Automatic groove machining device for surfacing weld joint maintenance of voltage stabilizer casing pipe penetrating piece

Abstract

The invention discloses an automatic groove machining device for a surfacing welding seam in maintenance of a voltage stabilizer sleeve penetration piece, and belongs to the technical field of nuclear island maintenance equipment of a nuclear power station. The automatic groove machining device comprises a mechanical body, and the mechanical body comprises a clamping assembly, a rotating platform, a radial moving mechanism, an axial feeding mechanism, a cutting head assembly and a monitoring assembly. The automatic groove machining device for the surfacing welding seam for maintaining the voltage stabilizer casing pipe penetrating piece is used for machining the surfacing welding seam into a spatial oval J-shaped groove, and a structural foundation is laid for follow-up welding implementation; the automatic groove machining device meets the requirement for automatic groove machining when the pressure stabilizer lower end socket bottom sleeve penetration piece is subjected to on-site maintenance in a cutting and surfacing maintenance mode, an important automatic groove machining function is provided for on-site maintenance of a pressure stabilizer sleeve penetration piece sealing weld joint, meanwhile, remote control and monitoring can be achieved, and the influence of the irradiation dose of personnel is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear island maintenance equipment for nuclear power plants, and in particular to an automatic groove processing device for repairing cladding welds of pressurizer casing penetrations, in particular to an automatic groove processing device for repairing cladding welds of pressurizer casing penetrations for nuclear power plants. Background Art

[0002] The casing penetration of the pressurizer belongs to the nuclear safety level I, quality level I, and seismic resistance level I equipment. The sealing weld at the connection between the casing of the electric heating element at the bottom of the pressurizer and the lower head is the highest in the primary circuit due to the high temperature above 300℃ and the existence of welding residual stress and working stress. Although the third-generation nuclear power plants have adopted more advanced technologies, the hidden danger of corrosion failure and leakage of the sealing weld at this location due to problems such as PWSCC cannot be ruled out. Once such common faults occur, the casing penetration needs to be repaired. One of the repair processes is to use cutting and surfacing repair. By cutting the original sealing weld and using OVERLAY surfacing to surfacing on the surface near the original connection, a corrosion-resistant nickel-based alloy surfacing layer is formed. After the surfacing is completed, the groove is prefabricated in the surfacing layer by groove processing. It is best to weld the replaced penetration stabilizer to form a new sealing boundary to achieve the replacement of the casing penetration. In this way, groove processing is required at the repair cladding weld to lay the foundation for subsequent welding, such as Figure 1 shown.

[0003] Since the lower head of the pressurizer is a spherical structure, a three-dimensional J-shaped space elliptical curve is formed at the connection between it and the casing penetration. During the welding repair process of the pressurizer casing penetration, it is necessary to weld a nickel-based alloy cladding layer at the original connection and prefabricate the groove. In order to ensure the smoothness of subsequent welding, the pipe mouth needs to be processed into a J-shaped groove after the welding is completed. Its processing trajectory is close to the space elliptical curve, and it needs to be fitted through a multi-axis linkage method. Since the bottom of the casing penetration is in a narrow and highly radioactive space, it is difficult to implement manually; and the casing components are densely arranged, the minimum spacing between adjacent casings is 110mm, various interferences are complex, and the casing cannot be damaged during the processing; in addition, the cladding weld is composed of a nickel-based alloy cladding layer with high hardness, which requires high tool hardness and device stability; finally, due to different welding processes, the groove width to be processed has different sizes, and the equipment needs to have an adjustment function in the radial direction.

[0004] These characteristics determine that the developed automatic groove processing device must have the functions of remote control, long-distance monitoring, automatic J-type groove processing, automatic fitting of spatial elliptical trajectory and debris collection, and radial adjustment function to adapt to the groove processing needs of different widths and sizes. At the same time, it must work in a narrow and complex space and not interfere with the surrounding adjacent casings. The device is also required to be light, easy to load and unload, short in time and stable. Therefore, it is necessary to design and develop a special automatic groove processing device to realize the groove processing of the repair cladding weld of the stabilizer casing penetration. Summary of the invention

