Automatic welding platform for radioactive gas sealing and using method
By designing an automatic welding platform for radiogas sealing, the problem of lack of an automated platform in the prior art is solved, and the radiogas sealing process is automated, and efficiency and safety are improved.
Patent Information
- Application Number
- CN202411406738.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-05
- Publication Date
- 2025-02-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The prior art lacks an automated platform that enables a complete process from feeding to final completion of radiogas sealing, resulting in inefficiency and potentially damage to operators.
An automatic welding platform for sealing of radiogas was designed, including automatic loading and unloading devices, automatic clamping and rotating devices, high-pressure sealing welding devices and monitoring and control systems, and a complete sealing process of radiogas was realized through computer control.
The radiogas sealing process is automated, efficiency is improved, hazards are reduced to operators, and has good integration, economy, safety and accuracy.
Smart Images
Figure CN119426850A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of automatic welding platforms, in particular to an automatic welding platform for radioactive gas sealing and a use method thereof. Background Art
[0002] Using radioactive sources as energy sources can be applied to many fields such as agriculture, industry, and military. The sealing process of radioactive sources before transportation and use is an important part of the entire process. In addition to ensuring the effectiveness of the seal, automating the entire sealing process and reducing the damage of radioactive sources to operators are also key issues that need to be solved.
[0003] The commonly used storage method is to store radioactive gas in a radioactive source tube made of lead, gold, silver or stainless steel and seal the gas through welding. However, there is a lack of an automated platform in China that can complete the entire process from loading to welding and sealing. Some links in the complete process require operator participation, which is not only inefficient but also may cause harm to personnel. Therefore, an automatic welding platform for radioactive gas sealing is invented, which only requires computer control to achieve a complete radioactive gas sealing process, and has good practicality and economy. Summary of the invention
[0004] The purpose of the present invention is to provide an automatic welding platform for radioactive gas sealing and a method of use thereof in view of the defects of the prior art, so as to solve the problems raised by the above-mentioned background technology.
[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic welding platform for radioactive gas sealing, comprising an automatic loading and unloading device, an automatic clamping and rotating device, a high-pressure sealing welding device and a monitoring and control system, wherein the automatic loading and unloading device is used to automatically load and unload radioactive source tubes, the automatic clamping and rotating device is used to clamp and rotate the radioactive source tubes, and the high-pressure sealing welding device is used to weld the girth of the radioactive source tube head, inject radioactive gas and perform high-pressure spot welding of the head; the monitoring and control system is used to monitor and control the automatic loading and unloading device, the automatic clamping and rotating device and the high-pressure sealing welding device;
[0006] The automatic loading and unloading device includes a radiation source tube, a clamping platform, a platform bracket, a platform position sensor, a feeding gripper and an XYZW four-axis driving mechanism;
[0007] The radioactive source tube comprises a fixed end cap, a tube body, a conical plug ring welding point and a conical plug spot welding point;
[0008] The automatic clamping and rotating device includes a profile frame, a supporting base, a hollow rotating platform, a connecting flange, a pneumatic three-jaw chuck, a servo electric cylinder, a pneumatic gripper, a concentric fixing device, profile A, profile B, profile C, a girth weld position sensor, a welding gun support frame, a TIG welding gun, an L-shaped adapter plate and a circular adapter plate;
[0009] The high-pressure sealing welding device comprises a high-pressure chamber, a radioactive gas storage tank, a radioactive gas injection pipeline, an air boost pipeline, a compressor, a flange A, a flange B and a flange C;
[0010] The high-pressure chamber includes a front cover, a seal, an O-ring A, a welding gun seal, a composite welding gun stand, a barrel, a pressure gauge, a base, a glass end cover, an O-ring B, glass, a motor in the chamber, a welding gun adapter plate, a welding gun fixing rod, a position sensor, an air pressure sensor, an air-electric connector, a rear cover and a coupling in the chamber;
[0011] The monitoring and control system comprises a feeding monitoring camera, a clamping rotation monitoring camera, a ring welding monitoring CCD camera, a control cabinet, a PC computer, a hand control box and a high-voltage spot welding monitoring camera.
[0012] As a preferred technical solution of the present invention, the fixed end cover is welded to one end of the pipe body, the conical plug is connected to the pipe body by threads, the conical plug ring welding point and the conical plug spot welding point are welded and sealed on an automatic welding platform, wherein the conical plug spot welding point has a circular hole for automatic injection of radioactive gas and the final high-pressure spot welding sealing;
[0013] The radiation source tube is placed in a groove on the clamping platform, the platform position sensor is fixed to the platform bracket by bolts, and the feeding gripper is connected to the slide seat of the Z axis by bolts.
[0014] As a preferred technical solution of the present invention, the XYZW four-axis driving mechanism includes an X-axis motor, a Y-axis motor, a Z-axis motor, a W-axis motor and a moving mechanism; the X-axis motor, the Y-axis motor, the Z-axis motor and the W-axis motor are respectively installed on the four moving mechanisms;
[0015] The moving mechanism includes a coupling, a lead screw, a bearing seat, a lead screw nut, a sliding seat, a slider and a guide rail;
[0016] The lead screw is connected to the X-axis motor, Y-axis motor, Z-axis motor and W-axis motor respectively through couplings, bearing seats for fixing bearings are installed at both ends of the lead screw, the lead screw nut is connected to the slide seat through bolts, the slide seat is installed on the guide rail, the slide seat is fixed to the slide seat through bolts, and the lead screw is connected to the lead screw nut through threads.
[0017] As a preferred technical solution of the present invention, the support base is connected to the profile frame through T-nuts, the support base is fixed to the hollow rotating platform through bolts, the hollow rotating platform is connected to the connecting flange through bolts, the pneumatic three-jaw chuck is fixed to the connecting flange through bolts, the pneumatic gripper and the motion module of the servo electric cylinder are connected through bolts, the TIG welding gun is fixed to the welding gun support frame through a clamp, and the welding gun support frame is fixed to the profile frame through bolts.
