping device clamps the anchor bolts from the first grasping device. An assembly table is provided below the second grasping device. A second linear vibrating feeder is provided at the outlet of the porcelain ring vibrating bowl. The second linear vibrating feeder is provided with a groove, and the porcelain rings move along the groove. When the porcelain rings move to the top of the groove, they stop moving, and a rotatable third grasping device grabs the porcelain rings. When the third grasping device rotates to a suitable position, the anchor bolts grabbed by the second grasping device are located directly above the porcelain rings. A liftable pressing block is installed on the mounting plate, and the anchor bolts are pressed into the porcelain rings by the movable pressing block.

[0022] A workpiece installation method for an automatic system of a flexible forming die for nuclear power steel lining includes the following steps:

[0023] Step 1: Set the position parameters of the flexible support bridge according to the drawing to be processed.

[0024] Step 2: The operator hoists and gently places the workpiece on the flexible jig.

[0025] Step 3: Adjust the workpiece bottom plate to an appropriate horizontal position through the horizontal adjustment mechanism.

[0026] Step 4: Adjust the workpiece bottom plate to an appropriate longitudinal position through the longitudinal adjustment mechanism.

[0027] Step 5: Operate the long side clamping mechanism of the part to press the long side direction of the workpiece bottom plate.

[0028] Step 6: The operator hoists the angle steel stiffener to the position designed on the drawing.

[0029] Step 7: Lift and install the middle pressing mechanism, and the operator installs the middle pressing mechanism.

[0030] Step 8: Operate all the long-side clamping mechanisms to press the long sides of the workpiece bottom plate.

[0031] Step 9: Operate the short-side clamping mechanism to press the short sides of the workpiece bottom plate.

[0032] Step 10: Start welding.

[0033] Step 11: After welding is completed, the operator opens and removes the middle pressing mechanism.

[0034] Step 12: Open the long-side clamping mechanism and the short-side clamping mechanism.

[0035] Step 13: The operator lifts and removes the workpiece to enter the next process.

[0036] Advantageous effects: Compared with the prior art, the advantages of the present invention are as follows:

[0037] (1) The flexible forming die designed by the present invention can be applied to the forming jigs of cylinders with different sizes, and can complete the bending forming of the cylinder steel plate and continue to clamp after forming to complete the welding of related components on the cylinder.

[0038] (2) The flexible support bridge designed by the present invention can adjust the height of each flexible support bridge from the ground according to the design requirements of the workpiece, so that the bearing surface formed on the surface of the flexible support bridge meets the required radian. By controlling the height of each flexible support bridge from the ground, the construction accuracy can be ensured and sudden gaps can be avoided.

[0039] (3) The lateral adjustment mechanism designed by the present invention can adjust the position of the workpiece in the lateral direction on the entire system through the vertical lifting mechanism, the horizontal pushing mechanism and the positioning mechanism. The vertical lifting mechanism mainly adjusts the position of the workpiece by the rotation of the electric roller in the lateral direction. Compared with the traditional manual adjustment method, the adjustment of the electric roller is more stable. The horizontal pushing mechanism mainly adjusts the relative position of the workpiece and the support wheel in the width direction by the pushing cylinder. The pushing cylinder can push the workpiece to a suitable relative position with the support wheel according to actual needs to ensure the accurate position of the workpiece in the width direction. The positioning mechanism mainly realizes the positioning and guiding of the workpiece by the rotating part of the positioning roller. When the workpiece enters the processing or assembly position, the positioning roller can closely fit the workpiece, and guide the workpiece to the predetermined position through the rotation of the rotating part.

[0040] (4) The longitudinal adjustment mechanism designed in the present invention, when the longitudinal electric roller rolls in the longitudinal direction of the workpiece, the workpiece will move longitudinally along with the rolling of the roller, thereby realizing the adjustment of the position of the workpiece in the longitudinal direction, and it can adapt to workpieces of various shapes and sizes. Whether it is a long strip, rectangular or irregularly shaped workpiece, as long as it is laid flat on the girder of the flexible support bridge, the longitudinal electric roller 920 can adjust its longitudinal position by rolling;

[0041] (5) The middle pressing mechanism designed in the present invention can effectively prevent the deformation of the workpiece and ensure the stability of the workpiece during processing by the close contact between the pressing block and the workpiece and applying sufficient pressure by tightening the pressing screw, preventing problems such as tearing or bulging of the workpiece during processing;

[0042] (6) The long-side clamping mechanism and short-side clamping mechanism designed in the present invention. The long-side clamping mechanism can be pressed in place and self-locked, and is automatically controlled by the control system without affecting the loading and unloading. The pressing point is directly above the support bridge and can flexibly and effectively press the workpiece. The short-side clamping mechanism uses a manual C-type clamp to clamp. Through the cooperation of the two, the workpiece can be well fixed in both the long-side and short-side directions. Description of the Drawings

[0043] Figure 1 is a schematic structural diagram of the flexible die in the present invention;

[0044] Figure 2 is a schematic structural diagram of the flexible support bridge in the present invention;

[0045] Figure 3 is a schematic structural diagram of the lift seat in the present invention;

[0046] Figure 4 is a schematic structural diagram of the electric lift in the present invention;

[0047] Figure 5 is a schematic structural diagram of the fixed support bridge in the present invention;

[0048] Figure 6 is a schematic structural diagram of the vertical jacking mechanism in the present invention;

[0049] Figure 7 is a schematic structural diagram of the horizontal pushing mechanism in the present invention;

[0050] Figure 8 is a schematic structural diagram of the longitudinal adjustment mechanism in the present invention;

[0051] Figure 9 is a schematic structural diagram of the middle pressing mechanism in the present invention;

[0052] Figure 10It is a schematic structural view of the long-side clamping mechanism in the present invention;

[0053] Figure 11 It is a schematic structural view of the anchor nail welding device in Embodiment 2.

[0054] Figure 12 It is a partial enlarged view in Embodiment 2.

[0055] Figure 13 It is a schematic structural view of the laser cleaning in Embodiment 2.

[0056] Figure 14 It is Figure 13 the front view schematic diagram of.

[0057] Figure 15 It is Figure 13 the schematic structural view of the detachable device in.

[0058] Figure 16 It is the front view structural schematic diagram of the welding head in Embodiment 2.

