Automatic welding head and welding system for nuclear power containment anchoring nail robot

Abstract

The invention discloses an automatic welding head and welding system for a nuclear power containment anchoring nail robot. Comprising a mounting flange, a welding gun support, a YF-DH-16 stud welding gun, a diffuse reflection photoelectric sensor, a correlation photoelectric sensor, a proximity switch, an induction piece, an SK shaft support, a first guide rod, a guide rod connecting plate, a guide seat, a sliding seat, a guide rod, an LM8UU linear bearing, a ceramic ring clamping plate, a welding gun transition plate and a clamping sleeve connector. The welding gun transition plate is locked on the machining face of the welding gun support through bolts, one side of the guide rod connecting plate is connected with the two first guide rods, and the other side of the guide rod connecting plate is connected with the guide seat. Two guide rods are inserted from the upper part of the guide seat and penetrate through the linear bearing, and a spring is additionally arranged between the guide seat and the sliding seat before the guide rods are tightened with the sliding seat; the ceramic ring clamping plate is locked at the bottom of the sliding seat through bolts; after the axial size of the first guide rod is adjusted to a proper position, the clamping sleeve joint is locked; the welding precision is high, the welding quality stability is high, and the welding efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to an automatic welding head and a welding system for a nuclear power containment anchor nail robot, belonging to the field of welding. Background Art

[0002] Nuclear safety requirements are constantly increasing, and multi-nuclear power construction and high standards are the biggest features of the new round of nuclear power construction. In order to meet the needs of multi-nuclear power construction, CNNC Huaxing Nuclear Power Steel Structure Construction adopts intensive processing and professional construction mode, concentrating superior resources, maximizing benefits and ensuring the best quality. CNNC Huaxing Nanjing Binjiang Base is an intensive processing base for nuclear power steel structure, focusing on the production of nuclear-grade products such as nuclear steel linings and brackets, and is an intensive processing center for nuclear power containment steel linings.

[0003] The containment is the last barrier to prevent radioactive materials from escaping into the environment. It must be able to withstand the impact of natural disasters such as earthquakes and cyclones, as well as unexpected situations such as impacts from internal or external debris, and withstand the pressure of designed accidents. Even if a serious nuclear accident including core melt occurs, the reactor can rely on the solid containment to effectively prevent the leakage of radioactive materials and avoid impacts on the environment and the public. The containment of nuclear power plants such as the third-generation nuclear power Hualong One adopts a double-layer containment design: the outer shell is a reinforced concrete structure, which is a standard cylinder, and the inner shell is a post-tensioned prestressed reinforced concrete structure, with a 6mm thick steel lining attached to the entire inner surface of the containment.

[0004] As a secondary nuclear equipment, the construction quality and efficiency of the containment steel lining must be fully improved to meet the requirements of multi-nuclear power construction, high standards and intensive production of the company. The production of nuclear power containment steel lining workshop is divided into several steps: large plate splicing, membrane forming, angle steel welding and anchor nail welding. The traditional process of anchor nail welding is: manual positioning and laying out, grinding and rust removal by a polishing machine, welding with a handheld stud welding gun, and post-welding cleaning and inspection. The traditional process is completely dependent on manual operation, with low production efficiency, large personnel requirements, high processing costs, and poor quality stability, which is increasingly difficult to meet the needs of nuclear power construction. Therefore, it is urgent to carry out technological innovation. Through the cooperation of intelligent equipment and efficient welding technology, the production and construction efficiency can be comprehensively improved, product quality can be guaranteed, and labor costs and construction costs can be reduced. It is necessary to design a welding joint and welding system for the welding of containment steel lining. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an automatic welding head and welding system for welding nuclear power containment steel lining anchor nails, which has high welding accuracy and high welding quality stability, and greatly improves welding efficiency.

[0006] Technical solution: To solve the above technical problems, the present invention provides an automatic welding head and welding system for a nuclear power containment anchor nail robot, including a mounting flange, a welding gun bracket connected to the mounting flange, and a stud welding gun, wherein the stud welding gun is fixed to a welding gun transition plate by bolts, the welding gun transition plate is locked on the welding gun bracket by bolts, a guide seat is installed on the welding gun transition plate, two first guide rods are installed on the guide seat, the first guide rods are fixed by a ferrule joint, two SK shaft supports are installed at the bottom of the welding gun bracket, a second guide rod passes through the two SK shaft supports, a first opening fixing seat is provided at the end of the second guide rod, and a first opening fixing seat is provided at the first opening fixing seat. A diffuse reflection photoelectric sensor is installed on the fixed seat; the bottoms of the two first guide rods are connected to the third guide rod, a sliding seat is sleeved on the third guide rod, a sliding seat spring is provided between the sliding seat and the boss of the third guide rod, and the sliding seat is connected to the ceramic ring clamp; a second open fixed seat is installed in the middle of the two SK shaft supports, a proximity switch and an L-shaped bracket are installed at the bottom of the second open fixed seat, and a group of through-beam photoelectric sensors are installed on the L-shaped bracket; a bracket fixing plate is installed at the chuck of the stud welding gun, the induction plate and the bracket fixing plate are connected by bolts, and the position of the induction plate is adjusted through the waist hole on the induction plate so that the ceramic ring clamp is completely in close contact with the surface of the workpiece.

[0007] Preferably, the first opening fixing seat comprises a fixing unit and a movable unit, the movable unit is provided with two waist-shaped holes designed vertically, and the angle of the diffuse reflection photoelectric sensor is adjusted through the two waist-shaped holes.

[0008] A welding system for anchor nails comprises a gantry system, on which a movable slide mounting plate is mounted, on which the above-mentioned automatic welding head for welding anchor nails for nuclear power containment steel lining is mounted, and on which an automatic feeding system is also arranged, through which the automatic feeding system is used to load materials, the automatic welding head completes the welding of the anchor nails.

[0009] Preferably, the automatic feeding system comprises an anchoring nail vibration plate and a ceramic ring vibration plate located on a mounting plate, wherein the anchoring nail vibration plate and the ceramic ring vibration plate are both provided with spiral tracks, a first linear vibration feeder is connected to the outlet of the anchoring nail vibration plate, a limiting boss is provided at the end of the first linear vibration feeder, the first linear vibration feeder is provided with a through groove for accommodating the anchoring nail, when the anchoring nail reaches the limiting boss, the first grasping device grasps the anchoring nail, a rotatable second grasping device is provided on the mounting plate, and the second grasping device grabs the anchoring nail from the first An anchor nail is clamped in a grasping device, and an assembly table is provided under the second grasping device; a second linear vibration feeder is provided at the outlet of the ceramic ring vibration plate, and the second linear vibration feeder is provided with a groove, and the ceramic ring moves along the groove. When the ceramic ring moves to the top of the groove, the movement is stopped, and the rotatable third grasping device grasps the ceramic ring. When the third grasping device is rotated to a suitable position, the anchor nail grasped by the second grasping device is located directly above the ceramic ring, and a liftable pressure block is installed on the mounting plate, and the anchor nail is pressed into the ceramic ring by the movable pressure block.

[0010] Preferably, the first grasping device includes a first bracket located on the mounting plate, a first lifting mechanism is installed on the first bracket, a first sliding mechanism for horizontal movement is installed on the first lifting block of the first lifting mechanism, the first sliding mechanism includes a first screw and a first slider, and a first grasping unit is installed on the first slider.

[0011] Preferably, a second bracket is installed on the mounting plate, and the second grasping device is located on the second bracket. The second grasping device includes a second base installed on the second bracket, and a motor is installed in the second base. The motor is connected to the rotating shaft, and a second grasping unit is installed on the rotating shaft. The rotating shaft is driven to rotate by the motor, thereby driving the second grasping unit to rotate.

[0012] Preferably, a support frame is mounted on the second bracket, a notch is provided on the top of the support frame, a ceramic ring is located on the notch, and an anchoring nail passes through the ceramic ring and the notch.

[0013] Preferably, the third grasping device is located on the second bracket, and the third grasping device includes a third base, on which a third motor is installed, the third motor is connected to a third rotating shaft, and a third grasping unit is installed on the third rotating shaft, and the third grasping unit is driven to rotate by the third rotating shaft.

[0014] Preferably, a feed tray is installed between the anchor nail vibration plate outlet and the first linear vibration feeder. The cross-section of the feed tray is trapezoidal. A slide groove is provided at the bottom of the feed tray. A plurality of baffles are installed on the feed tray to prevent the movement of excess anchor nails. A gap is provided between the baffle and the bottom of the feed tray, and the slide groove of the feed tray is connected to the through groove.

[0015] Beneficial effects: Compared with the prior art, the present invention has the following advantages: (1) The automatic welding head for welding anchor nails of a nuclear power containment steel lining of the present invention can realize automatic clamping of the anchor nails and automatic welding of the anchor nails, with high welding efficiency and good welding quality.

[0016] (2) The present invention realizes the automatic loading and fitting of anchor nails and ceramic rings through vibration loading technology and automatic control technology. The whole process is automatically controlled, and the fitting station can meet the requirements of fitting anchor nails and ceramic rings with different extension lengths. The modular design is adopted, and the fitting of anchor nails and ceramic rings with different diameters can be achieved by simply replacing the corresponding material channel and clamping jaws, which has a high degree of flexibility.

[0017] (3) The present invention uses laser rust removal technology to clean the surface of the workpiece to be welded, replacing the traditional manual handheld angle grinder grinding. Different cleaning parameters can be set for steel plates with different degrees of rust. It is efficient, safe, and highly flexible, reducing labor requirements and saving labor and construction costs.

[0018] (4) The present invention adopts numerical control and robot technology to realize unmanned operation of anchor nail welding and parent material surface cleaning, which can greatly save nuclear-grade welders and auxiliary workers, and save labor and construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure of the welding head.

[0020] Figure 2 for Figure 1 Right view of .

[0021] Figure 3 for Figure 1 Left view of .

[0022] Figure 4 It is a structural schematic diagram of the present invention.

[0023] