Cleaning device for seal welding seam

Abstract

The invention relates to the technical field of seal welding, in particular to a cleaning device for a seal welding seam. The cleaning device for the seal welding seam specifically comprises a polishing mechanism, a pressure balancing mechanism and a PLC. The pressure balance mechanism comprises a balance guide rail, a motor support, a movable module, a static module, a guide rail clamping block and a pressure sensor, the balance guide rail is fixedly connected with the motor support, the grinding motor is arranged, the movable module is fixedly connected with the motor support, the movable module is slidably connected with the static module, the static module is fixedly connected with the supporting support, and the guide rail clamping block is fixedly connected with the supporting support. The guide rail clamping block is slidably connected with the balance guide rail; the PLC is connected with the pressure sensor and the movable module, the pressure sensor is used for detecting the polishing pressure value of the transmission assembly, the PLC is used for receiving stress feedback of the pressure sensor, and the PLC compares the detected pressure value with a preset pressure value in real time and then controls the movable module to move forwards or backwards. The method has the advantage that the seal welding seam neatness is consistent.

Description

Technical Field

[0001] The invention relates to the technical field of sealing welding, in particular to a cleaning device for sealing welding seams. Background Art

[0002] The steam generator is one of the key equipment of the primary circuit pressure boundary of a nuclear power plant. It is responsible for maintaining the integrity of the second safety barrier and is also a conversion device for heat exchange between the primary and secondary circuits. The reliability of the steam generator plays a vital role in the safe and economical operation of nuclear power plants. For a long time, the most frequent accidents of nuclear power evaporators in operation are leakages caused by corrosion of the tube-tube sheet welds. Therefore, the quality of the welds between the U-shaped heat transfer tube and the tube sheet cladding layer (tube-tube sheet sealing welds) has always been the key to the manufacturing quality of nuclear power steam generators. In order to obtain an excellent tube-tube sheet weld, in addition to choosing better tube sheet cladding materials and better welding processes, post-weld cleaning of the weld is a key factor that cannot be ignored.

[0003] Grinding can eliminate the hardened layer and stress corrosion risk of the tube sheet cladding layer. However, since each steam generator tube has more than 20,000 welds, how to efficiently complete the sealing weld grinding work, eliminate manual grinding errors, and ensure the consistency of weld cleanliness has become a difficult problem in the industry.

[0004] Therefore, a cleaning device for sealing welding seams is provided to address the deficiencies in the prior art. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides a sealing weld cleaning device, which aims to solve the problem that manual grinding cannot ensure the consistency of weld cleanliness.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A cleaning device for sealing welding seams, comprising: a grinding mechanism, a pressure balancing mechanism and a PLC;

[0008] The grinding mechanism comprises a housing, a support bracket, a grinding motor, a transmission assembly and a grinding and polishing disc, wherein the housing is fixedly connected to the support bracket, and the grinding motor drives the grinding and polishing disc through the transmission assembly;

[0009] The pressure balancing mechanism comprises a balancing rail, a motor bracket, a dynamic module, a static module, a rail block and a pressure sensor, wherein the balancing rail is fixedly connected to the motor bracket, the grinding motor and the dynamic module are fixedly connected to the motor bracket, the dynamic module is slidably connected to the static module, the static module is fixedly connected to the support bracket, the rail block is fixedly connected to the support bracket, and the rail block is slidably connected to the balancing rail;

[0010] The PLC is connected to the pressure sensor and the moving module. The pressure sensor is used to detect the grinding pressure value of the transmission component. The PLC is used to receive force feedback from the pressure sensor. The PLC compares the detected pressure value with the preset pressure value in real time, and then controls the moving module to move forward or backward.

[0011] As a further improvement of the technical solution of the present invention, the transmission assembly includes a fastening nut and a transmission shaft, the transmission shaft is fixedly connected to the output end of the grinding motor through the fastening nut, and the other end of the transmission shaft is detachably connected to the grinding and polishing disc.

