A mobile nuclear power field laser cladding repair device

Abstract

The application discloses a mobile nuclear power field laser cladding repair device and belongs to the technical field of laser cladding. The device comprises a containerized function box and a containerized auxiliary box, the containerized function box is internally integrated with a laser cladding unit, a motion displacement unit and a control unit, the containerized auxiliary box is internally integrated with an auxiliary unit, the laser cladding unit is used for laser cladding on a part to be repaired, the motion displacement unit is used for placing the part to be repaired and linkage with the robot, and the control unit comprises a controller, which is used for path planning and control on the robot through offline programming software; and the auxiliary unit is used for maintaining stability and safety in the repair environment of the laser cladding head. The device has the advantages of mobility, convenient and safe transportation, rapid calibration, installation and debugging on the nuclear power field, and solves the limitation of nuclear power field maintenance of nuclear parts.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cladding, in particular to a mobile laser cladding repair device for nuclear power site. BACKGROUND

[0002] The laser cladding technology has the characteristics of accurate heat input control, high welding speed, fast cooling speed, small thermal deformation and good controllability of cladding layer thickness. At present, the main repair methods include cold and hot spraying, welding repair, etc., but the repair layer and the substrate of the hot spraying repair are partially metallurgically combined, the bonding strength is not high, and the repair layer is easy to fall off; the welding repair process has a great influence on the body of the parts, the repair layer has a relatively coarse structure, the machining allowance of the blank part is large, the automation of the repair process of the complex structure is difficult, the geometric size of the welding repair layer is different, and the post-repair processing is difficult. The laser cladding technology can obtain a cladding layer with dense structure and high performance (such as wear resistance, corrosion resistance and erosion and wear resistance), and the laser cladding technology can repair defects of complex structure parts through offline programming and path planning, which has advantages that traditional surfacing methods do not have.

[0003] At present, most of the laser cladding equipment appearing on the market is composed of multiple single devices, and can only work in fixed places. If there is a need for on-site repair, each single device needs to be transported, and needs to be reinstalled, arranged and debugged on site, which is extremely low in work efficiency. Since the nuclear power site related nuclear level components have radioactivity, in order to avoid environmental pollution and other problems, on-site repair must be carried out in the nuclear power plant site. The existing laser cladding equipment has great limitations in the selection of work sites, and cannot complete the on-site repair of nuclear level components. SUMMARY

[0004] The present application aims to provide a mobile laser cladding repair device for nuclear power site, which can realize the on-site repair of complex structure nuclear level components such as impellers, complete the additive repair and surface strengthening of nuclear level components, and can be transported to the nuclear power site for rapid calibration, installation and debugging.

[0005] The technical solution of the present application to solve the above technical problems is as follows:

[0006] The present application provides a mobile laser cladding repair device for nuclear power site, which comprises a containerized functional box and a containerized auxiliary box, the containerized functional box is integrated with a laser cladding unit, a motion displacement unit and a control unit; the containerized auxiliary box is integrated with an auxiliary unit;

[0007] The laser cladding unit is used for laser cladding of the repaired parts; the laser cladding unit comprises a multi-axis robot, a laser cladding head and a laser, the laser cladding head is connected to the execution end of the robot, and the laser cladding head is connected to the emission end of the laser through an optical fiber;

[0008] The motion displacement unit is used for placing the repaired parts and linkage with the robot;

[0009] The control unit comprises a controller, and the robot is path planned and controlled through offline programming software;

[0010] The auxiliary unit is used for maintaining the stability and safety of the laser cladding head in the repair environment.

[0011] Further, in the mobile laser cladding repair device for nuclear power field, the laser cladding unit further comprises a powder feeder, and the powder feeder is connected to the laser cladding head through a powder feeding pipeline.

[0012] Further, in the mobile laser cladding repair device for nuclear power field, at least four powder feeding pipelines are arranged on the powder feeder.

[0013] Further, in the mobile laser cladding repair device for nuclear power field, the motion displacement unit comprises a rotary platform and a double-axis displacement machine, the rotary platform is used for fixing shaft parts, and the double-axis displacement machine is used for fixing curved surface parts.

[0014] Further, in the mobile laser cladding repair device for nuclear power field, an air conditioning system is further arranged in the containerized functional box, and the air conditioning system is used for regulating the temperature and humidity of the environment during the cladding operation.

[0015] Further, in the mobile laser cladding repair device for nuclear power field, the auxiliary unit comprises a water cooling machine, the water cooling machine is connected to the laser cladding head through a water cooling pipeline, and the water cooling machine is used for cooling the laser cladding head.