[0018] As a preferred technical solution of the present invention, the profile A, profile B, and profile C are all connected to the profile frame through T-nuts;
[0019] The profile A fixes the servo electric cylinder via a circular adapter plate, and the circular adapter plate is provided with an annular groove for adjusting the parallelism between the servo electric cylinder and the profile frame within a certain angle;
[0020] The profile B is connected to the T-nut by bolts to fix the concentric fixing device; the concentric fixing device is used to ensure that the top end of the radiation source tube does not swing too much during the rotary ring welding, and can also ensure that the spot welding point of the cone plug can be in a concentric position with the end cover opening of the high-pressure chamber during spot welding;
[0021] The profile C is connected to the L-shaped adapter plate by bolts and T-shaped nuts, and the ring weld position sensor is connected to the L-shaped adapter plate by bolts;
[0022] The pneumatic three-jaw chuck is used to clamp and release the tube body, and when the ring weld position sensor detects the ring weld point of the conical plug, the hollow rotating platform will rotate under the drive of the motor, thereby realizing the rotation of the radiation source tube in the clamped state.
[0023] As a preferred technical solution of the present invention, the front end cover and the rear end cover are both fixed to the cylinder body by bolts and sealed in the middle by an O-ring A. A circular hole is opened on the front end cover for contacting with the spot welding point of the conical plug. The rear end of the hole is connected to the high-pressure environment in the high-pressure cabin by a seal and a welding gun sealing ring. The rear end cover is connected to the gas-electric connector and the air pressure sensor by bolts.
[0024] The position sensor is fixed to one side of the cylinder by bolts and is used to monitor whether the spot welding point of the conical plug reaches the stable welding area.
[0025] As a preferred technical solution of the present invention, the composite welding gun holder is connected to the motor in the cabin through the cabin coupling, the motor in the cabin is fixed to the welding gun adapter plate by bolts, the welding gun adapter plate is fixed to the upper end of the cylinder through the welding gun fixing rod, and the two ends of the composite welding gun holder are respectively a welding gun and a conical gas injection head, one end is used for radioactive gas injection, and it is rotated to the other end for high-pressure spot welding;
[0026] The lower end of the cylinder is connected to the base by bolts, and the base is fixed to the profile frame by bolts and T-nuts. The left and right sides of the cylinder are fixed with glass end covers by bolts. The middle of the glass end cover is sealed and connected to the glass by an O-ring B to observe the situation in the cabin. The upper end of the cylinder is fixed with a pressure gauge by bolts to display the pressure situation in the cabin.
[0027] The flange A is connected to the radioactive gas storage tank and the radioactive gas injection pipeline by bolts, the flange B is connected to the radioactive gas injection pipeline and the cylinder by bolts, and the flange C is connected to the air boosting pipeline and the compressor by bolts.
[0028] As a preferred technical solution of the present invention, the feeding monitoring camera is installed on a tripod to remotely monitor the automatic loading and unloading process of the radioactive source tube;
[0029] The clamping and rotating monitoring camera is installed on a tripod and is used to remotely monitor the clamping and rotating process of the radioactive source tube on the profile frame;
[0030] The ring welding monitoring CCD camera is fixed to the welding gun support frame by bolts and is used to remotely monitor the welding process of the ring weld of the radiation source tube;
[0031] The high-voltage spot welding monitoring camera is fixed to the front end cover by bolts and is used to monitor the high-voltage spot welding conditions of the conical plug spot welding points.
[0032] As a preferred technical solution of the present invention, the control cabinet includes an industrial computer, a manual control box, a programmable controller, and a servo drive.
[0033] The industrial computer is used to send instructions to control the programmable controller to drive the movement of each motor;
[0034] The hand control box is installed at the lower end of the industrial computer, and is used to assist the industrial computer to control the servo driver to move the axes of the platform;
[0035] The PC computer is connected to the programmable controller of the control cabinet;
[0036] The programmable controller is connected to a TIG welding machine controller and a plurality of solenoid valves;
[0037] The programmable controller is connected to a servo driver in a downstream direction and is used for controlling each servo motor of the automatic welding platform.
[0038] The method of using the automatic welding platform for radioactive gas sealing is as follows:
[0039] Step 1: Place multiple radioactive source tubes of the same batch that need to be welded and sealed in the grooves of the clamping platform in advance. The operator controls the movement of the XYZW four-axis through the hand control box outside the protective workshop and adjusts the relative position of the feeding gripper and the radioactive source tube in the automatic loading and unloading device;
[0040] Step 2: After the initial relative position is adjusted, set the X-axis, Z-axis and Y-axis movement rates, as well as the opening and closing time of the feeding gripper on the PC computer, select the automatic loading and unloading segmented operation function in the control cabinet, and test the accuracy of the program in this link; the specific process is expressed as follows:
[0041] Step 21: The Z-axis lead screw drives the feeding gripper to move downward, and reaches the upper end of the tube body to perform the gripper clamping operation. After the feeding gripper clamps the radiation source tube, it moves upward to reach the concentric position of the hollow rotating platform;
[0042] Step 22: The platform position sensor transmits a signal to the programmable controller, and the Y-axis motor drives the lead screw to drive the feeding gripper to move. After moving for a period of time, the programmable controller sends a signal to control the pneumatic gripper to perform a gripping operation;
[0043] Step 23: Finally, the Y-axis and the Z-axis return to their original positions, and the X-axis drives the clamping platform to move, so that the next radiation source tube reaches the specified position;
[0044] Step 3: Set the movement rate of the servo electric cylinder and the ring welding parameters on the PC. After the pneumatic gripper performs the operation of clamping the radioactive source tube, select the automatic clamping and rotary segmented operation function in the control cabinet to detect the accuracy of the program in this link; the specific process is expressed as follows:
[0045] Step 31: The pneumatic gripper clamps the pipe body and moves. When the ring welding point of the conical plug reaches the sensing position of the ring welding position sensor, the programmable controller sends a signal to control the three-jaw chuck to hold the pipe body tightly.