[0005] In response to the demand for processing the elliptical J-shaped welding groove of the cladding weld of the casing penetration at the bottom of the lower head of the stabilizer, the purpose of the present invention is to provide an automatic groove processing device for the cladding weld of the casing penetration for repair of the stabilizer, which has the functions of remote operation, remote monitoring, automatic processing of the J-shaped groove, automatic fitting of the spatial elliptical trajectory and debris collection, and can work stably in a radioactive environment of 5msv / h, realizing the functions of automatic processing and remote monitoring of the cladding weld groove of the casing penetration in a radioactive environment, providing important pre-process equipment for the maintenance of the casing penetration of the stabilizer, and providing a convenient tool for the automatic processing of the groove of the same type of welds, especially the J-shaped welds.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] The present invention provides an automatic groove processing device for repairing a cladding weld of a voltage stabilizer casing penetration, comprising: a mechanical body, the mechanical body comprising:

[0008] A clamping assembly, the clamping assembly is used to assemble with the sleeve penetration to be processed to achieve installation, fixation and centering of the mechanical body;

[0009] A rotating platform, the rotating platform is projected on the clamping assembly, and the rotating platform is used to drive the mechanical body to rotate;

[0010] A radial movement mechanism, the radial movement mechanism is mounted on the rotating platform, and the radial movement mechanism is used to drive the mechanical body to move radially;

[0011] An axial feeding mechanism, wherein the radial moving mechanism is installed in the rotating platform, and the axial feeding mechanism is used to drive the mechanical body to move axially;

[0012] The rotating platform cooperates with the axial feeding mechanism to realize automatic fitting of the spatial elliptical trajectory; a cutting head assembly, the cutting head assembly is installed on the radial moving mechanism, and the cutting head assembly is used to realize J-shaped groove processing of the casing penetration to be processed;

[0013] A monitoring component is installed on the clamping component, and the monitoring component is used to monitor the groove processing condition.

[0014] Furthermore, in the automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration, the clamping assembly includes: a body shell and a chuck, and a plurality of mounting frames compatible with the chuck are evenly arranged on the outer side of the body shell, and the chuck is installed on the mounting frame.

[0015] Furthermore, in the automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration, the mounting frame is semi-cylindrical and the chuck is C-shaped.

[0016] Further, in the automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration, the rotating platform includes: an inner cylinder, a bearing, a worm, a servo motor and a worm gear;

[0017] The bearings are respectively mounted on the two ends of the outer side of the inner cylinder, the bearings cooperate with the clamping assembly, the worm wheel is mounted on the bottom of the inner cylinder, the output end of the servo motor is connected to the worm, and the worm is meshed with the worm wheel.

[0018] Furthermore, in the automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration, the rotating platform also includes: an upper fixing plate, and the upper fixing plate is installed on the top end of the inner tube.

[0019] Furthermore, in the automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration, the radial movement mechanism includes: a spindle fixing frame and a radial guide rail,

[0020] The radial guide rail is arranged at the top end of the rotating platform, and the spindle fixing frame is installed on the radial guide rail. The radial guide rail realizes the processing of grooves with different diameters under the control of the motor.

[0021] Furthermore, in the automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration, the axial feed mechanism includes: a spindle support frame, a lifting guide rail, a lifting feed motor, a screw connector, a ball screw and a screw seat,

[0022] The spindle support frame is installed in the rotating platform, the lifting guide rail is installed on the spindle support frame, and the slide table inside the spindle support frame is slidably connected with the lifting guide rail;

[0023] The output end of the lifting feed motor is connected to the ball screw, the end of the ball screw is fixed in the rotating platform through the screw seat, the screw connector is connected to the screw connector, and the screw connector is fixed to the spindle support frame.

[0024] Furthermore, in the automatic groove processing device for repairing the cladding weld of the voltage stabilizer casing penetration, the cutting head assembly includes: a spindle servo motor, a rotating spindle, a sleeve, a spring chuck and a milling cutter,

[0025] The output end of the spindle servo motor is connected to the rotating spindle, the sleeve is sleeved on the rotating spindle, the rotating spindle is fixed on the radial moving mechanism, and the milling cutter is fixed to the end of the sleeve through the spring chuck.

[0026] Furthermore, in the automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration, the cutting head assembly includes a debris collection device, and the debris collection device is installed on the sleeve.