[0059] Figure 17 It is Figure 16 the right view of.

[0060] Figure 18 It is Figure 16 the left view of.

[0061] Figure 19 It is a schematic structural view of the automatic feeding.

[0062] Figure 20 It is Figure 19 the schematic structural view of the feeding tray in the present invention.

[0063] Figure 21 It is the cross-sectional structural schematic diagram of the feeding tray in Embodiment 2.

[0064] In the figure: 11, anchor pin vibrating bowl; 12, camera; 13, porcelain ring vibrating bowl; 14, first lifting mechanism; 15, first sliding mechanism; 16, anchor pin; 17, support frame; 19, first grasping unit; 20, second grasping unit; 21, third grasping unit; 22, second linear vibrating feeder; 23, first linear vibrating feeder; 201, fixed shaft; 203, first motor; 204, first planetary reducer; 206, connecting block; 207, laser distance sensor; 208, sensor mounting plate; 209, air knife; 210, air knife support; 211, laser head; 214, fourth bracket; 215, third bracket; 216, drag chain; 217, first side plate; 218, back plate; 219, front panel; 220, transition plate; 221, open support; 222, guide shaft; 223, second side plate; 224, guide post; 225, compression spring; 227, mounting seat; 228, movable plate; 229, moving block; 230, groove; 231, ball; 301, mounting flange; 302, welding torch support; 303, SK shaft support; 304, proximity switch; 305, induction piece; 306, sliding seat; 307, welding torch transition plate; 308, guide seat; 309, ferrule joint; 310, YF-DH-16 stud welding torch; 311, first guide rod; 312, opposed photoelectric sensor; 313, porcelain ring splint; 314, diffuse reflection photoelectric sensor; 315, second guide rod; 316, bracket fixing plate; 317, sliding seat; 318, third guide rod; 401, main slide rail; 402, buffer rubber pad; 403, embedded part; 404, locking mechanism; 405, helical rack; 407, gantry leg; 408, gantry cross beam; 409, foundation embedded part; 410, servo motor; 411, reducer; 412, traveling gear; 413, clamping wheel; 414, moving plate; 415, first guide rail; 416, moving rack; 5, flexible support bridge; 510, girder; 520, support wheel; 530, electric elevator; 5301, screw elevator; 540, elevator seat; 5401, elevator seat bottom plate; 5402, square tube support; 5403, support plate; 5404, lifting guide rail; 6, fixed support bridge; 610, fixed base; 7, overall base of support bridge; 8, lateral adjustment mechanism; 810, direct lifting mechanism; 8101, adjustment frame; 8102, adjustment cylinder; 8103, electric roller; 8104, guide pillar and guide sleeve; 820, horizontal pushing mechanism; 8201, pushing frame; 8202, pushing cylinder; 830, positioning mechanism; 9, longitudinal adjustment mechanism; 910, hydraulic lifting pressure roller; 920, longitudinal electric roller; 930, second guide rail; 10, middle pressing mechanism; 1010, pressing beam; 1020, pressing seat; 1030, pressing screw; 24, long side clamping mechanism; 2410, support block; 2420, mounting seat; 2430, clamping hydraulic cylinder; 2440, pressing block; 25, short side clamping mechanism;26. Welding rib plate; 27. Anti-falling tread plate; 28. Guardrail. Specific embodiments

[0065] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the described embodiments.

[0066] Embodiment 1 As Figure 1 shown, the automatic system for the flexible forming die of nuclear power steel lining has an overall floor area of width * length: 7000mm * 17000mm, and includes a support bridge integral base 7 and a support bridge. The support bridge is arranged in the radial direction of the support bridge integral base 7. The support bridge includes 19 flexible support bridges 5 and 2 fixed support bridges 6. The 19 flexible support bridges are arranged in the middle of the support bridge integral base 7, and the 2 fixed support bridges 6 are respectively arranged on both sides of the support bridge integral base 7. The support bridge integral base 7 includes two frame bases 710 arranged in parallel along the axial direction. A group of frame units corresponding one-to-one to the flexible support bridges 5 and the fixed support bridges 6 are evenly distributed on the frame bases 710. The frame units are respectively fixedly connected to the bottom surfaces of the flexible support bridges 5 and the fixed support bridges 6 one by one, playing a role in supporting and fixing the support bridge.

[0067] As Figure 2 shown, each flexible support bridge 5 includes lift seats 540 respectively arranged on both sides. An electric lift 530 is fixed on each lift seat 540. The output ends of the electric lifts 530 on both sides are respectively fixedly connected to both ends of a girder 510. The electric lift 530 drives the girder 510 to lift; a group of support wheels 520 are evenly distributed on the top of the girder 510. As Figure 3 shown, the lift seat 540 includes a lift seat bottom plate 5401. Two square tube brackets 5402 are arranged above the lift seat bottom plate 5401. An electric lift 530 is fixedly connected to the front of the two square tube brackets 5402. A support plate 5403 is fixedly connected to the back of the two square tube brackets 5402. A lift guide rail 5404 is fixedly connected to the support plate 5403. As Figure 4 shown, the electric lift 530 includes a screw lift 5301. The output shaft of the screw lift 5301 is fixedly connected to a sliding bracket 550 at the bottom of the flexible support bridge 5. The sliding bracket 550 is driven by the electric lift 530 and lifts along the lift guide rail 5404. The flexible support bridge 5 changes the height of the flexible support bridge 5 from the support bridge integral base 7 through the electric lift 530, thereby changing the radian of the flexible forming die and meeting the positioning and assembly of workpieces with different curvatures. The top surfaces of the flexible support bridges 5 and the fixed support bridges 6 are combined to form a flexible jig with a radian.

[0068] As Figure 5As shown, the fixed support bridge 6 includes fixed bases 610 respectively arranged on both sides. The two ends of a fixed girder 620 are fixedly connected to the fixed bases 610 respectively. A set of fixed support wheels 630 are evenly distributed at the top of the fixed girder 620.