[0012] As a further improvement of the technical solution of the present invention, the transmission assembly also includes a rolling bearing, an end cover and a sleeve, the rolling bearing is sleeved on the transmission shaft, the end cover fixes the rolling bearing and is fixedly connected to the sleeve, the sleeve is fixedly connected to the grinding motor, and the sleeve is sleeved on the transmission shaft, the rolling bearing and the end cover.

[0013] As a further improvement of the technical solution of the present invention, the grinding mechanism also includes a dustproof rubber sleeve, the dustproof rubber sleeve is sleeved on the shaft sleeve, and the dustproof rubber sleeve is fixedly connected to the outer shell.

[0014] As a further improvement of the technical solution of the present invention, it also includes a quick-change disk mechanism, which includes a main disk and a sub-disk, the main disk and the sub-disk are detachably connected, the main disk is fixedly connected to the robot end, and the sub-disk is fixedly connected to the shell.

[0015] As a further improvement of the technical solution of the present invention, the main plate is provided with an actuating cylinder, which includes a push rod and a number of marbles arranged around the push rod. When the push rod is extended, the marbles expand outward, and the sub-plate is provided with grooves corresponding to the marbles, thereby locking the main plate and the sub-plate.

[0016] As a further improvement of the technical solution of the present invention, contacts for transmitting the PLC control signal are provided in the main disk and the sub-disk.

[0017] As a further improvement of the technical solution of the present invention, the moving module is a pneumatic device.

[0018] As a further improvement of the technical solution of the present invention, the grinding and polishing disc is a quick-change wire polishing disc structure.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] In the cleaning device for the sealing weld of the present invention, during the polishing process, the pressure sensor is used to detect the polishing pressure value of the transmission component. After the PLC receives the force feedback from the pressure sensor, the PLC compares the detected pressure value with the preset pressure value in real time, and then automatically corrects the pressure value in real time to control the moving module to move forward or backward to keep the polishing pressure value constant. The cleaning device for the sealing weld has the characteristic of consistent cleanliness of the sealing weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The technology of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0022] Figure 1 It is a three-dimensional structural schematic diagram of a sealing welding seam cleaning device of the present invention;

[0023] Figure 2 It is a cross-sectional view of a cleaning device for a sealing weld of the present invention;

[0024] Figure 3 It is a three-dimensional structural schematic diagram of a grinding mechanism in a cleaning device for sealing welding seams of the present invention;

[0025] Figure 4 It is a three-dimensional structural schematic diagram of a transmission component in a cleaning device for sealing welding seams of the present invention;

[0026] Figure 5 It is a three-dimensional structural schematic diagram of the pressure balance mechanism in the cleaning device for the sealing welding seam of the present invention.

[0027] In the figure:

[0028] 1. Grinding mechanism; 11. Housing; 12. Support bracket; 13. Grinding motor; 14. Transmission assembly; 141. Fastening nut; 142. Transmission shaft; 143. Rolling bearing; 144. End cover; 145. Bushing; 15. Grinding disc; 16. Dust-proof rubber sleeve;

[0029] 2. Pressure balancing mechanism; 21. Balancing guide rail; 22. Motor bracket; 23. Moving module; 24. Static module; 25. Guide rail block;

[0030] 3. Quick-change disk mechanism; 31. Main disk; 32. Sub-disk. DETAILED DESCRIPTION

[0031] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict. The same reference numerals used throughout the drawings indicate the same or similar parts.

[0032] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0033] Reference Figures 1 to 5 , a cleaning device for sealing welding seams, comprising a grinding mechanism 1, a pressure balancing mechanism 2 and a PLC;

[0034] In one embodiment, referring to Figure 3 As shown, the grinding mechanism 1 includes a shell 11, a support bracket 12, a grinding motor 13, a transmission assembly 14 and a grinding and polishing disc 15. The shell 11 is fixedly connected to the support bracket 12, and the grinding motor 13 drives the grinding and polishing disc 15 through the transmission assembly 14.

