Nuclear power tube plate submerged-arc welding device and using method thereof

Abstract

The invention provides a nuclear power tube plate submerged-arc welding device which is characterized in that a base, a ground track and a crawler drag chain form a horizontal longitudinal coarse adjustment mechanism, a mechanical arm is provided with a horizontal transverse and vertical position coarse adjustment mechanism, one end of the mechanical arm is provided with a wire feeding mechanism, and the other end of the mechanical arm is provided with a welding gun connected with the wire feeding mechanism; the welding gun is connected with the mechanical arm through the cross-shaped sliding table module and the index plate and used for achieving fine adjustment of the spatial position and angle of the welding gun. A pressing roller clamping device is arranged on one side of the stand column and comprises a rolling wheel assembly and a pressing roller assembly, a pipe fitting to be welded is clamped between the rolling wheel assembly and the pressing roller assembly, and the pressing roller clamping device drives the pipe fitting to be welded to rotate around the parallel axis in the length direction of the mechanical arm; the using method comprises the steps of preliminarily fixing the to-be-welded assembly, hoisting the to-be-welded assembly in place, adjusting the welding angle, roughly adjusting the position of the welding gun, finely adjusting the position of the welding gun and welding. The problems that a submerged arc welding process cannot be adopted for a full penetration weld of a steel lining penetration piece sleeve tube plate, and the welding quality, the quality and the automation level are low are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of submerged arc welding, and in particular to a nuclear power tube plate submerged arc welding device and a use method thereof. Background Art

[0002] The containment vessel, the last line of defense against radioactive material leaks in nuclear power plants, is directly related to the safety of the plant. Third-generation nuclear power containment vessels typically employ a double-layer design, with an outer shell of reinforced concrete and an inner shell of post-tensioned prestressed reinforced concrete. A steel lining plate, known as the containment steel lining, is attached to the inner surface of the containment vessel. The containment steel lining primarily consists of a base plate, axillary areas, a cylinder, steel lining accessories (penetration sleeves, gate sleeves, corbels, etc.), and a dome. The containment steel lining has a barrier rating of B-SC2, a functional rating of F-SC1, a seismic resistance category of 1, and a quality assurance level of QA1.

[0003] The containment steel lining is a nuclear-grade component. Currently, traditional arc welding (MAW) is still the primary method used in China. This method suffers from low welding efficiency, high welder skill requirements, poor working conditions, and inconsistent weld quality. While the promotion and application of new nuclear power welding technologies have achieved some success in recent years, the steel lining penetration sleeve, due to its structural characteristics, is still primarily welded using MAW. The steel lining penetration sleeve primarily consists of a sleeve made of 20 seamless pipe or Q265HR-Z35 coil-welded pipe, and a flange plate made of Q265HR or Q265HR-Z35. This tube-to-sheet weld is a Class 1 weld, requiring high nondestructive testing (NDT) requirements and 100% UT inspection.

[0004] Submerged arc welding (SAW), a mature welding process used extensively in nuclear power plant construction, is limited to horizontal welding, such as steel lining plate splicing and pipe butt welding. For full penetration welds of the sleeve tube sheet on a steel lining penetration, the sleeve is nearly 2 meters long, making SAW impractical. Summary of the Invention

[0005] The main purpose of the present invention is to provide a nuclear power tube sheet submerged arc welding device and its use method to solve the problem that the full penetration weld of the steel lining sleeve tube sheet cannot be made using submerged arc welding technology, and the welding quality, quality and automation level are low.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a nuclear power tube plate submerged arc welding device, wherein the base is slidably connected to the ground track, the crawler drag chain drives the base to slide horizontally and longitudinally along the ground track, the column is vertically fixed to the base, the mechanical arm is slidably connected to the track bracket, the first motor is fixed to the track bracket, drives the track bracket to rise and fall vertically along the column, and the second motor drives the mechanical arm to slide horizontally and transversely along the track bracket, one end of the mechanical arm is provided with a wire feeding mechanism, and the other end is provided with a welding gun connected to the wire feeding mechanism, the welding gun is connected to the mechanical arm through a cross slide module and a dividing plate, and is used to achieve fine adjustment of the spatial position and angle of the welding gun; A pressure roller clamping device is provided under the welding gun on one side of the column, which includes a roller assembly and a liftable pressure roller assembly. The pipe to be welded is clamped between the two. The pressure roller clamping device drives the pipe to be welded to rotate around an axis parallel to the length direction of the robotic arm.