[0069] As Figure 6 shown, the lateral adjustment mechanism 8 includes a vertical lifting mechanism 810, a horizontal pushing mechanism 820 and a positioning mechanism 830. The vertical lifting mechanism 810 is arranged on at least one support bridge and includes an adjustment frame 8101, an adjustment cylinder 8102 and an electric roller 8103. The adjustment frame 8101 is slidably connected between two support bridges along the width direction of the workpiece. The adjustment cylinder 8102 is arranged on the frame of the adjustment frame 8101. The electric roller 8103 is arranged at the top of the adjustment frame 8101. The output end of the adjustment cylinder 8102 is connected to the electric roller 8103. When it is necessary to adjust the position of the workpiece in the width direction, that is, the lateral direction, the adjustment cylinder 8102 is driven, so as to drive the electric roller 8103 to rotate. Since there is friction between the electric roller and the workpiece, the electric roller 8103 drives the workpiece to displace in the lateral direction. In addition, the lateral adjustment mechanism 8 further includes guide posts and guide sleeves 8104 arranged on both sides of the adjustment frame 8101. The guide posts are used as supporting and positioning elements, and the guide sleeves are hollow tubular elements sleeved on the guide posts, which can play a role in wear resistance or lubrication. When the adjustment frame slides in the width direction of the tool, the guide posts can bear the loads from the adjustment frame in the radial and axial directions, and at the same time ensure the smooth movement track of the adjustment frame. The guide sleeves can reduce friction and wear. As Figure 7 shown, the horizontal pushing mechanism 820 includes a pushing frame 8201 and a pushing cylinder 8202. The pushing cylinder 8202 is arranged on the pushing frame 8201, and the relative position between the workpiece and the support wheels in the width direction can be adjusted. The positioning mechanism is a positioning idler wheel 830, which is arranged at both ends of the pushing frame 8201. When the workpiece contacts the rotating parts on the positioning idler wheel 830, the rotating parts rotate through the outer ring of the rolling bearing, so as to realize the positioning and guiding of the workpiece.

[0070] As Figure 8As shown in the figure, the longitudinal adjustment mechanism 9 includes two sets of hydraulic lifting pressure rollers 910 at both ends of the girder 510 of the flexible support bridge, a longitudinal electric roller 920, and a second guide rail 930. The second guide rail 930 is arranged on the side of the girder 510 of the flexible support bridge. There is a guide rail 930 at both ends of the girder 510 of the flexible support bridge, and a set of hydraulic lifting pressure rollers 910 is slidably arranged on each second guide rail 930. When the workpiece is laid flat on the girder 510 of the flexible support bridge, the longitudinal electric roller 920 rolls in the longitudinal direction of the workpiece, so that the workpiece is adjusted to an appropriate position in the longitudinal direction. Then the hydraulic lifting pressure rollers 910 slide on the slide rail. When the hydraulic lifting pressure rollers 910 slide to an appropriate position, the hydraulic lifting pressure rollers 910 press down to clamp the workpiece in the vertical direction. At the same time, since the workpiece is bent by its own weight, the material is driven to slide on the support bridge girder by the longitudinal electric roller 920. Since the deformation of the workpiece is related to the self-weight of the workpiece, when the center of gravity of the workpiece deviates from the highest point, the bending moment of the workpiece on the highest point is greater, which is beneficial to the bending deformation at both ends of the workpiece and reduces the warping degree on both sides in the length direction of the subsequent cylindrical steel plate.

[0071] As Figure 9 shown in the figure, the middle clamping mechanism 10 is arranged above the flexible support bridge and includes a clamping beam 1010 formed by welding two double channel steels opposite to each other. The middle of the clamping beam 1010 is hollow. A clamping seat 1020 is fixed on the clamping beam 1010. The clamping seat 1020 can be slidably installed on the clamping beam 1010 and placed at a suitable position according to actual needs. A clamping screw 1030 is threadedly connected in the vertical direction of the clamping seat 1020, and a clamping block is fixed at one end of the clamping screw 1030 facing the workpiece. When the workpiece is adjusted to an appropriate position by the transverse adjustment mechanism 8 and the longitudinal adjustment mechanism 9, the operator can fixedly install the clamping beam 1010 above the flexible support bridge, then slide the clamping seat 1020 to an appropriate position, and then insert the clamping screw 1030 into the threaded hole of the clamping seat 1020. When the clamping block touches the workpiece, tighten the clamping screw 1030. Generally, the middle clamping mechanism 10 is arranged above the flexible support bridge at the middle position of the whole device. By installing the clamping beam, the clamping of the middle position of the workpiece is completed, preventing the deformation of the workpiece and problems such as tearing or bulging of the steel plate, which may affect the subsequent processing.

[0072] As Figure 10As shown in the figure, the long-side clamping mechanism 24 includes a mounting base 2420, a support block 2410 arranged on the support beam, a clamping hydraulic cylinder 2430 arranged on the mounting base 2420, and a pressing block 2440 arranged on the output end of the clamping hydraulic cylinder. The mounting base 2420 is slidably connected to the support beam in the width direction of the material. The pressing block 2440 is rotatably connected to the output end of the clamping hydraulic cylinder 2430. When the workpiece is placed on the main beam of the support bridge, through manual sliding, if the long-side clamping mechanism 24 is aligned with the edge of the steel plate, then the clamping hydraulic cylinder 2430 is used to drive the pressing block 2440, thereby completing the clamping of both sides of the workpiece. The pressing point of the long-side clamping mechanism 24 is located directly above the support bridge; the short-side clamping mechanism 25 is a C-shaped clamp for clamping the workpiece. The long-side clamping mechanism 24 and the short-side clamping mechanism 25 can control the welding deformation at the edge of the workpiece. Generally, the long-side hydraulic pressing mechanism can provide a pressure of 3 to 5 tons, hold in place and self-lock. It is automatically controlled by the control system without affecting the loading and unloading. The pressing point is directly above the support bridge, and it can hold the workpiece flexibly and effectively. Two groups are arranged on each main beam, with a total of 42 groups. When the clamping points move, double lifting points are used for synchronous clamping. The pressing block 2440 uses a profiling clamping jaw, which can increase the contact area. The short-side clamping mechanism uses a manual C-shaped clamp to clamp the workpiece.

[0073] The automation system for flexible forming tire molds for nuclear power steel linings also includes a control system. The control system includes an operating console and a system control cabinet. The operating console is used for parameter entry of the entire system, manual operation of each actuator, etc. It uses a Chinese operating system and an HMI with a touch screen. The HMI is installed on the PLC control cabinet, which can realize analog, manual, and automatic control operations. It has program reading, fault alarm, and emergency shutdown functions. The system is also equipped with a 65-inch display screen to display the relevant status and information of the equipment. The system control cabinet includes the hardware and software parts of the control system. The hardware part includes a power cabinet, a servo cabinet, a PLC cabinet, an audible and visual alarm system, and a wireless control module. The communication adopts the industrial Ethernet method. The cabinet is connected to the welding power supply and transmission line of each station equipment with a standard wire trough box. The software part is the developed software, which has the functions of automatic transformation and point control adjustment. The control system has the functions of automatic programming control and inching adjustment control, which can be switched on the HMI operation interface by key selection. The program software is written by Botu software. According to the specifications and models of the steel lining wall panels, a separate program number can be established and stored. The stored and solidified program can be called at any time later. The storage program number is up to 30 groups. The control functions include: the lifting speed and lifting distance programming of the supporting bridge lifting servo, inching adjustment control and display on the HMI interface; the supporting bridge single-action inching and synchronous linkage functions can be realized; long side holding hydraulic control can realize linkage or single-action inching control; longitudinal and transverse translation and centering control functions; the electric roller motor speed and longitudinal and transverse adjustment speed can be set and programmed; the hydraulic solenoid valve group is controlled by branch control to realize the automatic and inching control function of hydraulic cylinder holding, tightening and loosening; the on-off control of pneumatic centering; the logic signal interaction function is to realize the automatic or inching adjustment function of longitudinal and transverse movement; the human-machine HMI operation interface is installed on the control console and operated by Chinese menu. The menu adopts a hierarchical expansion mode, which is convenient for setting and controlling functions intuitively and quickly; all servo motor models and PLC and HMI interfaces are implemented in PN bus mode, with signal. Interactive anti-interference ability, fast response speed, low failure rate and other characteristics; through the physical buttons on the wireless remote control, the functions that need to be adjusted can be operated in jog mode. Real-time alarm prompts are given for signals such as safe position and safety protection, so as to protect the operating accuracy of the equipment and the safety of personnel.

[0074] The nuclear power steel lining flexible molding tire mold automation system also includes a channel component, which is a plurality of welded ribs 26 arranged between the support bridges, and the welded ribs form a channel for manual passage.

[0075] The automatic system for the flexible forming die of the nuclear power steel lining also includes a safety component. The safety component includes a fall-prevention tread plate 27 and a guardrail 28. The fall-prevention tread plate 27 is arranged on the side of each support bridge. The fall-prevention tread plate 27 rises and falls with the support bridge. The surface of the fall-prevention tread plate uses a checkered plate to increase friction and play an anti-slip role. The guardrail 28 is arranged on the lift seat 540 and is fixed, not moving up and down with the support bridge.

[0076] This embodiment also provides a workpiece installation method for the automatic system of the flexible forming die of the nuclear power steel lining, including the following steps:

[0077] Step 1: Set the position parameters of the flexible support bridge according to the drawing to be processed.

[0078] Step 2: The operator hoists and gently places the workpiece on the flexible fixture.

[0079] Step 3: Adjust the workpiece bottom plate to an appropriate lateral position through the lateral adjustment mechanism.

[0080] Step 4: Adjust the workpiece bottom plate to an appropriate longitudinal position through the longitudinal adjustment mechanism.

[0081] Step 5: Operate the long-side clamping mechanism to press the long side direction of the workpiece bottom plate.

[0082] Step 6: The operator hoists the angle steel stiffener to the designed position on the drawing.

[0083] Step 7: Hoist the middle pressing mechanism, and the operator installs the middle pressing mechanism.

[0084] Step 8: Operate all the long-side clamping mechanisms to press the long side direction of the workpiece bottom plate.

[0085] Step 9: Operate the short-side clamping mechanism to press the short side direction of the workpiece bottom plate.

[0086] Step 10: Start welding.

[0087] Step 11: After welding is completed, the operator opens and removes the middle pressing mechanism.

[0088] Step 12: Open the long-side clamping mechanism and the short-side clamping mechanism.

[0089] Step 13: The operator hoists and removes the workpiece to enter the next process.

[0090] Specifically as follows:

[0091] During operation, according to the size of the workpiece, which is generally a cylindrical steel plate, the height of the support beam is adjusted by adjusting the lifting assembly so that the top surface of the support beam forms an arc for supporting the cylindrical steel plate. Then, the position of the flexible support bridge is adjusted. Subsequently, the material is loaded by a gantry crane, making the cylindrical steel plate located on the support beam. Then, the electric roller 8103 is pressed against the cylindrical steel plate by adjusting the air cylinder 8102. At this time, the electric roller 8103 is driven, so that the electric roller 8103 drives the cylindrical steel plate to move, completing the adjustment of the position of the cylindrical steel plate. And by driving the reciprocating movement of the cylindrical steel plate within a certain range, under the influence of its own weight, the two side steel plates of the cylindrical steel plate are bent to a certain extent, improving the bending performance and reducing the springback of the cylindrical steel plate. After completion, the long-side clamping mechanism 24 is clamped. By manually pushing the mounting seat, the profiling clamping claws are aligned with the cylindrical steel plate and are directly above the support block. The profiling clamping claws complete the clamping of both sides of the cylindrical steel plate through the hydraulic lifting pressure roller 2410. When clamping, the clamping sequence of the hydraulic lifting pressure roller 2410 is to clamp from the highest support beam to the two side support beams in turn. Since the cylindrical steel plate will produce a certain deformation when being pressed, clamping from both sides in turn makes it difficult for the deformation of the cylindrical steel plate to concentrate between the two pressing blocks, preventing the cylindrical steel plate from arching, resulting in excessive deformation of the cylindrical steel plate and affecting the performance of the cylindrical steel plate.

[0092] Take out the guide rail 2430 and install the guide rail 2430 on the corresponding support beam according to the length of the cylindrical steel plate. By sliding the sliding seat, the two ends of the cylindrical steel plate are exactly located between the profiling clamping claws and the support angle iron. Rotate the screw rod so that the profiling clamping claws and the support angle iron complete the clamping of both ends of the cylindrical steel plate. Finally, install the middle pressing mechanism 10. By sliding the position of the pressing seat 1020 and then rotating the pressing screw rod 1030, the pressing block completes the clamping of the position in the middle area of the cylindrical steel plate, ensuring the pressing of the middle area of the cylindrical steel plate to ensure the flatness of the cylindrical steel plate.

[0093] Embodiment 2

[0094] A steel lining forming device for a nuclear power plant, comprising an automatic system for a flexible forming die of the steel lining and an anchor bolt welding device. The automatic system for the flexible forming die of the steel lining is as described in Embodiment 1. The anchor bolt welding device includes a pair of parallel main slide rails 401 installed in the welding area. A movable device is installed on the parallel main slide rails 401. A gantry structure is installed between the two movable devices. A first guide rail is installed on the gantry structure. The first guide rail is two linear slide rails. Two slides are installed on the first guide rail. A driving device is installed on the slides. The driving device drives the slides to move along the first guide rail. A laser cleaning device is installed on the lower surface of the slides. A mounting plate is installed on one side of the slides. A welding robot is installed on the mounting plate. An automatic feeding system is installed on the upper surface of the slides. After the automatic feeding system finishes loading the anchor bolts 16, the laser cleaning device cleans the area to be welded, and the welding robot welds the anchor bolts 16.

[0095] In the present invention, the main slide rail 401 is a 50 steel rail. The entire main slide rail is installed on the foundation embedment 409. A number of embedded parts 403 are provided on the foundation embedment 409. There are no less than three locking mechanisms 404 on the embedded parts 403. The locking mechanisms are used to lock the main slide rail 401. The main slide rail 401 is located on the embedded parts 403. The top and side of the slide rail are machined into planes. An inclined rack 405 is installed on the side. The traveling gear contacts the top of the rail. The gantry legs 407 are located on the left and right sides of the gantry crossbeam 408 and are connected by bolts to form a gantry structure. Traveling gears 412 and guide wheels are arranged on the front and back sides of the gantry legs 407. The servo motor 410 is installed on the flange end face of the input end of the speed reducer 411. The speed reducer 411 is connected to the gantry legs 407 through a connecting plate. A traveling gear 412 is installed at the input shaft of the speed reducer. The traveling gear is tightly meshed with the inclined rack 405 through a pull rod and a disc spring. Buffer rubber pads 402 are installed on both sides of the main slide rail 401. A travel switch is also installed between the traveling gear and the guide wheel. Two linear slide rails are arranged on the upper part of the gantry crossbeam. A rack is installed between the two linear slide rails. At the same time, there is also a linear slide rail on the side of the gantry crossbeam. One side of all the slide rail installation slots is machined into a single V shape. The V-shaped groove is locked with the gantry girder through a wedge block, so that the positioning side of the main slide rail is closely attached to the side of the installation slot. The slide mounting plate is locked with the side and the top linear guide rail through bolts.

[0096] In the present invention, the driving device includes a servo motor, a moving gear, and a moving rack. The moving rack is located between the two linear slide rails. The gear is driven to rotate by the moving servo motor, thereby driving the moving plate 414 to move along the moving rack.

[0097] In the present invention, the laser cleaning device includes a fixed shaft 201 which is fixed on a slide plate. A slide rail is provided on the fixed shaft 201. A sliding frame is sleeved on the fixed shaft 201. The sliding frame is composed of a first side plate 217, a back plate 218, a panel 219 and a second side plate 223. A first motor 203 is installed on the sliding frame. The first motor 203 is connected to a first planetary reducer 204. A sliding device is installed on the output shaft of the first planetary reducer 204. The sliding device slides along the slide rail. A third bracket 215 is installed on the sliding frame. The third bracket 215 is connected to a drag chain 216. The drag chain 216 is connected to a transition plate 220 through a fourth bracket 214. The transition plate 220 is connected to a connecting block 206. An air knife 209, a laser distance sensor 207 and a laser head 211 are provided on the connecting block 206. The laser distance sensor 207 is connected to the connecting block 206 through a sensor mounting plate 208. An air knife support 210 is installed on the connecting block 206. The air knife 209 is installed on the air knife support 210. The air knife support 210 is provided with an opening groove. An insertion guide shaft is installed on the opening groove. The end of the guide shaft 222 is a rectangular boss which is inserted into the opening groove. The air knife 209 is installed on an opening support 221. The guide shaft 222 passes through the opening support 221. The guide shaft 222 and the opening support 221 are in interference fit. A locking bolt is provided in the opening groove. When the guide shaft 222 moves to a proper position, it is locked by tightening the locking bolt. The sliding device is a gear. A cleaning rack is provided on the slide rail. The gear moves along the cleaning rack. A mounting seat 227 is installed on the connecting block 206. The laser head 211 is installed on the mounting seat 227 through a detachable device.

[0098] In the present invention, the detachable device includes a moving block 229 provided with a groove 230. A hemispherical groove is provided in the groove 230. A ball 231 is provided in the hemispherical groove. A cavity is provided at one end of the mounting seat 227. An arc groove adapted to the hemispherical groove is provided on the lower surface of the cavity. A movable plate 228 is installed in the cavity. A guide post 224 is provided in the cavity. The movable plate 228 is provided with a through hole. The guide post 224 is inserted into the through hole. A compression spring 225 is provided on the guide post 224. One end of the compression spring 225 abuts against the movable plate 228, and the other end abuts against the inner wall of the cavity. The laser head 211 is located on the moving block 229.

[0099] In the present invention, the welding robot includes a robot body and an automatic welding head located on the robot body, the automatic welding head includes a mounting flange 301, a welding gun bracket 302 connected to the mounting flange 301, and a stud welding gun 310, the stud welding gun 310 is fixed to the welding gun transition plate 307 by bolts, the welding gun transition plate 307 is locked on the welding gun bracket 302 by bolts, a guide seat 308 is installed on the welding gun transition plate 307, two first guide rods 311 are installed on the guide seat 308, the first guide rods 311 are fixed by a ferrule joint 309, two SK shaft supports 303 are installed at the bottom of the welding gun bracket 302, the second guide rod 315 passes through the two SK shaft supports 303, a first opening fixed seat is provided at the end of the second guide rod, a diffuse reflection photoelectric sensor 314 is installed on the first opening fixed seat, the first opening fixed seat includes a fixed unit and a movable unit, the movable unit is provided with two waist-shaped holes designed vertically, and the angle of the diffuse reflection photoelectric sensor 314 is adjusted by the two waist-shaped holes. The bottom of the two first guide rods 311 is connected to the third guide rod 318, and a sliding seat 317 is sleeved on the third guide rod 318. A sliding seat spring is provided between the sliding seat 317 and the boss of the third guide rod 318, and the sliding seat 317 is connected to the ceramic ring clamp 313; a second opening fixed seat is installed in the middle of the two SK shaft supports 303, and the second opening fixed seat is fixed on the welding gun transition plate 307. A proximity switch 304 and an L-shaped bracket are installed at the bottom of the second opening fixed seat, and a group of opposite-beam photoelectric sensors 312 are installed on the L-shaped bracket. A bracket fixing plate 316 is installed at the chuck of the stud welding gun 310, and the induction plate is connected to the bracket fixing plate 316 by bolts. The position of the induction plate is adjusted through the waist hole on the induction plate, so that the ceramic ring clamp 313 is completely close to the surface of the workpiece. The chuck of the stud welding gun 310 is a four-petal copper tube structure. The diameter of the large end of the anchor nail is slightly larger than the inner diameter of the copper tube. After the anchor nail is inserted into the welding gun head, the four-petal copper tube is stretched open to clamp the anchor nail. The four-petal copper tube structure is that three open grooves are opened on the copper tube to form an elastic chuck. The chuck of the stud welding gun 310 is connected to the stud welding gun 310 through an elastic structure, and the chuck of the stud welding gun 310 and the stud welding gun 310 can move relative to each other. The proximity switch at the rear can just sense the sensor plate and conduct, and this signal is used as the welding start signal. The offline programming system of the KuKa robot ensures that the direction of the welding gun head is always aligned with the center of the fetal membrane, perpendicular to the normal surface of the workpiece, and the ceramic ring clamp and the welding gun head are pointed vertically. The robot arm drives the welding gun head to press down to ensure that the ceramic ring clamp and the workpiece surface are completely close. After the ceramic ring and the workpiece surface are in close contact, the robot arm continues to press down, driving the welding gun head to lift up, the induction sheet and the welding gun head are linked, and the induction sheet rises accordingly, reaching the height of the proximity switch, which means that the welding gun can start an arc. At the same time, a group of through-beam photoelectric sensors 312 are arranged on both sides of the fixing seat, and the bracket position is adjusted so that the light emitted by the sensor is just blocked by the anchor nail, which is used to detect the presence or absence of the anchor nail.After the automatic feeding system processes the anchor pins, the anchor pins are sent into the chuck of the stud welding gun 310 by the manipulator.

[0100] In the present invention, the automatic feeding system includes an anchor pin vibrating disk 11 and a porcelain ring vibrating disk 13 located on the mounting plate. Spiral tracks are provided in both the anchor pin vibrating disk 11 and the porcelain ring vibrating disk 13, and rubber pads with tiny bosses are provided on the tracks. A first linear vibrating feeder 23 is connected to the outlet of the anchor pin vibrating disk 11. A limiting boss is provided at the end of the first linear vibrating feeder 23. The first linear vibrating feeder 23 is provided with a through groove for accommodating the anchor pin 16. When the anchor pin 16 reaches the limiting boss, the first grasping device grasps the anchor pin 16. A camera 12 is provided below the end of the first linear vibrating feeder 23. When the first grasping device grasps the anchor pin 16, the camera takes a picture of the anchor pin. After the picture is processed by the picture controller and judged to be qualified, the first grasping device sends the anchor pin into the second grasping device. A rotatable second grasping device is provided on the mounting plate. The second grasping device clamps the anchor pin 16 from the first grasping device, and an assembly table is provided below the second grasping device. A second linear vibrating feeder 22 is provided at the outlet of the porcelain ring vibrating disk 13. The second linear vibrating feeder 22 is provided with a groove 230, and the porcelain ring moves along the groove 230. When the porcelain ring moves to the top of the groove 230, it stops moving, and the rotatable third grasping device grasps the porcelain ring. When the third grasping device rotates to a suitable position, the anchor pin 16 grasped by the second grasping device is located directly above the porcelain ring. A liftable pressing block is installed on the mounting plate, and the anchor pin 16 is pressed into the porcelain ring by the movable pressing block.

[0101] In the present invention, the first grasping device includes a first bracket located on the mounting plate. A first lifting mechanism 14 is installed on the first bracket. A first sliding mechanism 15 that moves horizontally is installed on the first lifting block of the first lifting mechanism 14. The first sliding mechanism 15 includes a first screw rod and a first slider. A first grasping unit 19 is installed on the first slider.

[0102] In the present invention, a second bracket is installed on the mounting plate. The second grasping device is located on the second bracket. The second grasping device includes a second base installed on the second bracket. A motor is installed in the second base. The motor is connected to a rotating shaft, and a second grasping unit 20 is installed on the rotating shaft. The motor drives the rotating shaft to rotate, thereby driving the second grasping unit 20 to rotate. A support frame 17 is installed on the second bracket. A notch is provided at the top of the support frame 17. The porcelain ring is located on the notch, and the anchor pin 16 passes through the porcelain ring and the notch.

[0103] In the present invention, the third grasping device is located on the second bracket. The third grasping device includes a third base, on which a third motor is installed. The third motor is connected to a third rotating shaft, and a third grasping unit 21 is installed on the third rotating shaft. The third grasping unit 21 is driven to rotate by the third rotating shaft.

[0104] In the present invention, a feeding tray is installed between the outlet of the anchor nail vibrating disk 11 and the first linear vibrating feeder 23. The cross-section of the feeding tray is trapezoidal. A chute is provided at the bottom of the feeding tray. A number of baffles for blocking the movement of excess anchor nails 16 are installed on the feeding tray. A gap is provided between the baffles and the bottom of the feeding tray. The chute of the feeding tray is connected to a through groove.

[0105] A welding method for a welding device for welding anchor nails 16 includes the following steps:

[0106] Step 1: Hoist the arc-shaped steel lining workpiece onto the die fixture, and correct and adjust the workpiece.