[0035] In one embodiment, referring to Figure 5 As shown, the pressure balancing mechanism 2 includes two balancing rails 21, a motor bracket 22, a dynamic module 23, a static module 24, four rail blocks 25 and a pressure sensor. The two balancing rails 21 are fixedly connected to both sides of the motor bracket 22, the grinding motor 13 and the dynamic module 23 are fixedly connected to the motor bracket 22, the dynamic module 23 is slidably connected to the static module 24, the static module 24 is fixedly connected to the support bracket 12, two rail blocks 25 on the left and right sides are fixedly connected to both sides of the support bracket 12, and two rail blocks 25 are slidably connected to a balancing rail 21. During automatic correction, the dynamic module 23 moves forward, the static module 24, the support bracket 12, and the housing 11 remain stationary, and the dynamic module 23 drives the grinding motor 13 to move along the length direction of the balancing rail 31.

[0036] In one embodiment, the PLC is connected with a pressure sensor and a moving module 23. The pressure sensor is used to detect the grinding pressure value of the transmission component 14. The PLC is used to receive the force feedback from the pressure sensor. The PLC compares the detected pressure value with the preset pressure value in real time, and then controls the moving module 23 to move forward or backward.

[0037] In the process of polishing, the pressure sensor is used to detect the polishing pressure value of the transmission component 14. After the PLC receives the force feedback from the pressure sensor, the PLC compares the detected pressure value with the preset pressure value in real time, and then automatically corrects the pressure value in real time to control the moving module 23 to move forward or backward to keep the polishing pressure value constant. The cleaning device for the sealing weld has the characteristic of consistent cleanliness of the sealing weld.

[0038] In one embodiment, referring to Figure 4As shown, the transmission assembly 14 includes two fastening nuts 141 and a transmission shaft 142. The transmission shaft 142 is fixedly connected to the output end of the grinding motor 13 through the fastening nuts 141 to form a self-locking function to prevent the output end of the grinding motor 13 and the transmission shaft 142 from loosening. The other end of the transmission shaft 142 is detachably connected to the grinding and throwing disc 15. The transmission assembly 14 also includes four rolling bearings 143, two end covers 144 and a sleeve 145. The four rolling bearings 143 are divided into two groups. The two groups of rolling bearings 143 are respectively sleeved on the two ends of the transmission shaft 142. The end cover 144 fixes the rolling bearings 143 and is fixedly connected to the sleeve 145. The sleeve 145 is fixedly connected to the grinding motor 13. The sleeve 145 is sleeved on the transmission shaft 142, the rolling bearing 143 and the end cover 144 to ensure the airtightness and smoothness of the entire transmission mechanism.

[0039] During grinding, the robot drives the grinding and polishing disc 15 to rotate at high speed through the transmission shaft 142 according to the pre-planned trajectory path, and performs overall polishing and grinding around the weld to expose the metal color of the plate in the heat-affected zone of the weld, and automatically completes the tube hole polishing in a constant pressure mode. The pressure balance mechanism 2 controls the movement module 23 in real time through the PLC according to the force feedback of the transmission shaft 142, automatically corrects the pressure value, and keeps the grinding pressure constant.

[0040] In one embodiment, the grinding mechanism 1 further includes a dustproof rubber sleeve 16 , which is sleeved with a shaft sleeve 145 , and the dustproof rubber sleeve 16 is fixedly connected to the housing 11 to prevent metal dust generated by grinding from entering the grinding motor 13 box.

[0041] In one embodiment, referring to Figure 1 As shown, the cleaning device also includes a quick-change disc mechanism 3, which includes a main disc 31 and a sub-disc 32. The main disc 31 and the sub-disc 32 are detachably connected, the main disc 31 is fixedly connected to the end of the sixth axis of the robot, and the sub-disc 32 is fixedly connected to the housing 11. The robot uses the end attachment quick-change disc mechanism 3 to automatically replace the grinding mechanism 1 and switch to the polishing and grinding function.