[0046] Step 32: The pneumatic gripper is released and reset, and the hollow rotating platform drives the three-jaw chuck to rotate. The concentric fixing device ensures that the top of the radiation source tube does not swing significantly during the rotation process;
[0047] Step 33: Finally, the TIG welding gun completes the welding operation of the cone plug ring welding point;
[0048] Step 4: Select the high-pressure sealing welding segmented operation function in the control cabinet to detect the accuracy of the program in this link; the specific process is expressed as follows:
[0049] Step 41: The three-jaw chuck releases the tube body, and the pneumatic gripper clamps the tube body and moves under the drive of the servo electric cylinder;
[0050] Step 42: When the spot welding point of the conical plug enters the high-pressure chamber and reaches the sensing position of the position sensor, the programmable controller sends a signal to control the conical gas injection head at one end of the composite welding gun holder to insert into the top of the radiation source tube to inject radioactive gas, and at the same time, the compressor injects air into the high-pressure chamber to reach a high-pressure state;
[0051] Step 43: After the injection of the radioactive gas is completed, the composite welding gun holder is rotated 180 degrees, and the welding gun on the other side is aimed at the spot welding point of the conical plug, and the spot welding operation is performed under high pressure to seal the radioactive gas into the radioactive source tube;
[0052] Step 5: There is no abnormality in the high-voltage automatic welding under the segmented operation function. After the subsequent radioactive source tubes of the same batch size are placed, no additional operation will be required. The entire automatic program can be directly executed. At the same time, the platform operation status and welding conditions are observed in real time outside the protection workshop through various cameras. If there is an abnormality, the automatic program needs to be stopped and the platform needs to be adjusted through the manual control box.
[0053] Compared with the prior art, the present invention has the following beneficial effects:
[0054] 1. The automatic welding platform for radioactive gas sealing of the present invention can utilize a set of automatic welding devices to automatically realize operations such as loading and unloading of radioactive source tubes, clamping and rotation of radioactive source tubes, girth welding of end caps, injection of radioactive gas and high-pressure spot welding of end caps, and has good integration and economy;
[0055] 2. The automatic welding platform of the present invention can realize the linkage of the four axes XYZW of the feeding platform. Through computer programming and processing procedures, it can flexibly realize the automatic loading and unloading of various models and a large number of radiation source tubes in the same batch in the space, and has good efficiency and flexibility;
[0056] 3. The automatic welding platform for radioactive gas sealing of the present invention can complete the radioactive gas sealing operation remotely through a control cabinet and a PC computer without contacting the radioactive source, and can accurately adjust the spatial position of the radioactive source tube and the welding parameters through a programmable controller, thereby having good safety and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0057] Figure 1 It is a schematic diagram of the overall structure of the automatic welding platform for radioactive gas sealing of the present invention.
[0058] Figure 2 This is a structural diagram of the automatic loading and unloading device of the automatic welding platform for radioactive gas sealing of the present invention.
[0059] Figure 3 This is a detailed view of the automatic loading and unloading device of the automatic welding platform for radioactive gas sealing of the present invention.
[0060] Figure 4 This is a structural diagram of a radiation source tube for radioactive gas sealing according to the present invention.
[0061] Figure 5 It is a structural diagram of the automatic clamping and rotating device of the automatic welding platform for radioactive gas sealing of the present invention.
[0062] Figure 6 This is a structural diagram of the high-pressure sealing welding device of the automatic welding platform for radioactive gas sealing of the present invention.
[0063] Figure 7 It is a detailed exploded view of the high-pressure chamber of the automatic welding platform for radioactive gas sealing of the present invention.
[0064] Figure 8 The schematic diagram of the monitoring and control system of the automatic welding platform for radioactive gas sealing of the present invention.
[0065] Fig. 9 The present invention is a flowchart of specific implementation steps of the method for using the automatic welding platform for radioactive gas sealing of the present invention.
[0066] In the figure: 1. Radioactive source tube, 2. Clamping platform, 3. Platform bracket, 4. Platform position sensor, 5. Feeding gripper, 6. Profile rack, 7. Support base, 8. Hollow rotating platform, 9. Connecting flange, 10. Pneumatic three-jaw chuck, 11. Servo electric cylinder, 12. Pneumatic gripper, 13. Concentric fixture, 14. Profile A, 15. Profile B, 16. Profile C, 17. Ring weld position sensor, 18. Welding gun support frame, 19. TIG welding gun, 20. High-pressure chamber, 21. Radioactive gas storage tank, 22. Radioactive gas injection pipeline, 23. Air booster pipeline, 24. Compressor, 25. Feeding monitoring camera, 26. Clamping rotation monitoring camera, 27. Ring welding monitoring CCD camera, 28. Control cabinet, 29. PC computer, 30. Hand control box, 31. X-axis motor, 32. Y-axis motor, 33. Z-axis motor, 34. W-axis Motor, 35. Coupling, 36. Screw, 37. Bearing seat, 38. Screw nut, 39. Slide seat, 40. Slider, 41. Guide rail, 42. L-type adapter plate, 43. Front cover, 44. Seal, 45. O-ring A, 46. Welding gun seal, 47. Composite welding gun stand, 48. Cylinder, 49. Pressure gauge, 50. Base, 51. Glass end cover, 52. O-ring B, 53. Glass, 54. Cabin motor, 55. Welding gun adapter plate, 56. Welding gun fixing rod, 57. Position sensor, 58. Air pressure sensor, 59. Gas-electric connector, 60. High-voltage spot welding monitoring camera, 61. Rear end cover, 62. Cabin coupling, 63. Tee, 64. Flange A, 65. Flange B, 66. Flange C, 67. Fixed end cover, 68. Pipe body, 69. Conical plug ring welding point, 70. Conical plug spot welding point, 71. Circular adapter plate. DETAILED DESCRIPTION
[0067] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.