[0016] Further, in the mobile laser cladding repair device for nuclear power field, a tool cabinet is arranged beside the water cooling machine.

[0017] Further, in the mobile laser cladding repair device for nuclear power field, the auxiliary unit comprises a drying box, the drying box is connected to the powder feeder, and the drying box is used for drying the laser cladding powder and feeding the laser cladding powder into the powder feeder through a conveying pipeline.

[0018] Further, in the mobile laser cladding repair device for nuclear power field, a power distribution box is arranged in each of the containerized functional box and the containerized auxiliary box.

[0019] Further, in the mobile nuclear power field laser cladding repair device, lifting rings are arranged at each vertex around the container function box and the container auxiliary box, a forklift hole is arranged at the lower end of the container, and fastening bolts are further arranged at the bottom of the container.

[0020] The present application has the following beneficial effects:

[0021] The mobile nuclear power field laser cladding repair device provided by the present application is used for the wear and corrosion problems of nuclear-grade components that need to be repaired in the nuclear power field, adopts a combination mode of the container auxiliary box and the container function box, and correspondingly arranges the function units and the auxiliary units in the container function box and the container auxiliary box respectively, separates the field equipment from the auxiliary equipment, avoids frequent carrying of the auxiliary equipment, and further miniaturizes the container and makes the container suitable for re-calibration, debugging and deployment after long-distance transportation, thereby improving the repair efficiency in the nuclear power field and reducing the repair cost of the nuclear-grade components. Through the laser cladding technology, additive repair and surface strengthening of the nuclear-grade components can be realized. The device is movable, convenient and safe to transport, and can be quickly calibrated, installed and debugged in the nuclear power field, thereby solving the limitations of the nuclear-grade components in the nuclear power field.

[0022] The device integrates the Robert Master programming software, can perform offline programming and path planning on the repaired workpiece, can simulate the motion trajectory of the robot, perform motion interference analysis and singular point analysis, and preview the motion trajectory of the robot, thereby reducing the collision risk of the robot.

[0023] The motion displacement unit adopts a double-station cooperative mode, can quickly switch between the double stations through the rotary platform and the double-axis displacement machine, can be coupled and linked with the robot, reduces the idle time of the robot and the clamping time of the parts when repairing different parts, and can greatly improve the repair efficiency.

[0024] In the present application, the robot is a six-axis robot, and the eight-axis linkage laser cladding repair device is formed by the six-axis robot and the high-precision double-axis displacement machine. Through real-time control of the relative position of the cladding head and the repaired curved surface part, the repair of the spatial curved surface part is realized. Through cooperation of the six-axis robot and the double-axis displacement machine, offline programming and path planning, the field repair of the nuclear-grade components with complex structures such as impellers can be realized, and the problem of difficult repair of complex components is overcome. BRIEF DESCRIPTION OF DRAWINGS

[0025] The drawings described herein are used to provide further understanding of the embodiments of the present application, constitute a part of the present application, and do not constitute a limitation on the embodiments of the present application. In the drawings:

[0026] Figure 1 It is a structural schematic diagram of the mobile nuclear power field laser cladding repair device of the present application.

[0027] Figure 2 It is a structural schematic diagram of the mobile nuclear power field laser cladding repair device of the present application.

[0028] Figure 3 It is a structural schematic diagram of the mobile nuclear power field laser cladding repair device of the present application.

[0029] Figure 4 It is a structural schematic diagram of the mobile nuclear power field laser cladding repair device of the present application.

[0030] Figure 5 It is a structural schematic diagram of the mobile nuclear power field laser cladding repair device of the present application.

[0031] Markings in the drawings and corresponding component names:

[0032] In the drawings: 100 - container function box, 101 - lifting ring, 102 - forklift hole, 111 - robot, 112 - laser cladding head, 113 - laser, 114 - powder feeder, 120 - controller, 131 - rotary platform, 132 - double-axis positioner, 140 - air conditioning system, 150 - distribution box, 200 - container auxiliary box, 210 - water cooler, 220 - tool cabinet, 230 - drying box, 240 - distribution box, 301 - shaft parts, 302 - curved surface parts. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0035] EMBODIMENTS

[0036] Please refer to Figure 1The present invention provides a mobile nuclear power plant on-site laser cladding repair device, comprising: a functional container 100 and an auxiliary container 200. The functional container 100 integrates a laser cladding unit, a motion displacement unit and a control unit; the auxiliary container 200 integrates an auxiliary unit.