[0007] In the preferred embodiment, a first rack is provided on one side of the column along its height direction, the output end of the first motor is connected to the first gear, and the first gear is meshed with the first rack to form a vertical position coarse adjustment mechanism of the welding gun; A second rack is provided along the length of the robot arm. The output end of the second motor is connected to the second gear. The second gear and the second rack constitute a coarse adjustment mechanism for the horizontal position of the welding gun. The base, the ground track sliding connection and the crawler drag chain constitute a horizontal and longitudinal position coarse adjustment mechanism for the welding gun.

[0008] In the preferred embodiment, the cross slide module includes a transverse slide module and a vertical slide module. The first slide is provided with a parallel first lead screw and a first guide rail. The lower end of the second slide is slidably connected to the first guide rail and is threadedly connected to the first lead screw. The output end of the third motor is connected to the first lead screw to drive the second slide to slide transversely along the length direction of the robotic arm. A second lead screw and a second guide rail are provided at the upper end of the second slide, the lower end of the slider is slidably connected to the second guide rail and is threadedly connected to the second lead screw, and the output end of the fourth motor is connected to the second lead screw to drive the slider to slide in the vertical direction; The lower end of the indexing plate is fixed on the robotic arm, its rotating end is connected to the lower end of the first slide, the upper end of the slider is connected to the welding gun, and the cross slide module and the indexing plate constitute the spatial position fine-tuning mechanism of the welding gun.

[0009] In the preferred embodiment, the structure of the wire feeding mechanism is as follows: two wire feeding wheels and two pressure wheels are symmetrically arranged above and below and are rotatably connected to the bracket base through a rotating shaft. Two L-shaped pressure arms are symmetrically provided above the pressure wheels, the middle corners of which are rotatably connected to the bracket base through a pivot, the lower ends are respectively connected to the corresponding pressure wheels, and the upper ends are linked by a wire pressing handle to adjust the downward pressing height of the pressure wheels; The straightening wheel is arranged between the two pressure wheels. The arc surface of the two wire feeding wheels, the two pressure wheels and the straightening wheel together form a continuous welding wire guide channel. The fifth motor is drivingly connected to at least one wire feeding wheel and is used to drive the welding wire to be straightened and transported along the guide channel. The welding wire is connected to the welding gun through a wire feeding pipe. A flux box is also provided on the robotic arm, and the flux is delivered to the welding gun through a flux delivery pipe.

[0010] In a preferred embodiment, the roller assembly includes a roller box, two rollers and their driving components, a support base and a sixth motor. Both ends of the roller box are rotatably connected to the support base via a rotating shaft. The sixth motor is connected to one end of the roller box and drives the roller box to rotate around an axis parallel to the length direction of the robot arm. The roller is rotatably connected to the roller box. The two rollers are arranged in parallel and spaced a distance apart, with their axis directions parallel to the length direction of the ground track. The pipe to be welded is placed parallel between the two rollers, and the driving component drives the pipe to be welded to rotate and adjust the angle.

[0011] In the preferred embodiment, the pressure roller assembly includes a support column, a screw transmission assembly, a seventh motor and a pressure roller mechanism. The lower end of the support column is fixedly connected to one side of the roller box. The screw transmission assembly is arranged on one side of the support column. One end of the pressure roller mechanism is connected to the screw transmission assembly. The seventh motor drives the pressure roller mechanism to rise and fall along the height direction of the support column through the screw transmission assembly. The pressing roller mechanism includes two pressing rollers which are parallel to the rollers and arranged correspondingly, and the pipe to be welded is clamped between the lower surface and the upper surface of the pressing rollers.

[0012] In the preferred embodiment, the pressing roller mechanism also includes a pressing roller box, an elastic member and a pressing frame. One end of the pressing roller box is connected to the screw drive assembly, and the other end is provided with a pressing frame. A plurality of elastic members are vertically connected between the upper end of the pressing frame and the inner wall of the pressing roller box, and the lower end thereof passes through the pressing roller box and is connected to the support of the pressing roller.

[0013] In the preferred embodiment, the base is also provided with a control center, a welding machine and a flux recovery box; The control center is electrically connected with a vertical position coarse adjustment mechanism, a horizontal lateral position coarse adjustment mechanism, a horizontal longitudinal position coarse adjustment mechanism, a cross slide module, a dividing plate, a wire feeding mechanism, a pressure roller clamping device, a welding machine, and a flux recovery box.