[0068] Example: See Figure 1 The present invention provides a technical solution: an automatic welding platform for radioactive gas sealing, which is composed of an automatic loading and unloading device, an automatic clamping and rotating device, a high-pressure sealing welding device and a monitoring and control system.
[0069] See also Figure 2 and Figure 3 The automatic loading and unloading device includes a radiation source tube 1, a clamping platform 2, a platform bracket 3, a platform position sensor 4, a feeding gripper 5, an X-axis motor 31, a Y-axis motor 32, a Z-axis motor 33, a W-axis motor 34, a coupling 35, a lead screw 36, a bearing seat 37, a lead screw nut 38, a slide seat 39, a slider 40, and a guide rail 41.
[0070] See also Figure 4 The radiation source tube includes a fixed end cover 67, a tube body 68, a conical plug ring welding point 69, and a conical plug spot welding point 70.
[0071] The fixed end cover 67 is welded to one end of the tube body 68, and the conical plug is connected to the tube body 68 by threads. The conical plug ring weld 69 and the conical plug spot weld 70 need to be welded and sealed on an automatic welding platform, wherein the conical plug spot weld 70 has a circular hole for automatic injection of radioactive gas and the final high-pressure spot welding sealing.
[0072] The radiation source tube 1 is placed in a groove on the clamping platform 2, the platform position sensor 4 is fixed to the platform bracket 3 by bolts, and the feeding gripper 5 is connected to the slide seat 39 in the Z-axis direction by bolts.
[0073] The four motion axes controlled by the XYZW four-axis servo motor have the same structure and connection method. Both ends of the lead screw are equipped with bearing seats to fix the bearings. The servo motor has a brake and drives the ball screw through a planetary reducer. The lead screw nut and the slide are connected by bolts. The slide is installed on the guide rail, and the slide is fixed to the lead screw nut and the slide by bolts. Figure 3 Only the connection structure of the Z-axis servo motor is marked, and the same applies to the XYW axes.
[0074] like Figure 3 As shown, the Z-axis motor 33 is connected to the lead screw 36 through a coupling 35, bearing seats 37 are installed at both ends of the lead screw 36 to fix the bearings, the lead screw nut 38 and the slide 39 are connected by bolts, the slide 40 is installed on the guide rail 41, and the slide 39 is fixed to the lead screw nut 38 and the slide 40 by bolts.
[0075] The relative position of the feeding gripper 5 and the radiation source tube 1 can be flexibly set through the four-axis linkage. When the positions of the W axis and the Y axis are determined, it is only necessary to set the movement frequencies of the X axis and the Z axis to realize the automatic loading and unloading of the radiation source tube 1 in the device.
[0076] See also Figure 5 The automatic clamping and rotating device includes a profile frame 6, a supporting base 7, a hollow rotating platform 8, a connecting flange 9, a pneumatic three-jaw chuck 10, a servo electric cylinder 11, a pneumatic gripper 12, a concentric fixing device 13, a profile A 14, a profile B 15, a profile C 16, a ring weld position sensor 17, a welding gun support frame 18, a TIG welding gun 19, an L-shaped adapter plate 42, and a circular adapter plate 71.
[0077] The support base 7 is connected to the profile frame 6 through a T-nut, the support base 7 is fixed to the hollow rotating platform 8 by bolts, the hollow rotating platform 8 is connected to the connecting flange 9 by bolts, the pneumatic three-jaw chuck 10 is fixed to the connecting flange 9 by bolts, the pneumatic gripper 12 is connected to the motion module of the servo electric cylinder 11 by bolts, the TIG welding gun 19 is fixed to the welding gun support frame 18 by a clamp, and the welding gun support frame 18 is fixed to the profile frame 6 by bolts.
[0078] Profile A14, profile B15, and profile C16 are all connected to the profile frame 6 via T-nuts.
[0079] The profile A14 fixes the servo cylinder 11 through a circular adapter plate 71. An annular groove is provided on the circular adapter plate 71, which can adjust the parallelism between the servo cylinder 11 and the profile frame 6 within a certain angle, thereby ensuring the clamping quality of the pneumatic gripper 12 for the radiation source tube.
[0080] The profile B15 is fixed to the concentric fixing device 13 by bolting with a T-nut. The concentric fixing device 13 can not only ensure that the top end of the radiation source tube does not swing too much during the rotary ring welding, but also ensure that the conical plug spot welding point 70 can be in a concentric position with the end cover opening of the high-pressure chamber 20 during spot welding;
[0081] The profile C16 is fixed to the L-shaped adapter plate 42 by bolting the T-nut, and the ring weld position sensor 17 is connected to the L-shaped adapter plate 42 by bolts. The ring weld position sensor 17 determines whether the laser is blocked by the radiation source tube and sends a delay signal to the programmable controller, thereby achieving precise welding of the conical plug ring weld point 69.
[0082] The pneumatic three-jaw chuck 10 can realize the clamping and loosening of the tube body 68, and when the ring weld position sensor 17 detects the ring weld point 69 of the conical plug, the hollow rotating platform 8 will rotate under the drive of the motor, so that the pneumatic three-jaw chuck 10 fixedly connected to the hollow rotating platform 8 through the connecting flange 9 finally realizes the rotation of the radiation source tube in the clamped state.
[0083] See also Figure 1 and Figure 6 The high-pressure sealing welding device includes a high-pressure chamber 20, a radioactive gas storage tank 21, a radioactive gas injection pipeline 22, an air boost pipeline 23, a compressor 24, a flange A64, a flange B65, and a flange C66.