[0037] The mobile nuclear power plant on-site laser cladding repair device provided by this invention adopts a combination of a containerized auxiliary box 200 and a containerized functional box 100. The functional units and auxiliary units are respectively set in the containerized functional box 100 and the containerized auxiliary box 200, which separates the on-site equipment from the auxiliary equipment, avoiding frequent handling of the auxiliary equipment. At the same time, the container is also designed to be miniaturized and compact, and is suitable for recalibration, debugging and deployment after long-distance transportation, which improves the repair efficiency of the nuclear power plant site and reduces the repair cost of nuclear-grade components.

[0038] The laser cladding unit is used to perform laser cladding on the parts to be repaired.

[0039] The motion displacement unit is used to place the parts to be repaired and to coordinate with the robot 111.

[0040] The control unit includes a controller 120, which performs path planning and control on the robot 111 through offline programming software;

[0041] The auxiliary unit is used to maintain a stable and safe environment for the laser cladding head 112 during repair.

[0042] Please refer to Figure 1 and Figure 2 The laser cladding unit includes a multi-axis robot 111, a laser cladding head 112, and a laser 113. The laser cladding head 112 is connected to the execution end of the robot 111, and the laser cladding head 112 is connected to the emission end of the laser 113 via an optical fiber. The laser 113 is housed in a PLC laser 113 control cabinet and is controlled by a PLC control device.

[0043] In some feasible solutions, the laser cladding unit further includes a powder feeder 114, which is connected to the laser cladding head 112 via a powder feeding pipeline.

[0044] In some feasible solutions, the powder feeder 114 is equipped with at least four powder feeding lines. This allows for rapid switching of powder paths, enabling not only the preparation of gradient cladding layers but also the rapid switching of powder paths after substrate repair using matrix powder, thus facilitating the preparation of functional powder cladding layers.

[0045] Please refer to Figure 1 , Figure 2 andFigure 5 The motion positioning unit includes a rotary platform 131 and a dual-axis positioner 132. The rotary platform 131 is used to fix shaft components, and the dual-axis positioner 132 is used to fix curved surface components. Specifically, as shown... Figure 4 As shown, the shaft-type components to be repaired are fixed on the rotary platform 131 inside the functional housing 100, and the curved surface components to be repaired are fixed on the dual-axis positioner. The motion positioning unit of this invention adopts a dual-station collaborative mode. Through the rotary platform 131 and the dual-axis positioner 132, it is possible to quickly switch between the two stations. At the same time, it can also be coupled and linked with the robot 111, reducing the idle movement time of the robot 111 and the clamping time of the components when repairing different components, which can greatly improve the repair efficiency.

[0046] In this invention, a multi-axis robot 111 is used, which can realize rotation in multiple directions. Preferably, the robot 111 is a six-axis robot 111, which together with a high-precision dual-axis positioner 132 forms an eight-axis linkage laser cladding repair device. By controlling the relative position of the cladding head and the curved surface component to be repaired in real time, the repair of the spatial curved surface component is realized.

[0047] Please refer to Figure 1 and Figure 2 The control unit includes a controller 120, which performs path planning and control of the robot 111 through offline programming software. Specifically, the device provided by this invention integrates programming software such as RobertMaster, which can perform offline programming and path planning for the workpiece to be repaired, and can also simulate the motion trajectory of the robot 111, perform motion interference analysis and singularity analysis. The motion trajectory of the robot 111 can be previewed, reducing the collision risk of the robot 111.

[0048] The container 100 is also equipped with an air conditioning system 140, which is used to regulate the temperature and humidity of the environment during the cladding operation. This air conditioning system 140 has temperature and humidity control functions, and uses RobertMaster software for simulation analysis to ensure that the cladding environment is at the optimal temperature and humidity, thus ensuring the effectiveness of the cladding operation. There is no risk of interference between the air conditioning system 140 and the movement trajectory of the robot 111.

[0049] Please refer to Figure 1 and Figure 3 The auxiliary unit is used to maintain a stable and safe environment for the laser cladding head 112 during repair.

[0050] In some feasible solutions, the auxiliary unit includes a water chiller 210, which is connected to the laser cladding head 112 via water cooling pipes for cooling the laser cladding head 112.

[0051] In some feasible solutions, a tool cabinet 220 is provided next to the water chiller 210. The tool cabinet 220 is used to store work clothes, safety helmets, laser safety glasses, and commonly used tool sets, etc.

[0052] In some feasible solutions, the auxiliary unit includes a drying chamber 230, which is connected to the powder feeder 114. The drying chamber 230 is used to dry the laser cladding powder and feed it into the powder feeder 114 through a conveying pipe. In this invention, a tool cabinet 220 is arranged directly opposite the drying chamber 230, and a regulated power supply is arranged next to the drying chamber 230.