[0014] In a preferred embodiment, a temperature sensor is further provided on the welding gun, with its detection end pointing toward the area to be welded, for detecting the temperature of the welding area; A visual sensor is installed at the end of the robotic arm to capture images of the welding area, enabling weld tracking and defect detection. An ultrasonic sensor is also installed at the end of the robotic arm to detect the internal quality of the weld in real time; The temperature sensor, the visual sensor, and the ultrasonic sensor are electrically connected to the control center.

[0015] A method for using a nuclear power tube plate submerged arc welding device, the method comprising: S1. Preliminary fixation of components to be welded: Assemble the casing and flange plate in advance, and use arc welding to perform preliminary positioning and fixation, ensuring that the pipe and plate are vertical as much as possible; S2. Hoisting the assembly to be welded into place: The sixth motor drives the roller box to rotate to a vertical position, that is, the channel sandwiched between the roller assembly and the pressure roller assembly is perpendicular to the ground. The seventh motor drives the pressure roller assembly to rise, opening the clamping channel. After vertically hoisting the assembly to be welded between the roller assembly and the pressure roller assembly, the pressure roller assembly is driven to press the pipe to be welded; S3. Adjust welding angle: Adjust the position of the components to be welded by about 35~45° so that the components are in an inclined state; S4, welding gun position coarse adjustment: start the vertical position coarse adjustment mechanism, the horizontal lateral position coarse adjustment mechanism, and the horizontal longitudinal position coarse adjustment mechanism to make the welding gun contact nozzle in the required welding position; S5. Fine-tune the welding gun position: Start the cross slide module and the indexing plate to adjust the welding gun contact nozzle angle to meet welding requirements; S6. Welding: The wire feeding mechanism and the welding machine are powered on, the flux box channel is opened and welding begins. The roller assembly drives the components to be welded to rotate to achieve circumferential welding.

[0016] This invention provides a submerged arc welding device for nuclear power tube sheets and its use method. Through the sliding connection between the base and ground rails, the multi-axis linkage of the robotic arm, and the coordinated control of the roller clamping device, it achieves fully automatic clamping and rotation of the pipe to be welded, as well as three-dimensional positioning of the welding torch, significantly improving welding efficiency. The combination of vertical and horizontal coarse adjustment mechanisms with a cross slide module and indexing plate supports precise adjustment of the welding torch's spatial position and angle with multiple degrees of freedom, adapting to the full penetration welding requirements of complex nuclear power tube sheet structures, improving welding efficiency and reducing labor costs.

[0017] Regarding welding quality, the integration of temperature sensors, visual sensors, and ultrasonic sensors enables fully closed-loop control of the welding process. Real-time temperature monitoring combined with dynamic current regulation effectively prevents weld porosity and cracks. Visual tracking ensures alignment of the welding torch trajectory with the weld, and rollers drive the pipe rotation at a constant speed to enhance circumferential penetration consistency. Ultrasonic sensors detect internal weld defects in real time, significantly improving welding reliability and the structural strength of the nuclear power plant containment vessel.

[0018] The device features a modular design, allowing for quick assembly and disassembly of key components such as the robotic arm and pressure roller assembly for maintenance. Standardized interfaces reduce operational costs. The automated flux delivery and recovery system decouples operators from the machine, reducing exposure to harmful dust. The wire feeder's straightening wheels and elastic pressure rollers are compatible with a wide range of wire sizes, minimizing straightening errors and ensuring weld pool stability, meeting the stringent quality requirements of Class I nuclear power welds. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a diagram of the overall appearance of the present invention; Figure 2 This is a structural diagram of the rough adjustment of the spatial position of the welding gun of the present invention; Figure 3 This is a structural diagram of the welding gun spatial position fine adjustment of the present invention; Figure 4 This is a structural diagram of the cross slide module of the present invention; Figure 5 This is a structural diagram of the connection between the welding gun, welding wire and flux of the present invention; Figure 6 It is a structural schematic diagram of the wire feeding mechanism of the present invention; Figure 7 This is a structural diagram of the pressure roller clamping device of the present invention; Figure 8 It is a structural diagram of the roller assembly of the present invention; Figure 9 This is a structural diagram of the pressure roller assembly of the present invention; Figure 10 It is a partial cross-sectional structural diagram of the pressure roller assembly of the present invention.