[0027] Furthermore, in the automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration, the monitoring component includes: a camera fixture and a camera, the camera fixture is fixed on the clamping assembly, and the camera is fixed on the camera fixture.

[0028] The present invention has the following beneficial effects:

[0029] The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration provided by the present invention is used for on-site repair of the casing penetration at the bottom of the stabilizer lower head by cutting and cladding. The device is used to process the cladding weld into a spatial elliptical J-shaped groove, laying a structural foundation for subsequent welding implementation, solving the need for automatic groove processing when the casing penetration at the bottom of the stabilizer lower head is repaired on-site by cutting and cladding, providing an important automatic groove processing function for on-site repair of the sealing weld of the casing penetration of the stabilizer, and can also realize remote control and monitoring, reducing the impact of personnel radiation dose. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0031] Figure 1 It is a schematic diagram of processing groove in the background technology of the present invention, wherein as a three-dimensional diagram, the middle one is a structural explosion diagram before processing;

[0032] Figure 2It is a general structural diagram of the mechanical body in the automatic groove processing device in the embodiment of the present invention;

[0033] Figure 3 Schematic diagram of a control cabinet in an automatic groove processing device in an embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of the structure of the mechanical body in the automatic groove processing device in the embodiment of the present invention;

[0035] Figure 5 It is a cross-sectional view of the mechanical body in the automatic groove processing device in the embodiment of the present invention;

[0036] Figure 6 It is a schematic diagram of the structure of the clamping assembly in the automatic groove processing device in the embodiment of the present invention;

[0037] Figure 7 It is a structural schematic diagram of a rotating platform in an automatic groove processing device in an embodiment of the present invention;

[0038] Figure 8 It is a structural schematic diagram of the radial moving mechanism in the automatic groove processing device in the embodiment of the present invention;

[0039] Fig. 9 It is a structural schematic diagram of the axial moving mechanism in the automatic groove processing device in an embodiment of the present invention;

[0040] Fig.10 It is a schematic structural diagram of a cutting head assembly in an automatic groove processing device according to an embodiment of the present invention;

[0041] Fig.11 It is a schematic diagram of the structure of the monitoring component in the automatic groove processing device in the embodiment of the present invention;

[0042] Fig.12 It is a schematic diagram of the automatic groove processing device after installation in an embodiment of the present invention;

[0043] Fig.13 It is a cross-sectional view of the automatic groove processing device after installation in the embodiment of the present invention;

[0044] Marks and corresponding parts names in the attached drawings:

[0045] In the figure: 1-machine body, 2-control cabinet, 3-clamping assembly, 4-rotating platform, 5-radial moving mechanism, 6-axial feeding mechanism, 7-cutting head assembly, 8-monitoring assembly, 9-chuck, 10-body casing, 11-inner cylinder, 12-bearing, 13-worm, 14-servo motor, 15-worm gear, 16-upper fixed plate, 17-spindle fixing frame, 18-radial guide rail, 19-spindle supporting frame, 20-lifting guide rail, 21-lifting feed motor, 22-screw connector, 23-ball screw, 24-screw seat, 25-spindle servo motor, 26-rotating spindle, 27-sleeve, 28-spring chuck, 29-milling cutter, 30-chip collection device, 31-camera fixing member, 32-camera. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Example

[0049] Please refer to Figure 2 and Fig.11 The embodiment of the present invention provides an automatic groove processing device for repairing a cladding weld of a voltage stabilizer casing penetration, comprising: a mechanical body 1, the mechanical body 1 comprising:

[0050] The clamping assembly 3 is used to assemble with the sleeve penetration piece to be processed to achieve installation, fixation and centering of the mechanical body 1;

[0051] A rotating platform 4, which penetrates the clamping assembly 3 and is used to drive the mechanical body 1 to rotate;

[0052] A radial moving mechanism 5, which is installed on the rotating platform 4 and is used to drive the mechanical body 1 to move radially;

[0053] The axial feeding mechanism 6 and the radial moving mechanism 5 are installed in the rotating platform 4, and the axial feeding mechanism 6 is used to drive the mechanical body 1 to move axially;

[0054] The rotating platform 4 cooperates with the axial feeding mechanism 6 to realize automatic fitting of the spatial elliptical trajectory;

[0055] A cutting head assembly 7, which is mounted on the radial moving mechanism 5 and is used to process the J-shaped groove of the casing penetration piece to be processed;

[0056] Monitoring component 8, the monitoring component 8 is installed on the clamping component 3, and the monitoring component 8 is used to monitor the groove processing condition.