[0084] See also Figure 1 , Figure 6 and Figure 7The high-pressure chamber 20 includes a front cover 43, a seal 44, an O-ring A45, a welding gun seal 46, a composite welding gun holder 47, a cylinder 48, a pressure gauge 49, a base 50, a glass end cover 51, an O-ring B52, a glass 53, a motor 54 in the chamber, a welding gun adapter plate 55, a welding gun fixing rod 56, a position sensor 57, an air pressure sensor 58, an air-electric connector 59, a rear cover 61, and a coupling 62 in the chamber;
[0085] The front end cover 43 and the rear end cover 61 are both fixed to the cylinder 48 by bolts and sealed in the middle by an O-ring A45. A circular hole is opened on the front end cover 43 for contacting the spot welding point 70 of the conical plug. The rear end of the hole realizes the high pressure environment in the high pressure cabin through the seal 44 and the welding gun seal 46. The rear end cover 61 is connected to the gas-electric connector 59 and the air pressure sensor 58 by bolts.
[0086] The position sensor 57 is fixed to one side of the cylinder 48 by bolts, and is used to monitor whether the spot welding point 70 of the conical plug has reached the stable welding area, thereby transmitting a signal to the programmable controller to execute the gas injection and spot welding operations;
[0087] The composite welding gun holder 47 is connected to the cabin motor 54 through the cabin coupling 62, and the cabin motor 54 is fixed to the welding gun adapter plate 55 by bolts. The welding gun adapter plate 55 is fixed to the upper end of the cylinder 48 through the welding gun fixing rod 56. The two ends of the composite welding gun holder 47 are respectively a welding gun and a conical gas injection head. One end is used for radioactive gas injection, and it is rotated to the other end for high-pressure spot welding.
[0088] The lower end of the cylinder 48 is connected to the base 50 by bolts, and the base 50 is fixed to the profile frame 6 by bolting T-nuts. Glass end covers 51 are fixed to the left and right sides of the cylinder 48 by bolts. The middle of the glass end cover 51 is sealed and connected to the glass 53 by an O-ring B52 for observing the situation in the cabin. The upper end of the cylinder 48 is fixed to the pressure gauge 49 by bolts to display the pressure situation in the cabin.
[0089] Flange A64 is connected to the radioactive gas storage tank 21 and the radioactive gas injection pipe 22 by bolts, flange B65 is connected to the radioactive gas injection pipe 22 and the cylinder 48 by bolts, and flange C66 is connected to the air boost pipe 23 and the compressor 24 by bolts.
[0090] See also Figure 1 and Figure 7 The monitoring and control system includes a feeding monitoring camera 25, a clamping rotation monitoring camera 26, a ring welding monitoring CCD camera 27, a high-voltage spot welding monitoring camera 60, a control cabinet 28, a PC computer 29, and a hand control box 30.
[0091] The feeding monitoring camera 25 is mounted on a tripod and is used to remotely monitor the automatic loading and unloading process of the radioactive source tube.
[0092] The clamping and rotating monitoring camera 26 is installed on a tripod and is used to remotely monitor the clamping and rotating process of the radiation source tube on the profile frame.
[0093] The ring welding monitoring CCD camera 27 is fixed to the welding gun support frame 18 by bolts, and is used to remotely monitor the welding process of the ring weld of the radiation source tube.
[0094] The high-voltage spot welding monitoring camera 60 is fixed to the front end cover 43 by bolts, and is used to monitor the high-voltage spot welding conditions of the conical plug spot welding points 70 .
[0095] See also Figure 1 and Figure 8 The control cabinet 28 includes an industrial computer, a manual control box 30, a programmable controller, and a servo drive.
[0096] See also Figure 8 The industrial computer can send instructions to control the programmable controller to drive the movement of each motor, automatically realize the loading and unloading of the radiation source tube, the clamping and rotation of the radiation source tube, the girth welding of the head, the injection of radiation gas and the high-pressure spot welding of the head.
[0097] See also Figure 1 The hand control box 30 is installed at the lower end of the industrial computer. The hand control box can assist the industrial computer to control the servo driver to move the axes of the platform, thereby realizing the initial position setting of the automatic welding platform.
[0098] See also Figure 8 The PC computer 29 is connected to the programmable controller of the control cabinet 28. The automatic operation program of the welding platform is written through the software and the welding process is set. The servo driver is driven to realize the automatic welding integrated operation of the radioactive gas seal, and the image and video information of the camera are displayed through the display screen, and the software automatically stores and processes it.
[0099] See also Figure 8 The programmable controller is connected with the TIG welding machine controller and multiple solenoid valves, which can not only adjust various processing parameters of the TIG welding machine, such as welding time, welding current, welding voltage, shielding gas flow, etc., but also control the start and stop of multiple solenoid valves by setting the delay time, thereby realizing the opening and closing of the feeding gripper 5, the opening and closing of the pneumatic gripper 12, the opening and closing of the three-jaw chuck 10, the opening and closing of the valve of the radioactive gas storage tank 21, and the opening and closing of the valve of the compressor 24.
[0100] See also Figure 8The programmable controller is connected to the servo driver in the downstream direction to realize the control of each servo motor of the automatic welding platform. The multi-axis linkage of the automatic feeding device is realized by controlling the X-axis motor 31, the Y-axis motor 32, the Z-axis motor 33, and the W-axis motor 34, so as to set the initial position of the feeding gripper 5; the three-jaw chuck 10 in the clamping state is driven to rotate by controlling the built-in motor of the hollow rotating platform 8; the linear drive of the pneumatic gripper 12 in the clamping state is realized by controlling the servo motor of the servo electric cylinder 11; the rotation of the composite welding gun holder 47 is realized by controlling the motor 54 in the cabin, so as to realize the operation switching between gas injection and high-voltage spot welding.