[0020] In the figure: base 1; ground track 2; crawler drag chain 3; column 4; robot arm 5; track bracket 6; vertical position coarse adjustment mechanism 7; first motor 701; first rack 702; first gear 703; horizontal position coarse adjustment mechanism 8; second motor 801; second rack 802; second gear 803; wire feeding mechanism 9; wire feeding wheel 901; pressure wheel 902; bracket base 903; pressure arm 904; wire pressing handle 905; correction wheel 906; fifth motor 907; wire feeding pipe 908; welding gun 10; cross slide module 11; first slide 1101; first screw 1102; first guide rail 1103; third motor 1104; second slide 11 05; second lead screw 1106; second guide rail 1107; slider 1108; fourth motor 1109; indexing plate 12; roller assembly 13; roller box 1301; roller 1302; support base 1303; sixth motor 1304; pressure roller assembly 14; support column 1401; screw transmission assembly 1402; seventh motor 1403; pressure roller mechanism 1404; pressure roller 14041; pressure roller box 14042; elastic member 14043; pressing frame 14044; flux box 15; flux delivery pipe 1501; welding machine 16; flux recovery box 17; temperature sensor 18; visual sensor 19; ultrasonic sensor 20; control center 100. DETAILED DESCRIPTION

[0021] Example 1 like Figures 1 to 10As shown, a nuclear power tube plate submerged arc welding device, wherein a base 1 is slidably connected to a ground track 2, a crawler drag chain 3 drives the base 1 to slide horizontally and longitudinally along the ground track 2, a column 4 is vertically fixed to the base 1, a robotic arm 5 is slidably connected to a track bracket 6, a first motor 701 is fixed to the track bracket 6, and drives the track bracket 6 to rise and fall vertically along the column 4, a second motor 801 drives the robotic arm 5 to slide horizontally and transversely along the track bracket 6, a wire feeding mechanism 9 is provided at one end of the robotic arm 5, and a welding gun 10 connected to the wire feeding mechanism 9 is provided at the other end, the welding gun 10 is connected to the robotic arm 5 via a cross slide module 11 and a dividing plate 12, for achieving fine adjustment of the spatial position and angle of the welding gun 10; A pressure roller clamping device is provided below the welding gun 10 on one side of the column 4, including a roller assembly 13 and a liftable pressure roller assembly 14, between which the pipe to be welded is clamped. The pressure roller clamping device drives the pipe to be welded to rotate around an axis parallel to the length direction of the robotic arm 5.

[0022] In the preferred embodiment, a first rack 702 is provided on one side of the column 4 along its height direction, and the output end of the first motor 701 is connected to the first gear 703, which meshes with the first rack 702 to form a vertical position coarse adjustment mechanism 7 of the welding gun 10; A second rack 802 is provided along the length of the robot arm 5. The output end of the second motor 801 is connected to the second gear 803. The second gear 803 and the second rack 802 constitute a horizontal position coarse adjustment mechanism 8 for the welding gun 10. The base 1 , the ground track 2 , and the crawler drag chain 3 are slidably connected to form a horizontal and longitudinal position coarse adjustment mechanism for the welding gun 10 .

[0023] The coarse position adjustment mechanism allows for large spatial movement of the welding gun 10, allowing for quicker movement to adapt to welding points on pipes of varying sizes, improving work efficiency. The coarse adjustment mechanism offers three degrees of freedom of movement, based on the base 1 and ground track 2, enhancing overall structural stability.

[0024] In the preferred embodiment, the cross slide module 11 includes a horizontal slide module and a vertical slide module. The first slide 1101 is provided with a parallel first lead screw 1102 and a first guide rail 1103. The lower end of the second slide 1105 is slidably connected to the first guide rail 1103 and is threadedly connected to the first lead screw 1102. The output end of the third motor 1104 is connected to the first lead screw 1102 to drive the second slide 1105 to slide horizontally along the length direction of the robot arm 5. A second lead screw 1106 and a second guide rail 1107 are provided at the upper end of the second slide 1105. The lower end of the slider 1108 is slidably connected to the second guide rail 1107 and is threadedly connected to the second lead screw 1106. The output end of the fourth motor 1109 is connected to the second lead screw 1106 to drive the slider 1108 to slide in the vertical direction. The lower end of the indexing plate 12 is fixed on the robot arm 5, and its rotating end is connected to the lower end of the first slide 1101. The upper end of the slider 1108 is connected to the welding gun 10. The cross slide module 11 and the indexing plate 12 constitute a spatial position fine-tuning mechanism for the welding gun 10.