[0057] The automatic groove processing device is also equipped with a matching control cabinet 2, which contains a control system and a monitoring system to realize operations such as controlling and monitoring the mechanical body 1. The control system is equipped with a software system for groove processing, which can automatically generate a processing program by setting a trajectory, and can drive the movement of each axis through the control system to realize the execution of the processing program. It can fit the spatial elliptical J-shaped curve trajectory and control the motor of the mechanical body 1 to realize the processing of the J-shaped welding groove trajectory. The monitoring system is connected to the monitoring component, which can clearly transmit real-time images in an irradiated environment and feedback the real-time processing status. The rotation, feeding and processing of the mechanical body 1 are controlled by the program of the control cabinet 2. The overall device adopts PLC integrated control and is connected to the control console through a data cable, which can realize remote monitoring and control 30 meters away. The cable length between the mechanical body 1 and the control cabinet 2 exceeds 30m, which can realize remote control and monitoring 30m away.

[0058] The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration provided by the present invention is used for on-site repair of the casing penetration at the bottom of the stabilizer lower head by cutting and cladding. The device is used to process the cladding weld into a spatial elliptical J-shaped groove, laying a structural foundation for subsequent welding implementation, solving the need for automatic groove processing when the casing penetration at the bottom of the stabilizer lower head is repaired on-site by cutting and cladding, providing an important automatic groove processing function for on-site repair of the sealing weld of the casing penetration of the stabilizer, and can also realize remote control and monitoring, reducing the impact of personnel radiation dose.

[0059] The automatic groove processing device for the repair of the cladding weld of the casing penetration of the voltage regulator provided by the present invention has a simple structure, avoids redundant structures, and has a compact overall structure, which is convenient for installation and transportation. The wiring harnesses are carefully planned, and there are not too many lines exposed. The overall appearance is simple and beautiful. The device has a reasonable structural design, high strength and rigidity, and is easy to disassemble and transfer. It has the functions of processing and automatic control of the elliptical J-shaped welding groove of the casing penetration at the bottom of the voltage regulator lower head; it meets the space elliptical J-shaped groove processing in a high radioactive environment, can be processed in a small space, and can work stably in a radioactive environment of 5msv / h.

[0060] The automatic groove processing device for the maintenance of the cladding weld seam of the stabilizer casing penetration provided by the present invention solves the demand for lining plate cladding groove processing involved in the replacement and maintenance of the stabilizer casing penetration. The device realizes the processing of the J-shaped welding groove track through the linkage of the rotating platform 4, the radial driving mechanism and the axial feeding mechanism 6, and effectively ensures the feeding accuracy and automatic control of the processing.

[0061] The device is program-controlled and driven by a servo motor 14. It can fit the spatial elliptical trajectory required for spatial J-shaped groove processing through multi-axis linkage, and realize the automatic processing of the groove of the cladding weld for the maintenance of the stabilizer casing penetration. The processing process is stable and easy to control. The clamping method is stable and adapts to the on-site environment and meets the processing requirements. It can adapt to the processing requirements of grooves of different widths through the adjustment of the radial drive mechanism, and has functions such as remote monitoring and debris collection. The test results show that the device has a simple and lightweight structure, simple loading and unloading and operation, can meet the requirements of automatic processing of J-shaped grooves in high-radiation environments, and has a stable processing process. It realizes the automatic processing of the groove of the cladding weld for the maintenance of the stabilizer casing penetration, and can be used for on-site maintenance of the stabilizer casing penetration.

[0062] The automatic groove processing device for the repair and cladding weld of the casing penetration of the pressurizer provided by the present invention has a reasonable structural design, high strength and rigidity, is easy to disassemble and transfer, and has the functions of processing and automatic control of the elliptical J-shaped welding groove of the casing penetration at the bottom of the lower head of the pressurizer, and also includes the functions of remote operation, remote monitoring, automatic fitting of the spatial elliptical trajectory and debris collection, which meet the automatic groove processing requirements of the repair and cladding weld of the casing penetration of the pressurizer in a radioactive environment. The device adopts electric drive and automatic feeding, including four axes, and is composed of a machine body and a control cabinet 2 source. Through the linkage of the rotating platform 4 and the axial feeding mechanism 6 of the machine body, the processing of the spatial elliptical J-shaped groove is realized under the control of the control system of the control cabinet 2. The device is equipped with a monitoring component 8, which can monitor the groove processing process in real time. In addition, the device is equipped with a debris collection device 30, which can collect debris from the cutting process in real time.