[0107] Step 2: Weld the pre-shift nails, and conduct a 45° bending test after welding is completed.

[0108] Step 3: Import the 3D model of the workpiece into the equipment offline programming system, set the relevant software parameters according to the size of the workpiece, generate a program, and then import it into the robot control system.

[0109] Step 4: Only perform laser cleaning operations, and conduct laser cleaning on the welding positions of the first 3 rows of anchor nails 16 one by one.

[0110] Step 5: Starting from the fourth row to the third row from the bottom, execute the collaborative working mode. While laser cleaning the surface of the welding area of the fourth row, the robot welds the first row of anchor nails 16, and proceed row by row in sequence.

[0111] Step 6: Only perform welding operations. For the last three rows, only execute the robot welding operation. After all welding is completed, the gantry moves to the negative limit position of the ground rail.

[0112] Step 7: Weld the post-shift nails and conduct a bending test.

[0113] The welding quantity and inspection requirements are the same as those in Step 2. If the post-shift bending is unqualified and still unqualified after re-welding, all the anchor nails 16 welded by this welder during the shift shall be bent by 15° - 30°, and no damage or cracking is allowed.

[0114] Step 8: Clean the ceramic ring and conduct self-inspection of the weld seam.

[0115] Self-inspection and cleaning by manually breaking the ceramic ring after welding. Workers conduct visual self-inspection on all welds, and there shall be no defects such as spatter, lack of fusion along the circumference, porosity, etc. The cleaning of the ceramic ring shall be carried out carefully and cautiously, without violent operation, and the welds and base metals shall not be damaged. Welds with defects shall be marked for QC review and to facilitate quickly finding the unqualified welds during repair welding.

[0116] Step 9, Weld position accuracy detection.

[0117] QC personnel use a tape measure to measure the weld position. For the first row and the first column of each separate area separated by horizontal and vertical angle steels, the positioning accuracy is detected, and for the other anchor bolts 16 within the area, the relative position accuracy with adjacent anchor bolts 16 is detected. The reference for positioning accuracy measurement is the right-angle side of the angle steel, and the reference for relative position accuracy measurement is the center line of adjacent anchor bolts 16. Whether it is positioning accuracy or relative position accuracy, it is required that the measured value has an error of ≤ ±5 mm from the theoretical dimension on the drawing, otherwise it is considered that the accuracy does not meet the standard.

[0118] Step 10, VT inspection and repair welding of welds.

[0119] QC personnel conduct VT inspection on all welds. If unqualified welds are detected, the welder needs to weld an additional anchor bolt 16 near the unqualified weld and conduct VT inspection on the repaired anchor bolt 16 again.

[0120] Step 11, Sampling inspection of weld destructive tests.

[0121] In the present invention, in Step 5, the collaborative mode is that robot automatic material taking and welding are carried out simultaneously with laser cleaning, independent of each other. The robot welds the anchor bolt 16 at the Nth row and the Kth column, and the laser external axis cleans the area to be welded at the (N + 3)th row and the Kth column. After both laser cleaning and welding are completed, the slide table moves horizontally to the next welding point position. Laser cleaning and the robot operate independently and synchronously. When the covered area of one work station is all welded and cleaned in advance, it is necessary to stop at the welding point position of the last anchor bolt 16 and wait for the completion of the operation of the other work station. The gantry moves to the next row while the two slide tables move synchronously to the welding point positions of the first anchor bolts 16 in their respective covered areas.

[0122] In the present invention, sampling is carried out at 10% of the total amount of anchor bolt 16 welding. A certain number of welds should be selected in each area, and there shall be no phenomenon that too many welds are selected in some areas, too few or even zero welds are selected in some areas. The destructive test is a hammering test and shall not be bent with a sleeve. The hammering angle is 20°, and when hammering, it should be carried out in multiple times, 3° - 5° each time, and after each hammering, it is measured with an angle gauge. It is strictly prohibited to hammer at an excessive angle and then reverse hammer to the specified angle.

[0123] In this embodiment, through the offline technology, the program for automatically identifying solder joints is output, eliminating the manual wire laying process, and improving efficiency, precision, and accuracy. Through the vibrating feeding technology and the automatic control technology, the automatic feeding and sleeving of the anchor pins and porcelain rings are realized. The whole process is automatically controlled, and the sleeving station can meet the requirements of sleeving anchor pins and porcelain rings with different extended lengths. The modular design is adopted, and for anchor pins and porcelain rings with different diameters, only the corresponding feed channels and jaws need to be replaced to realize the sleeving of anchor pins and porcelain rings with different diameters, with a high degree of flexibility. The 2D vision detection technology is used to detect the arc starting points at the ends of the anchor pins, replacing the traditional manual visual inspection, with high efficiency and accuracy, and avoiding the possible missed inspection and false inspection phenomena caused by long-term high-intensity work of workers. The laser rust removal technology is used to clean the surface to be welded of the workpiece, replacing the traditional manual grinding with an angle grinder. Different cleaning parameters can be set according to the steel plates with different rust degrees, with high efficiency, safety, and flexibility, reducing the labor demand and saving labor and construction costs. The numerical control and robot technology are used to realize the unmanned operation of anchor pin welding and the surface cleaning of the base material, which can greatly save nuclear-grade welders and auxiliary workers, and save labor and construction costs.

[0124] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation of the present invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the present invention defined by the appended claims.

Claims

1. The adjustment mechanism of the flexible forming mold of nuclear power steel lining is characterized by: The adjustment mechanism comprises a transverse adjustment mechanism (8) and a longitudinal adjustment mechanism (9), both of which are arranged on a support bridge, the transverse adjustment mechanism (8) comprises a vertical jacking mechanism (810), a horizontal pushing mechanism (820) and a positioning mechanism (830), and the vertical jacking mechanism (810) is slidably connected to the support bridge and adjusts the position of the workpiece in the width direction by sliding.