[0053] In some feasible solutions, both the container functional box 100 and the container auxiliary box 200 are equipped with a power distribution box 150 for supplying power to the equipment in the container functional box 100 and the container auxiliary box 200.

[0054] Please refer to Figure 1 and Figure 4 In some feasible solutions, lifting rings 101 are provided at each vertex of the functional container 100 and the auxiliary container 200. Forklift holes 102 are provided at the lower ends of the functional container 100 and the auxiliary container 200, and fastening bolts are also provided at the bottom of the functional container 100 and the auxiliary container 200. The lifting rings 101 facilitate the lifting of the functional container 100 and the auxiliary container 200, and the forklift holes 102 facilitate the transportation of the functional container 100. Foldable feet are installed on the sides of the functional container 100 and the auxiliary container 200 to facilitate climbing onto the container and installing lifting straps. The top covers of the functional container 100 and the auxiliary container 200 are designed to be movable to facilitate the lifting and transportation of repair parts inside the container. Both the functional container 100 and the auxiliary container 200 are equipped with a power distribution box 150, which contains quick-connect fittings for aviation connectors and water pipes for rapid connection. The bottom of the functional container 100 and the auxiliary container 200 are secured to the equipment area with bolts. After transportation, the containers can be quickly calibrated, installed, and commissioned, enabling rapid repair at the nuclear power plant site.

[0055] The working principle of the mobile nuclear power plant on-site laser cladding repair device provided by this invention is as follows:

[0056] A six-axis robot 111 is placed inside the functional container 100. The movement path of the robot 111's robotic arm is programmed and controlled by the controller 1208. The robot 111 works in conjunction with the dual-axis positioner 132 and the rotary platform 131. A laser cladding head 112 is installed at the execution end of the robot 111. During the cladding operation, the movement path of the robot 111 is planned through programming, and the laser power, scanning speed, and other parameters of the laser cladding head 112 are set. The laser 113 generates a high-energy laser beam that irradiates the surface of the workpiece to be repaired, forming a molten pool. The powder feeder 114 simultaneously delivers laser cladding powder to the molten pool. After cooling, the cladding layer metallurgically bonds with the workpiece surface, completing the repair operation.

[0057] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mobile on-site laser cladding repair device for nuclear power plants, characterized in that, include: The container includes a functional container (100) and an auxiliary container (200). The functional container (100) integrates a laser cladding unit, a motion displacement unit, and a control unit. The auxiliary container (200) integrates an auxiliary unit. The laser cladding unit is used to perform laser cladding on the parts to be repaired; the laser cladding unit includes: a multi-axis robot (111), a laser cladding head (112) and a laser (113), the laser cladding head (112) is connected to the execution end of the robot (111), and the laser cladding head (112) is connected to the emitting end of the laser (113) through an optical fiber; The motion displacement unit is used to place the parts to be repaired and to link with the robot (111); The control unit includes a controller (120) that performs path planning and control on the robot (111) through offline programming software; The auxiliary unit is used to maintain a stable and safe environment for the laser cladding head (112) during repair. The laser cladding unit further includes a powder feeder (114), which is connected to the laser cladding head (112) via a powder feeding pipeline. The motion displacement unit includes a rotary platform (131) and a dual-axis displacement machine (132). The rotary platform (131) is used to fix shaft components, and the dual-axis displacement machine (132) is used to fix curved surface components. The container (100) is also equipped with an air conditioning system (140), which is used to regulate the temperature and humidity of the environment during the cladding operation; The auxiliary unit includes a water chiller (210), which is connected to the laser cladding head (112) via a water cooling pipeline for cooling the laser cladding head (112). The auxiliary unit includes a drying box (230), which is connected to the powder feeder (114). The drying box (230) is used to dry laser cladding powder and feed it into the powder feeder (114) through a conveying pipe.

2. The mobile nuclear power plant on-site laser cladding repair device according to claim 1, characterized in that, The powder feeder (114) is provided with at least four powder feeding pipelines.

3. The mobile nuclear power plant on-site laser cladding repair device according to claim 1, characterized in that, A tool cabinet (220) is provided next to the water chiller (210).

4. The mobile nuclear power plant on-site laser cladding repair device according to claim 1, characterized in that, Both the container functional box (100) and the container auxiliary box (200) are equipped with a power distribution box (150).

5. The mobile nuclear power plant on-site laser cladding repair device according to claim 1, characterized in that, Lifting rings (101) are provided at each of the four vertices of the container functional box (100) and the container auxiliary box (200). Forklift holes (102) are provided at the lower ends of the container functional box (100) and the container auxiliary box (200). Fastening bolts are also provided at the bottom of the container functional box (100) and the container auxiliary box (200).

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