[0042] In one embodiment, the main plate 31 is provided with an action cylinder, which includes a push rod and a number of marbles arranged around the push rod. When the push rod is extended, the marbles expand outward, and the auxiliary plate 32 is provided with grooves corresponding to the marbles, thereby locking the main plate 31 and the auxiliary plate 32, which is a standard robot end tool quick change plate. The main plate 31 and the auxiliary plate 32 are provided with contacts for transmitting PLC control signals to achieve rapid production change operations and real-time communication.

[0043] In one embodiment, the actuating module 23 is a pneumatic device.

[0044] In one embodiment, the grinding and polishing disc 15 is a quick-change wire throwing disc structure. When the PLC automatically recognizes that the current wire throwing disc can no longer meet the welding needs, or the wire throwing disc replacement conditions set by the system are met (for example, continuous grinding of 20 pipe holes), the robot sends the cleaning module into the wire throwing disc warehouse, and removes the old wire throwing disc and replaces it with a new one through the automatic gripper.

[0045] For other contents of the cleaning device for the sealing weld seam described in the present invention, please refer to the prior art and will not be repeated here.

[0046] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Therefore, any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A cleaning device for sealing welding seams, characterized in that: include: Grinding mechanism, pressure balancing mechanism and PLC; The grinding mechanism comprises a housing, a support bracket, a grinding motor, a transmission assembly and a grinding and polishing disc, wherein the housing is fixedly connected to the support bracket, and the grinding motor drives the grinding and polishing disc through the transmission assembly; The pressure balancing mechanism comprises a balancing rail, a motor bracket, a dynamic module, a static module, a rail block and a pressure sensor, wherein the balancing rail is fixedly connected to the motor bracket, the grinding motor and the dynamic module are fixedly connected to the motor bracket, the dynamic module is slidably connected to the static module, the static module is fixedly connected to the support bracket, the rail block is fixedly connected to the support bracket, and the rail block is slidably connected to the balancing rail; The PLC is connected to the pressure sensor and the moving module. The pressure sensor is used to detect the grinding pressure value of the transmission component. The PLC is used to receive force feedback from the pressure sensor. The PLC compares the detected pressure value with the preset pressure value in real time, and then controls the moving module to move forward or backward.

2. A sealing welding seam cleaning device according to claim 1, characterized in that: The transmission assembly includes a fastening nut and a transmission shaft. The transmission shaft is fixedly connected to the output end of the grinding motor through the fastening nut, and the other end of the transmission shaft is detachably connected to the grinding and polishing disc.

3. A sealing welding seam cleaning device according to claim 2, characterized in that: The transmission assembly also includes a rolling bearing, an end cover and a sleeve. The rolling bearing is sleeved on the transmission shaft. The end cover fixes the rolling bearing and is fixedly connected to the sleeve. The sleeve is fixedly connected to the grinding motor. The sleeve is sleeved on the transmission shaft, the rolling bearing and the end cover.

4. A sealing welding seam cleaning device according to claim 3, characterized in that: The grinding mechanism also includes a dustproof rubber sleeve, the dustproof rubber sleeve is sleeved with the shaft sleeve, and the dustproof rubber sleeve is fixedly connected to the shell.

5. The device for cleaning the sealing weld according to claim 1, characterized in that: It also includes a quick-change disk mechanism, which includes a main disk and a sub-disk, the main disk and the sub-disk are detachably connected, the main disk is fixedly connected to the robot end, and the sub-disk is fixedly connected to the shell.

6. A sealing welding seam cleaning device according to claim 5, characterized in that: The main plate is provided with an actuating cylinder, which includes a push rod and a number of marbles arranged around the push rod. When the push rod is extended, the marbles expand outward, and the sub-plate is provided with grooves corresponding to the marbles, thereby locking the main plate and the sub-plate.

7. A sealing welding seam cleaning device according to claim 5, characterized in that: Contacts for transmitting the PLC control signal are provided in the main disk and the auxiliary disk.

8. The device for cleaning the sealing weld according to claim 1, characterized in that: The moving module is a pneumatic device.

9. The device for cleaning the sealing weld according to claim 1, characterized in that: The grinding and throwing disc is a quick-change wire throwing disc structure.

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