2. The adjustment mechanism of the flexible forming mold for nuclear power steel lining according to claim 1 is characterized by: The vertical lifting mechanism (810) is arranged on at least one supporting bridge, and comprises an adjustment frame (8101), an adjustment cylinder (8102) and an electric roller (8103); the adjustment frame (8101) is slidably connected between two supporting bridges along the width direction of the workpiece; the adjustment cylinder (8102) is arranged on a frame of the adjustment frame (8101); the electric roller (8103) is arranged at the top of the adjustment frame (8101); the output end of the adjustment cylinder (8102) is connected to the electric roller (8103); when it is necessary to adjust the width direction, that is, the horizontal position of the workpiece, the adjustment cylinder (8102) is driven to drive the electric roller (8103) to rotate; due to the friction between the electric roller and the workpiece, the electric roller (8103) drives the workpiece to move in the horizontal direction.

3. The adjustment mechanism of the flexible forming mold for nuclear power steel lining according to claim 1 is characterized by: The horizontal pushing mechanism (820) comprises a pushing frame (8201) and a pushing cylinder (8202). The pushing frame (8201) is provided with a pushing cylinder (8202) to adjust the relative position of the workpiece and the supporting wheel in the width direction. The positioning mechanism is a positioning wheel (830) which is arranged at both ends of the pushing frame (8201). When the workpiece contacts the rotating part on the positioning wheel (830), the rotating part rotates through the outer ring of the rolling bearing, thereby realizing the positioning and guiding of the workpiece.

4. The adjustment mechanism of the flexible forming mold for nuclear power steel lining according to claim 1 is characterized by: The longitudinal adjustment mechanism (9) comprises two groups of hydraulic lifting and pressing rollers (910) at both ends of the beam (510) of the flexible support bridge, a longitudinal electric roller (920) and a second guide rail (930), wherein the second guide rail (930) is arranged on the side of the beam (510) of the flexible support bridge, and a guide rail (930) is arranged at both ends of the beam (510) of the flexible support bridge, and a group of hydraulic lifting and pressing rollers (910) is slidably arranged on each second guide rail (930); when the workpiece is laid flat on the beam (510) of the flexible support bridge, the longitudinal electric roller (920) rolls in the longitudinal direction of the workpiece so that the workpiece is adjusted to an appropriate position in the longitudinal direction, and then the hydraulic lifting and pressing roller (910) slides on the slide rail, and when the hydraulic lifting and pressing roller (910) slides to an appropriate position, the hydraulic lifting and pressing roller (910) presses down to press the workpiece in the vertical direction.

5. Nuclear power steel lining flexible molding mold automation system, characterized by: The invention comprises an adjustment mechanism as claimed in any one of claims 1 to 4, and further comprises a support bridge integral base (7), a support bridge, a middle clamping mechanism (10), a long side clamping mechanism (24), a short side clamping mechanism (25) and a control system (26); the support bridge is arranged in the radial direction of the support bridge integral base (7), the support bridge comprises a group of uniformly distributed flexible support bridges (5) and two fixed support bridges (6), the flexible support bridge is arranged in the middle of the support bridge integral base (7), and the fixed support bridges (6) are respectively arranged on both sides of the support bridge integral base (7), The height of the flexible support bridge (5) is changed by an electric lift (530), thereby changing the curvature of the flexible molding mold to meet the positioning and pairing requirements of workpieces with different curvatures. The top surfaces of the flexible support bridge (5) and the fixed support bridge (6) are combined to form a flexible mold frame with a curvature. The middle clamping mechanism (10) clamps the middle part of the workpiece, the long side clamping mechanism (24) clamps the workpiece in the long side direction, and the short side clamping mechanism (25) clamps the workpiece in the short side direction. The control system (26) controls the support bridge to reach a preset position.

6. The nuclear power steel lining flexible molding mold automation system according to claim 5 is characterized by: The support bridge comprises a group of uniformly distributed flexible support bridges (5) and two fixed support bridges (6); the flexible support bridge is arranged in the middle of the support bridge integral base (7); the fixed support bridges (6) are respectively arranged on both sides of the support bridge integral base (7); the height of the flexible support bridge (5) is changed by an electric lift (530), thereby changing the curvature of the flexible molding tire mold to meet the positioning and pairing of workpieces with different curvatures; the top surfaces of the flexible support bridge (5) and the fixed support bridge (6) are combined to form a flexible tire frame with a curvature.

7. A nuclear power plant steel lining forming device, characterized in that: It comprises the steel lining flexible molding mold automation system and anchor nail welding device as described in claims 1 to 6.

8. A nuclear power plant steel lining forming device according to claim 7, characterized in that: The anchor nail welding device includes a pair of parallel main slide rails installed in the welding area, a movable device is installed on the parallel main slide rails, a gantry structure is installed between the two movable devices, a first guide rail is installed on the gantry structure, two slide plates are installed on the first guide rail, a driving device is installed on the slide plate, and the driving device drives the slide plate to move along the first guide rail; a laser cleaning device is installed on the lower surface of the slide plate, a mounting plate is installed on one side of the slide plate, a welding robot is installed on the mounting plate, and an automatic feeding system is installed on the upper surface of the slide plate. After the automatic feeding system completes feeding the anchor nails, the laser cleaning device cleans the area to be welded, and the welding robot welds the anchor nails.

9. A nuclear power plant steel lining forming device according to claim 8, characterized in that: The automatic feeding system comprises an anchoring nail vibrating plate and a ceramic ring vibrating plate located on a mounting plate, wherein the anchoring nail vibrating plate and the ceramic ring vibrating plate are both provided with spiral tracks, a first linear vibrating feeder is connected to the outlet of the anchoring nail vibrating plate, a limiting boss is provided at the end of the first linear vibrating feeder, the first linear vibrating feeder is provided with a through slot for accommodating the anchoring nail, when the anchoring nail reaches the limiting boss, a first grasping device grasps the anchoring nail, a rotatable second grasping device is provided on the mounting plate, and the second grasping device moves from the first grasping device An anchor nail is clamped in the picking device, and an assembly table is provided under the second grabbing device; a second linear vibration feeder is provided at the outlet of the ceramic ring vibration disk, and the second linear vibration feeder is provided with a groove, and the ceramic ring moves along the groove. When the ceramic ring moves to the top of the groove, the movement is stopped, and the rotatable third grabbing device grabs the ceramic ring. When the third grabbing device is rotated to a suitable position, the anchor nail grabbed by the second grabbing device is located directly above the ceramic ring, and a liftable pressure block is installed on the mounting plate, and the anchor nail is pressed into the ceramic ring by the movable pressure block.

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