[0101] Method for using an automatic welding platform for radioactive gas sealing;
[0102] The present invention proposes a systematic platform use method for an automatic welding platform designed for radioactive gas sealing. Without contacting the radioactive source, the present invention can use a set of automatic welding devices to automatically realize operations such as loading and unloading of radioactive source tubes, clamping and rotation of radioactive source tubes, girth welding of heads, injection of radioactive gas and high-pressure spot welding of heads.
[0103] See also Fig. 9 The specific process of using the automatic welding platform for radioactive gas sealing is as follows:
[0104] Step 1: Place multiple radioactive source tubes 1 of the same batch that need to be welded and sealed in the grooves of the clamping platform 2 in advance. The operator controls the movement of the XYZW four-axis through the hand control box 30 outside the protective workshop to adjust the relative position of the feeding gripper 5 and the radioactive source tube 1 in the automatic loading and unloading device;
[0105] Step 2: After the initial relative position is adjusted, set the X-axis, Z-axis and Y-axis movement speeds, as well as the opening and closing time of the feeding gripper 5 on the PC computer 29, select the automatic loading and unloading segmented operation function in the control cabinet 28, and detect the accuracy of the program in this link; the specific process is shown as follows:
[0106] Step 21: The lead screw 36 of the Z axis drives the feeding gripper 5 to move downward and reaches the upper end of the tube body 68 to perform the gripper clamping operation. After the feeding gripper 5 clamps the radiation source tube 1, it moves upward and reaches the concentric position of the hollow rotating platform 8;
[0107] Step 22: The platform position sensor 4 transmits a signal to the programmable controller, and the Y-axis motor 32 drives the lead screw to drive the feeding gripper 5 to move. After moving for a period of time, the programmable controller sends a signal to control the pneumatic gripper 12 to perform a gripping operation;
[0108] Step 23: Finally, the Y-axis and the Z-axis return to their original positions, and the X-axis drives the clamping platform 2 to move, so that the next radiation source tube 1 reaches the specified position;
[0109] Step 3: Set the movement rate of the servo electric cylinder 11 and the ring welding parameters on the PC computer 29. After the pneumatic gripper 12 performs the operation of clamping the radioactive source tube, select the automatic clamping and rotary segmented operation function in the control cabinet 28 to detect the accuracy of the program in this link; the specific process is shown as follows:
[0110] Step 31: The pneumatic gripper 12 clamps the tube body 68 and moves. When the conical plug ring welding point 69 reaches the sensing position of the ring welding position sensor 17, the programmable controller sends a signal to control the three-jaw chuck 10 to hold the tube body 68 tightly.
[0111] Step 32: The pneumatic gripper 12 is released and reset, the hollow rotating platform 8 drives the three-jaw chuck 10 to rotate, and the concentric fixing device 13 ensures that the top of the radiation source tube does not swing significantly during the rotation process;
[0112] Step 33: Finally, the TIG welding gun 19 completes the welding operation of the conical plug ring welding point 69;
[0113] Step 4: Select the high-pressure sealing welding segmented operation function in the control cabinet 28 to detect the accuracy of the program in this link; the specific process is expressed as follows:
[0114] Step 41: The three-jaw chuck 10 releases the tube body 68, and the pneumatic gripper 12 clamps the tube body 68 and moves under the drive of the servo electric cylinder 11;
[0115] Step 42: When the conical plug spot welding point 70 enters the high-pressure chamber 20 and reaches the sensing position of the position sensor 57, the programmable controller sends a signal to control the conical gas injection head at one end of the composite welding gun holder 47 to insert into the top of the radiation source tube to inject radioactive gas, and at the same time, the compressor 24 injects air into the high-pressure chamber to reach a high-pressure state;
[0116] Step 43: After the injection of the radioactive gas is completed, the composite welding gun holder 47 is rotated 180 degrees, and the welding gun on the other side is aimed at the conical plug spot welding point 70, and the spot welding operation is performed under high pressure to seal the radioactive gas into the radioactive source tube 1;
[0117] Step 5: There is no abnormality in the high-voltage automatic welding under the segmented operation function. After the subsequent radioactive source tubes 1 of the same batch size are placed, no additional operation is required. The entire automatic program can be directly executed. At the same time, the platform operation status and welding conditions are observed in real time outside the protection workshop through various cameras. If there is an abnormality, the automatic program needs to be stopped and the platform is adjusted through the manual control box 30.
[0118] The above embodiments only express the implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.
Claims
1. An automatic welding platform for radioactive gas sealing, comprising an automatic loading and unloading device, an automatic clamping and rotating device, a high-pressure sealing welding device and a monitoring and control system, characterized in that: The automatic loading and unloading device is used to automatically load and unload the radiation source tube (1); the automatic clamping and rotating device is used to clamp and rotate the radiation source tube (1); the high-pressure sealing welding device is used to weld the girth weld of the radiation source tube (1) end cap, inject radioactive gas, and perform high-pressure spot welding of the end cap; the monitoring and control system is used to monitor and control the automatic loading and unloading device, the automatic clamping and rotating device, and the high-pressure sealing welding device; The automatic loading and unloading device comprises a radiation source tube (1), a clamping platform (2), a platform bracket (3), a platform position sensor (4), a feeding gripper (5) and an XYZW four-axis driving mechanism; The radioactive source tube (1) comprises a fixed end cover (67), a tube body (68), a conical plug ring welding point (69) and a conical plug spot welding point (70); The automatic clamping and rotating device comprises a profile frame (6), a supporting base (7), a hollow rotating platform (8), a connecting flange (9), a pneumatic three-jaw chuck (10), a servo electric cylinder (11), a pneumatic gripper (12), a concentric fixing device (13), a profile A (14), a profile B (15), a profile C (16), a girth weld position sensor (17), a welding gun support frame (18), a TIG welding gun (19), an L-shaped adapter plate (42) and a circular adapter plate (71); The high-pressure sealing welding device comprises a high-pressure chamber (20), a radioactive gas storage tank (21), a radioactive gas injection pipeline (22), an air pressurization pipeline (23), a compressor (24), a flange A (64), a flange B (65) and a flange C (66); The high-pressure chamber (20) comprises a front end cover (43), a sealing member (44), an O-ring A (45), a welding gun sealing ring (46), a composite welding gun holder (47), a barrel (48), a pressure gauge (49), a base (50), a glass end cover (51), an O-ring B (52), a glass (53), an in-cabin motor (54), a welding gun adapter plate (55), a welding gun fixing rod (56), a position sensor (57), an air pressure sensor (58), an air-electric connector (59), a rear end cover (61) and an in-cabin coupling (62); The monitoring and control system comprises a feeding monitoring camera (25), a clamping rotation monitoring camera (26), a ring welding monitoring CCD camera (27), a control cabinet (28), a PC computer (29), a hand control box (30) and a high-voltage spot welding monitoring camera (60).