[0063] In some feasible embodiments, the clamping assembly 3 includes: a body shell 10 and a clamp 9. A plurality of mounting frames adapted to the clamp 9 are evenly arranged on the outer side of the body shell 10, and the clamp 9 is mounted on the mounting frames.

[0064] In some feasible ways, the mounting frame is semi-cylindrical, and the clamp 9 is C-shaped. In the embodiment of the present invention, three semi-cylindrical mounting frames matched with the C-shaped clamp 9 are arranged on the outside of the machine body shell 10, the semi-cylindrical mounting frames are assembled with the adjacent components of the sleeve penetration to be processed, and are fixed by bolt connection through the C-shaped clamp 9, and the clamping assembly 3 includes 3 groups of high-precision clamps 9, which are clamped and fixed with the adjacent components respectively, so as to realize the installation, fixation and centering positioning of the equipment mechanical body 1.

[0065] In some feasible embodiments, the rotating platform 4 includes: an inner cylinder 11, a bearing 12, a worm 13, a servo motor 14 and a worm gear 15;

[0066] The bearings 12 are respectively installed at both ends of the outer side of the inner cylinder 11 , and the bearings 12 cooperate with the clamping assembly 3 . The worm gear 15 is installed at the bottom of the inner cylinder 11 . The output end of the servo motor 14 is connected to the worm 13 , and the worm 13 is meshed with the worm gear 15 .

[0067] In some feasible ways, the rotating platform 4 further includes: an upper fixing plate 16, which is mounted on the top of the inner cylinder 11. In the embodiment of the present invention, two bearings 12 are respectively mounted on the outer ends of the inner cylinder 11, the bearings 12 cooperate with the housing 10 in the clamping assembly 3, the servo motor 14 drives the worm 13, the worm 13 drives the worm wheel 15 to rotate, the worm wheel 15 is connected to the inner cylinder 11, thereby driving the inner cylinder 11 to rotate, and the upper fixing plate 16 is connected to the inner cylinder 11 by bolts.

[0068] In some feasible ways, the radial moving mechanism 5 includes: a spindle fixing frame 17 and a radial guide rail 18, the radial guide rail 18 is arranged at the top of the rotating platform 4, and the spindle fixing frame 17 is installed on the radial guide rail 18, and the radial moving mechanism 5 is controlled by the motor to achieve the processing requirements of grooves with different diameters. In the embodiment of the present invention, the radial guide rail 18 is a dovetail groove slider mechanism, and the spindle fixing frame 17 can slide on the radial guide rail 18 driven by the motor to adjust the radial position, so as to adapt to the radial adjustment requirements of grooves with different widths, and can adapt to the groove processing of Φ30-Φ80, and the maximum processable groove width is 25mm.

[0069] In some feasible embodiments, the axial feed mechanism 6 includes: a spindle support frame 19, a lifting guide rail 20, a lifting feed motor 21, a screw connector 22, a ball screw 23 and a screw seat 24.

[0070] The spindle support frame 19 is installed in the rotating platform 4, the lifting guide rail 20 is installed on the spindle support frame 19, and the slide inside the spindle support frame 19 is slidably connected to the lifting guide rail 20;

[0071] The output end of the lifting and feeding motor 21 is connected to a ball screw 23, the end of the ball screw 23 is fixed in the rotating platform 4 through a screw seat 24, and the screw connector 22 is connected to the screw connector 22 and the screw connector 22 is fixed to the spindle support frame 19. In the embodiment of the present invention, the lifting guide rail 20 is fixed to the inner cylinder 11 in the rotating platform 4 by bolts, the slides on both sides of the spindle support frame 19 are slidably connected to the lifting guide rail 20, the lifting and feeding motor 21 is connected to the ball screw 23 through a coupling, and the ball screw 23, the screw connector 22 and the screw seat 24 form a ball screw 23 mechanism.