[0025] Through the fine-tuning mechanism of two linear movement degrees of freedom and rotational degree of freedom, the welding gun 10 is accurately positioned so that it works at the optimal welding angle, which is convenient for adapting to different welding sizes and penetrating the weld to improve the quality of submerged arc welding.

[0026] In the preferred embodiment, the structure of the wire feeding mechanism 9 is as follows: two wire feeding wheels 901 and two pressure wheels 902 are symmetrically arranged above and below and are rotatably connected to the bracket base 903 through a rotating shaft. Two L-shaped pressure arms 904 are symmetrically provided above the pressure wheels 902, and their central corners are rotatably connected to the bracket base 903 through a pivot. The lower ends are respectively connected to the corresponding pressure wheels 902, and the upper ends are linked by a wire pressing handle 905 for adjusting the downward pressure height of the pressure wheels 902. The straightening wheel 906 is disposed between the two pressure rollers 902. The arc surface of the two wire feed rollers 901, the two pressure rollers 902, and the straightening wheel 906 together form a continuous wire guide channel. The fifth motor 907 is driven by at least one of the wire feed rollers 901 and is used to drive the welding wire to be straightened and fed along the guide channel. The welding wire is connected to the welding gun 10 through the wire feeding pipe 908. The robot arm 5 is also provided with a flux box 15, and the flux is delivered to the welding gun 10 through the flux delivery pipe 1501.

[0027] The wire feeding mechanism 9 automatically straightens and feeds the welding wire during the welding process. The welding wire remains straight and is guided to the corresponding point of the conductive head of the welding gun 10 along the wire feeding pipe 908, ensuring uniform wire feeding during the welding process and improving welding quality.

[0028] In the preferred embodiment, the roller assembly 13 includes a roller box 1301, two rollers 1302 and their driving components, a support base 1303 and a sixth motor 1304. Both ends of the roller box 1301 are rotatably connected to the support base 1303 via a rotating shaft. The sixth motor 1304 is connected to one end of the roller box 1301 and drives the roller box 1301 to rotate around an axis parallel to the length direction of the robot arm 5. The roller 1302 is rotatably connected to the roller box 1301. The two rollers 1302 are arranged in parallel and spaced a distance apart, with their axis directions parallel to the length direction of the ground track 2. The pipe to be welded is placed parallel between the two rollers 1302, and its driving component drives the pipe to be welded to rotate and adjust the angle.

[0029] In the preferred embodiment, the pressure roller assembly 14 includes a support column 1401, a screw transmission assembly 1402, a seventh motor 1403 and a pressure roller mechanism 1404. The lower end of the support column 1401 is fixedly connected to one side of the roller box 1301, the screw transmission assembly 1402 is arranged on one side of the support column 1401, and one end of the pressure roller mechanism 1404 is connected to the screw transmission assembly 1402. The seventh motor 1403 drives the pressure roller mechanism 1404 to rise and fall along the height direction of the support column 1401 through the screw transmission assembly 1402. The pressing roller mechanism 1404 includes two pressing rollers 14041 that are parallel to and corresponding to the roller 1302 , and the pipe to be welded is clamped between the lower surface of the pressing rollers 14041 and the upper surface of 1302 .

[0030] The pressure roller clamping device can clamp pipes of different sizes by adjusting the height of the pressure roller mechanism 1404. The roller assembly 13 rotates the assembly to be welded at a uniform speed, ensuring the consistency of the circumferential welding quality.

[0031] In the preferred embodiment, the pressing roller mechanism 1404 also includes a pressing roller box 14042, an elastic member 14043 and a pressing frame 14044. One end of the pressing roller box 14042 is connected to the screw drive assembly 1402, and the other end is provided with a pressing frame 14044. A plurality of elastic members 14043 are vertically connected between the upper end of the pressing frame 14044 and the inner wall of the pressing roller box 14042, and the lower end thereof passes through the pressing roller box 14042 and is connected to the support of the pressing roller 14041.

[0032] The elastic member mechanism provides a certain buffer for the pressure roller clamping device to prevent the assembly to be welded from being clamped and unable to rotate after being pressed.