2. The automatic welding platform for radioactive gas sealing according to claim 1, characterized in that: The fixed end cover (67) is welded to one end of the tube body (68), the conical plug is connected to the tube body (68) by threads, and the conical plug ring welding point (69) and the conical plug spot welding point (70) are welded and sealed on an automatic welding platform, wherein the conical plug spot welding point (70) has a circular hole for automatic injection of radioactive gas and final high-pressure spot welding sealing; The radiation source tube (1) is placed in a groove on the clamping platform (2), the platform position sensor (4) is fixed to the platform bracket (3) by bolts, and the feeding gripper (5) is connected to the slide seat (39) of the Z axis by bolts.
3. The automatic welding platform for radioactive gas sealing according to claim 2, characterized in that: The XYZW four-axis driving mechanism comprises an X-axis motor (31), a Y-axis motor (32), a Z-axis motor (33), a W-axis motor (34) and a moving mechanism; the X-axis motor (31), the Y-axis motor (32), the Z-axis motor (33) and the W-axis motor (34) are respectively mounted on the four moving mechanisms; The moving mechanism comprises a coupling (35), a lead screw (36), a bearing seat (37), a lead screw nut (38), a sliding seat (39), a slider (40) and a guide rail (41); The lead screw (36) is respectively connected to the X-axis motor (31), the Y-axis motor (32), the Z-axis motor (33), and the W-axis motor (34) through a coupling (35); bearing seats (37) for fixing bearings are installed at both ends of the lead screw (36); the lead screw nut (38) is connected to the slide seat (39) through bolts; the slide block (40) is installed on the guide rail (41); the slide seat (39) is fixed to the slide block (40) through bolts; and the lead screw (36) is connected to the lead screw nut (38) through threads.
4. The automatic welding platform for radioactive gas sealing according to claim 3, characterized in that: The support base (7) is connected to the profile frame (6) through a T-nut, the support base (7) is fixed to the hollow rotating platform (8) through bolts, the hollow rotating platform (8) is connected to the connecting flange (9) through bolts, the pneumatic three-jaw chuck (10) is fixed to the connecting flange (9) through bolts, the pneumatic gripper (12) and the motion module of the servo electric cylinder (11) are connected through bolts, the TIG welding gun (19) is fixed to the welding gun support frame (18) through a clamp, and the welding gun support frame (18) is fixed to the profile frame (6) through bolts.
5. The automatic welding platform for radioactive gas sealing according to claim 4, characterized in that: The profile A (14), profile B (15), and profile C (16) are all connected to the profile frame (6) via T-shaped nuts; The profile A (14) fixes the servo electric cylinder (11) via a circular adapter plate (71), and the circular adapter plate (71) is provided with an annular groove for adjusting the parallelism between the servo electric cylinder (11) and the profile frame (6) within a certain angle; The profile B (15) is fixed to a concentric fixing device (13) by bolting with a T-nut; the concentric fixing device (13) is used to ensure that the top end of the radiation source tube does not swing too much during rotary ring welding, and can also ensure that the conical plug spot welding point (70) is in a concentric position with the end cover opening of the high-pressure chamber (20) during spot welding; The profile C (16) is fixed to the L-shaped adapter plate (42) by bolting with a T-shaped nut, and the annular weld position sensor (17) is connected to the L-shaped adapter plate (42) by bolts; The pneumatic three-jaw chuck (10) is used to achieve the clamping and loosening of the tube body (68), and when the ring weld position sensor (17) detects the ring weld point (69) of the conical plug, the hollow rotating platform (8) is driven by a motor to rotate, thereby achieving the rotation of the radiation source tube (1) in a clamped state.
6. The automatic welding platform for radioactive gas sealing according to claim 5, characterized in that: The front end cover (43) and the rear end cover (61) are both fixed to the cylinder (48) by bolts, and are sealed in the middle by an O-ring A (45). A circular hole is opened on the front end cover (43) for contacting the spot welding point (70) of the conical plug. The rear end of the hole realizes a high-pressure environment in the high-pressure chamber through a sealing member (44) and a welding gun sealing ring (46). The rear end cover (61) is connected to the gas-electric connector (59) and the air pressure sensor (58) by bolts. The position sensor (57) is fixed to one side of the cylinder (48) by means of bolts and is used to monitor whether the spot welding point (70) of the conical plug has reached the stable welding area.
7. The automatic welding platform for radioactive gas sealing according to claim 6, characterized in that: The composite welding gun frame (47) is connected to the in-cabin motor (54) via an in-cabin coupling (62); the in-cabin motor (54) is fixed to the welding gun adapter plate (55) via bolts; the welding gun adapter plate (55) is fixed to the upper end of the cylinder (48) via a welding gun fixing rod (56); the two ends of the composite welding gun frame (47) are a welding gun and a conical gas injection head, respectively; one end is used for radioactive gas injection and is rotated to the other end for high-pressure spot welding; The lower end of the cylinder (48) is connected to the base (50) by bolts, and the base (50) is fixed to the profile frame (6) by bolts and T-nuts. Glass end covers (51) are fixed to the left and right sides of the cylinder (48) by bolts. The middle of the glass end cover (51) is sealed and connected to the glass (53) by an O-ring B (52) for observing the situation in the cabin. The upper end of the cylinder (48) is fixedly connected to the pressure gauge (49) by bolts for displaying the pressure situation in the cabin. The flange A (64) is connected to the radioactive gas storage tank (21) and the radioactive gas injection pipeline (22) by bolts, the flange B (65) is connected to the radioactive gas injection pipeline (22) and the cylinder (48) by bolts, and the flange C (66) is connected to the air boost pipeline (23) and the compressor (24) by bolts.