[0072] In some feasible embodiments, the cutting head assembly 7 includes: a spindle servo motor 25, a rotating spindle 26, a sleeve 27, a spring chuck 28 and a milling cutter 29.

[0073] The output end of the spindle servo motor 25 is connected to the rotating spindle 26, the sleeve 27 is sleeved on the rotating spindle 26, the rotating spindle 26 is fixed on the radial moving mechanism 5, and the milling cutter 29 is fixed to the end of the sleeve 27 through the spring collet 28. In the embodiment of the present invention, the servo motor 14 drives the rotating spindle 26 to rotate, the rotating spindle 26 is fixed to the spindle fixing frame 17 in the radial moving mechanism 5 by bolts, the sleeve 27 is fixed to the rotating axis of the rotating spindle 26 by bolts, the spring collet 28 and the debris collection device 30 are fixed to the sleeve 27 by bolts, and the spring collet 28 clamps the milling cutter 29.

[0074] In some feasible embodiments, the cutting head assembly 7 includes a chip collecting device 30, and the chip collecting device 30 is installed on the sleeve 27. The chip collecting device 30 can be used to temporarily store the chips during the cutting process and reduce the splashing of the chips.

[0075] In some feasible ways, the monitoring component 8 includes: a camera fixing member 31 and a camera 32, the camera fixing member 31 is fixed to the clamping component 3, and the camera 32 is fixed to the camera fixing member 31. The camera 32 can be a combination of a microscopic camera 32 and a macroscopic camera 32, which can monitor the local and overall working conditions during processing. In the embodiment of the present invention, the camera fixing member 31 is fixed to the body shell 10 by bolts, and the camera 32 is fixed to the camera fixing member 31 by bolts.

[0076] Please refer to Fig.12 and Fig.13 The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration provided by the present invention has the following installation process:

[0077] The automatic groove processing device provided by the present invention is placed at the lower end of the bottom casing penetration component of the stabilizer lower head to be processed, the automatic groove device is installed from bottom to top, and the three C-shaped clamps 9 are raised to fasten the device to the components around the component to be processed.

[0078] The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration provided by the present invention has the following working principles:

[0079] (1) The semi-cylindrical mounting frame on the outer side of the machine housing 10 and the C-shaped chuck 9 are used to assemble and fix the machine body 1 and the adjacent components of the sleeve penetration to be processed.

[0080] (2) The rotating platform 4 is driven by the servo motor 14 to perform rotational motion through the transmission structure of the worm 13 and the worm wheel 15; the axial feed mechanism 6 is driven by the servo motor 14 to perform lifting motion through the lifting guide rail 20 and the slides on both sides of the spindle support frame 19 and the ball screw 23, the screw connector 22 and the screw seat 24 to form a ball screw 23 mechanism; the radial drive mechanism is driven by a dovetail groove slider mechanism, and the spindle can be adjusted in the radial direction through motor drive; the cutting head assembly 7 is driven by the spindle motor to rotate the drill to achieve rotation.

[0081] (3) The automatic groove processing device includes four axes, namely the rotation axis (Y axis) of the rotating platform 4, the Z axis of the axial feed mechanism 6, the X axis of the radial adjustment mechanism, and the rotation axis of the cutting head assembly 7.

[0082] (4) The Y-axis and the Z-axis are linked by the control system of the control cabinet 2, so as to fit the spatial elliptical curve trajectory required for the J-shaped groove processing. The cutting head assembly 7 is equipped with a special ball head milling cutter 29 made of cemented carbide material to realize the processing of the J-shaped groove.

[0083] The automatic groove processing device of the present invention is driven by a motor and includes four axes. It can realize automatic groove processing with a maximum width of 20 mm under on-site radioactive environment, and can fit the spatial elliptical weld trajectory required for the spatial J-shaped groove processing of the space stabilizer casing penetration repair cladding weld; the cable length between the device machine body and the control cabinet is 30m, which can realize automatic cutting under remote control; the device is equipped with a monitoring module and a debris collection module, which can realize real-time monitoring and debris collection of the groove processing process.

[0084] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are 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 in the scope of protection of the present invention.