[0033] In the preferred embodiment, the base 1 is further provided with a control center 100, a welding machine 16 and a flux recovery box 17; The control center 100 is electrically connected to the vertical position coarse adjustment mechanism 7, the horizontal lateral position coarse adjustment mechanism 8, the horizontal longitudinal position coarse adjustment mechanism, the cross slide module 11, the indexing plate 12, the wire feeding mechanism 9, the pressure roller clamping device, the welding machine 16, and the flux recovery box 17.

[0034] In the preferred embodiment, the welding gun 10 is further provided with a temperature sensor 18, the detection end of which points to the area to be welded, for detecting the temperature of the welding area; A visual sensor 19 is provided at the end of the robotic arm 5 to capture images of the welding area and achieve weld tracking and defect detection; An ultrasonic sensor 20 is also provided at the end of the robotic arm 5 for real-time detection of the internal quality of the weld; The temperature sensor 18 , the visual sensor 19 , and the ultrasonic sensor 20 are electrically connected to the control center 100 .

[0035] Sensors collect various data during the welding process in real time and transmit the data to the control system for analysis and processing. The system can adjust the welding parameters in real time based on the collected data to ensure welding quality.

[0036] The position and shape of the weld are captured in real time by the visual sensor 19. If the weld deviates from the predetermined path, the control center 100 automatically adjusts the position and angle of the welding device to ensure that the welding wire always welds along the center line of the weld.

[0037] During the welding process, ultrasonic sensors 20 and visual sensors 19 monitor the weld quality in real time. If defects such as pores or cracks are detected, the control center 100 automatically adjusts welding parameters, such as increasing the welding current or reducing the welding speed, and performs repair welding at the defective location to ensure weld quality.

[0038] Example 2 Further illustrate with reference to Example 1, Figures 1 to 10 The structure shown is a method for using a nuclear power tube plate submerged arc welding device, the method comprising: S1. Preliminary fixation of components to be welded: Assemble the casing and flange plate in advance, and use arc welding to perform preliminary positioning and fixation, ensuring that the pipe and plate are vertical as much as possible; S2. Hoisting the assembly to be welded into place: The sixth motor 1304 drives the roller box 1301 to rotate to a vertical position, that is, the channel sandwiched between the roller assembly 13 and the pressure roller assembly 14 is perpendicular to the ground. The seventh motor 1403 drives the pressure roller assembly 14 to rise, open the clamping channel, and vertically hoist the assembly to be welded between the roller assembly 13 and the pressure roller assembly 14. After that, the pressure roller assembly 14 is driven to press the pipe to be welded; S3. Adjust welding angle: Adjust the position of the components to be welded by about 35~45° so that the components are in an inclined state; S4, coarse adjustment of the welding gun 10 position: start the vertical position coarse adjustment mechanism 7, the horizontal lateral position coarse adjustment mechanism 8, and the horizontal longitudinal position coarse adjustment mechanism to place the conductive tip of the welding gun 10 in the desired welding position; S5, fine-tuning the position of the welding gun 10: starting the cross slide module 11 and the indexing plate 12, and adjusting the angle of the contact tip of the welding gun 10 to meet the welding requirements; S6, welding: the wire feeding mechanism 9 and the welding machine 16 are powered on, the flux box 15 channel is opened and welding begins, and the roller assembly 13 drives the assembly to be welded to rotate to achieve circumferential welding.

[0039] Example 3 In combination with Example 2, a method for using a submerged arc welding device for nuclear power tube sheets is further described. In step S6, a sliding baffle structure may be added during the welding process to support the lower end of the tube to prevent the tube from sliding down during the rotation process. When the pipe to be welded is super long and super large, the roller box 1301 can be rotated to the vertical position, and the assembly to be welded is placed vertically. A rotatable disc device is provided at the lower end where it contacts the ground, and its flange rotates with the rotation of the pipe.