8. The automatic welding platform for radioactive gas sealing according to claim 7, characterized in that: The feeding monitoring camera (25) is mounted on a tripod and is used to remotely monitor the automatic loading and unloading process of the radioactive source tube; The clamping and rotating monitoring camera (26) is installed on a tripod and is used to remotely monitor the clamping and rotating process of the radiation source tube on the profile frame; The ring welding monitoring CCD camera (27) is fixed to the welding gun support frame (18) by bolts and is used to remotely monitor the welding process of the ring weld of the radiation source tube; The high-voltage spot welding monitoring camera (60) is fixed to the front end cover (43) by means of bolts and is used to monitor the high-voltage spot welding conditions of the conical plug spot welding points (70).
9. The automatic welding platform for radioactive gas sealing according to claim 8, characterized in that: The control cabinet (28) comprises an industrial computer, a manual control box (30), a programmable controller, and a servo drive. The industrial computer is used to send instructions to control the programmable controller to drive the movement of each motor; The hand control box (30) is installed at the lower end of the industrial computer, and the hand control box (30) is used to assist the industrial computer to control the servo driver to move each axis of the platform; The PC computer (29) is connected to the programmable controller of the control cabinet (28); The programmable controller is connected to a TIG welding machine controller and a plurality of solenoid valves; The programmable controller is connected to a servo driver in a downstream direction and is used for controlling each servo motor of the automatic welding platform.
10. The method for using the automatic welding platform for radioactive gas sealing according to any one of claims 1 to 9, characterized in that: The specific steps are as follows: Step 1: multiple radioactive source tubes (1) of the same batch that need to be welded and sealed are placed in advance in the grooves of the clamping platform (2). The operator controls the movement of the four axes XYZW through the hand control box (30) outside the protective workshop to adjust the relative position of the feeding gripper (5) and the radioactive source tube (1) in the automatic loading and unloading device; Step 2: After the initial relative position is adjusted, set the X-axis, Z-axis and Y-axis movement speeds, as well as the opening and closing time of the feeding gripper (5) on the PC computer (29), select the automatic loading and unloading segmented operation function in the control cabinet (28), and detect the accuracy of the program in this link; the specific process is shown as follows: Step 21: The lead screw (36) of the Z axis drives the feeding gripper (5) to move downwards and reaches the upper end of the tube body (68) to perform the gripper clamping operation. After the feeding gripper (5) clamps the radiation source tube (1), it moves upwards and reaches the concentric position of the hollow rotating platform (8); Step 22: The platform position sensor (4) transmits a signal to the programmable controller, and the Y-axis motor (32) drives the lead screw to drive the feeding gripper (5) to move. After moving for a period of time, the programmable controller sends a signal to control the pneumatic gripper (12) to perform a gripping operation; Step 23: Finally, the Y-axis and the Z-axis return to their original positions, and the X-axis drives the clamping platform (2) to move, so that the next radiation source tube (1) reaches the specified position; Step 3: Set the movement speed of the servo electric cylinder (11) and the ring welding parameters on the PC computer (29). After the pneumatic gripper (12) performs the operation of clamping the radioactive source tube, select the automatic clamping and rotary segmented operation function in the control cabinet (28) to detect the accuracy of the program in this link. The specific process is shown as follows: Step 31: The pneumatic gripper (12) clamps the pipe body (68) and moves. When the annular weld point (69) of the conical plug reaches the sensing position of the annular weld position sensor (17), the programmable controller sends a signal to control the three-jaw chuck (10) to hold the pipe body (68). Step 32: The pneumatic gripper (12) is released and reset, the hollow rotating platform (8) drives the three-jaw chuck (10) to rotate, and the concentric fixing device (13) ensures that the top of the radiation source tube does not swing significantly during the rotation process; Step 33: Finally, the TIG welding gun (19) completes the welding operation of the conical plug ring weld (69); Step 4: Select the high-pressure sealing welding segmented operation function in the control cabinet (28) to detect the accuracy of the program in this link; the specific process is shown as follows: Step 41: The three-jaw chuck (10) releases the tube body (68), and the pneumatic gripper (12) clamps the tube body (68) and moves under the drive of the servo electric cylinder (11); Step 42: When the conical plug spot welding point (70) enters the high-pressure chamber (20) and reaches the sensing position of the position sensor (57), the programmable controller sends a signal to control the conical gas injection head at one end of the composite welding gun holder (47) to insert into the top of the radiation source tube to inject radioactive gas, and at the same time, the compressor (24) injects air into the high-pressure chamber to reach a high-pressure state; Step 43: After the injection of the radioactive gas is completed, the composite welding gun holder (47) is rotated 180 degrees, and the welding gun on the other side is aimed at the spot welding point (70) of the conical plug, and the spot welding operation is performed under a high pressure environment to seal the radioactive gas into the radioactive source tube (1); Step 5: If there is no abnormality in the high-voltage automatic welding under the segmented operation function, no additional operation will be required after the subsequent placement of the radiation source tubes (1) of the same batch size. The entire automatic program can be directly executed. At the same time, the platform operation status and welding conditions are observed in real time outside the protective workshop through various cameras. If there is an abnormality, the automatic program needs to be stopped and the platform needs to be adjusted through the manual control box (30).