Claims

1. An automatic groove processing device for the repair and cladding weld of a voltage stabilizer casing penetration, characterized in that: include: A mechanical body (1), the mechanical body (1) comprising: A clamping assembly (3), the clamping assembly (3) being used to be assembled with the sleeve penetration piece to be processed so as to achieve installation, fixation and centering of the machine body (1); A rotating platform (4), the rotating platform (4) passing through the clamping assembly (3), the rotating platform (4) being used to drive the mechanical body (1) to rotate; A radial movement mechanism (5), the radial movement mechanism (5) being installed on the rotating platform (4), and the radial movement mechanism (5) being used to drive the mechanical body (1) to move radially; An axial feeding mechanism (6), wherein the radial moving mechanism (5) is installed in the rotating platform (4), and the axial feeding mechanism (6) is used to drive the mechanical body (1) to move axially; The rotating platform (4) cooperates with the axial feeding mechanism (6) to achieve automatic fitting of the spatial elliptical trajectory; A cutting head assembly (7), the cutting head assembly (7) being mounted on the radial moving mechanism (5), the cutting head assembly (7) being used to perform J-shaped groove processing on the casing penetration piece to be processed; A monitoring component (8), wherein the monitoring component (8) is installed on the clamping component (3), and the monitoring component (8) is used to monitor the groove processing condition.

2. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 1 is characterized in that: The clamping assembly (3) comprises: a clamp (9) and a body shell (10); a plurality of mounting frames matching the clamp (9) are evenly arranged on the outer side of the body shell (10); and the clamp (9) is mounted on the mounting frames.

3. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 2 is characterized in that: The mounting frame is semi-cylindrical, and the clamp (9) is C-shaped.

4. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 1 is characterized in that: The rotating platform (4) comprises: an inner cylinder (11), a bearing (12), a worm (13), a servo motor (14) and a worm wheel (15); The bearings (12) are respectively mounted on the two ends of the outer side of the inner cylinder (11), the bearings (12) cooperate with the clamping assembly (3), the worm gear (15) is mounted at the bottom of the inner cylinder (11), the output end of the servo motor (14) is connected to the worm (13), and the worm (13) is meshed with the worm gear (15).

5. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 4 is characterized in that: The rotating platform (4) further comprises an upper fixing plate (16), wherein the upper fixing plate (16) is mounted on the top end of the inner cylinder (11).

6. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 1 is characterized in that: The radial moving mechanism (5) comprises: a main shaft fixing frame (17) and a radial guide rail (18), The radial guide rail (18) is arranged at the top end of the rotating platform (4), and the spindle fixing frame (17) is installed on the radial guide rail (18). The radial moving mechanism (5) is controlled by the motor to achieve the processing requirements of grooves with different diameters.

7. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 1 is characterized in that: The axial feeding mechanism (6) comprises: a spindle support frame (19), a lifting guide rail (20), a lifting feeding motor (21), a screw connecting member (22), a ball screw (23) and a screw seat (24). The spindle support frame (19) is installed in the rotating platform (4), the lifting guide rail (20) is installed on the spindle support frame (19), and the slide table inside the spindle support frame (19) is slidably connected to the lifting guide rail (20); The output end of the lifting feed motor (21) is connected to the ball screw (23), the end of the ball screw (23) is fixed in the rotating platform (4) through the screw seat (24), the screw connector (22) is connected to the screw connector (22), and the screw connector (22) is fixed to the spindle support frame (19).

8. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 1 is characterized in that: The cutting head assembly (7) comprises: a spindle servo motor (25), a rotating spindle (26), a sleeve (27), a spring chuck (28) and a milling cutter (29). The output end of the spindle servo motor (25) is connected to the rotating spindle (26), the sleeve (27) is sleeved on the rotating spindle (26), the rotating spindle (26) is fixed on the radial moving mechanism (5), and the milling cutter (29) is fixed to the end of the sleeve (27) through the spring chuck (28).

9. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 8 is characterized in that: The cutting head assembly (7) comprises a chip collecting device (30) which is mounted on the sleeve (27).

10. The automatic groove processing device for repairing the cladding weld of the stabilizer casing penetration according to claim 1 is characterized in that: The monitoring component (8) comprises: a camera fixing component (31) and a camera (32); the camera fixing component (31) is fixed on the clamping component (3); and the camera (32) is fixed on the camera fixing component (31).

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