[0040] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A submerged arc welding device for nuclear power tube sheets, characterized by: The base (1) is slidably connected to the ground track (2), the crawler drag chain (3) drives the base (1) to slide horizontally and longitudinally along the ground track (2), the column (4) is vertically fixed on the base (1), the robot arm (5) is slidably connected to the track bracket (6), the first motor (701) is fixed on the track bracket (6), and drives the track bracket (6) to vertically rise and fall along the column (4), the second motor (801) drives the robot arm (5) to slide horizontally and transversely along the track bracket (6), one end of the robot arm (5) is provided with a wire feeding mechanism (9), and the other end is provided with a welding gun (10) connected to the wire feeding mechanism (9), the welding gun (10) is connected to the robot arm (5) through a cross slide module (11) and a dividing plate (12), and is used to achieve fine adjustment of the spatial position and angle of the welding gun (10); A pressure roller clamping device is provided below the welding gun (10) on one side of the column (4), comprising a roller assembly (13) and a liftable pressure roller assembly (14), with the pipe to be welded clamped between the roller assembly (13) and the pressure roller clamping device driving the pipe to be welded to rotate around an axis parallel to the length direction of the mechanical arm (5).

2. A nuclear power tube sheet submerged arc welding device according to claim 1, characterized in that: A first rack (702) is provided on one side of the column (4) along its height direction, an output end of the first motor (701) is connected to a first gear (703), and the first gear (703) is meshed with the first rack (702), forming a vertical position coarse adjustment mechanism (7) of the welding gun (10); A second rack (802) is provided on one side of the robotic arm (5) along its length, an output end of the second motor (801) is connected to a second gear (803), and the second gear (803) and the second rack (802) constitute a horizontal lateral position coarse adjustment mechanism (8) for the welding gun (10); The base (1), the ground track (2) are slidably connected with the crawler drag chain (3) to form a horizontal and longitudinal position coarse adjustment mechanism of the welding gun (10).

3. The nuclear power tube sheet submerged arc welding device according to claim 1, characterized in that: The cross slide module (11) includes a horizontal slide module and a vertical slide module. A first lead screw (1102) and a first guide rail (1103) are provided on the first slide (1101) in parallel. The lower end of the second slide (1105) is slidably connected to the first guide rail (1103) and is threadedly connected to the first lead screw (1102). The output end of the third motor (1104) is connected to the first lead screw (1102) to drive the second slide (1105) to slide horizontally along the length direction of the robot arm (5). A second lead screw (1106) and a second guide rail (1107) are provided at the upper end of the second slide (1105), the lower end of the slider (1108) is slidably connected to the second guide rail (1107) and is threadedly connected to the second lead screw (1106), and the output end of the fourth motor (1109) is connected to the second lead screw (1106) to drive the slider (1108) to slide in the vertical direction; The lower end of the indexing plate (12) is fixed on the robot arm (5), and its rotating end is connected to the lower end of the first slide (1101). The upper end of the slider (1108) is connected to the welding gun (10). The cross slide module (11) and the indexing plate (12) constitute a spatial position fine-tuning mechanism for the welding gun (10).

4. The nuclear power tube sheet submerged arc welding device according to claim 1, characterized in that: The structure of the wire feeding mechanism (9) is as follows: two wire feeding wheels (901) and two pressing wheels (902) are symmetrically arranged above and below and are rotatably connected to the bracket base (903) through a rotating shaft, and two L-shaped pressing arms (904) are symmetrically provided above the pressing wheels (902), wherein the central corners thereof are rotatably connected to the bracket base (903) through a pivot, the lower ends of which are respectively connected to the corresponding pressing wheels (902), and the upper ends are linked through a wire pressing handle (905) for adjusting the downward pressing height of the pressing wheels (902); The straightening wheel (906) is arranged between the two pressing wheels (902); the arc surfaces of the two wire feeding wheels (901), the two pressing wheels (902) and the straightening wheel (906) together form a continuous welding wire guide channel; a fifth motor (907) is drivingly connected to at least one wire feeding wheel (901) and is used to drive the welding wire to be straightened and transported along the guide channel; The welding wire is connected to the welding gun (10) through a wire feeding pipe (908). A flux box (15) is also provided on the mechanical arm (5), and the flux is delivered to the welding gun (10) through a flux delivery pipe (1501).

5. The nuclear power tube sheet submerged arc welding device according to claim 1, characterized in that: The roller assembly (13) comprises a roller box (1301), two rollers (1302) and their driving components, a support base (1303) and a sixth motor (1304). Both ends of the roller box (1301) are rotatably connected to the support base (1303) via a rotating shaft. The sixth motor (1304) is connected to one end of the roller box (1301) for driving the roller box (1301) to rotate around an axis parallel to the length direction of the robotic arm (5). The roller (1302) is rotatably connected to the roller box (1301), and the two rollers (1302) are arranged in parallel and spaced apart by a distance, wherein the axis direction is parallel to the length direction of the ground track (2), and the pipe to be welded is placed parallel between the two rollers (1302), and the driving component drives the pipe to be welded to rotate and adjust the angle.

6. A nuclear power tube sheet submerged arc welding device according to claim 5, characterized in that: The pressure roller assembly (14) comprises a support column (1401), a screw transmission assembly (1402), a seventh motor (1403) and a pressure roller mechanism (1404); the lower end of the support column (1401) is fixedly connected to one side of the roller box (1301); the screw transmission assembly (1402) is arranged on one side of the support column (1401); one end of the pressure roller mechanism (1404) is connected to the screw transmission assembly (1402); the seventh motor (1403) drives the pressure roller mechanism (1404) to rise and fall along the height direction of the support column (1401) via the screw transmission assembly (1402); The pressing roller mechanism (1404) comprises two pressing rollers (14041) which are parallel to and corresponding to the rollers (1302), and the pipe to be welded is clamped between the lower surface of the pressing rollers (14041) and the upper surface (1302).

7. A nuclear power tube sheet submerged arc welding device according to claim 6, characterized in that: The pressing roller mechanism (1404) further comprises a pressing roller box (14042), elastic members (14043) and a pressing frame (14044); one end of the pressing roller box (14042) is connected to the screw drive assembly (1402), and the other end is provided with a pressing frame (14044); a plurality of elastic members (14043) are vertically connected between the upper end of the pressing frame (14044) and the inner wall of the pressing roller box (14042); the lower end of the elastic members (14043) passes through the pressing roller box (14042) and is connected to the support of the pressing roller (14041).

8. The nuclear power tube sheet submerged arc welding device according to claim 1, characterized in that: The base (1) is also provided with a control center (100), a welding machine (16) and a flux recovery box (17); The control center (100) is electrically connected to the vertical position coarse adjustment mechanism (7), the horizontal lateral position coarse adjustment mechanism (8), the horizontal longitudinal position coarse adjustment mechanism, the cross slide module (11), the indexing plate (12), the wire feeding mechanism (9), the pressure roller clamping device, the welding machine (16), and the flux recovery box (17).

9. The nuclear power tube sheet submerged arc welding device according to claim 1, characterized in that: The welding gun (10) is also provided with a temperature sensor (18), the detection end of which points to the area to be welded, and is used to detect the temperature of the welding area; A visual sensor (19) is provided at the end of the robotic arm (5) for capturing an image of the welding area to achieve weld tracking and defect detection; An ultrasonic sensor (20) is also provided at the end of the robotic arm (5) for detecting the internal quality of the weld in real time; The temperature sensor (18), the visual sensor (19), and the ultrasonic sensor (20) are electrically connected to the control center (100).

10. A method for using the nuclear power tube sheet submerged arc welding device according to any one of claims 1 to 9, characterized in that: The method includes: S1. Preliminary fixation of components to be welded: Assemble the casing and flange plate in advance, and use arc welding to perform preliminary positioning and fixation, ensuring that the pipe and plate are vertical as much as possible; S2. Hoisting the assembly to be welded into place: the sixth motor (1304) drives the roller box (1301) to rotate to a vertical position, that is, the channel clamped by the roller assembly (13) and the pressure roller assembly (14) is perpendicular to the ground, the seventh motor (1403) drives the pressure roller assembly (14) to rise, opens the clamping channel, and vertically hoists the assembly to be welded between the roller assembly (13) and the pressure roller assembly (14), and then drives the pressure roller assembly (14) to press the pipe to be welded; S3. Adjust welding angle: Adjust the position of the components to be welded by about 35~45° so that the components are in an inclined state; S4, coarse adjustment of the position of the welding gun (10): start the vertical position coarse adjustment mechanism (7), the horizontal lateral position coarse adjustment mechanism (8), and the horizontal longitudinal position coarse adjustment mechanism to place the conductive nozzle of the welding gun (10) in the desired position for welding; S5, fine-tuning the position of the welding gun (10): starting the cross slide module (11) and the indexing plate (12), and adjusting the angle of the conductive nozzle of the welding gun (10) to meet the welding requirements; S6, welding: the wire feeding mechanism (9) and the welding machine (16) are powered on, the flux box (15) channel is opened and welding begins, and the roller assembly (13) drives the assembly to be welded to rotate to achieve circumferential welding.

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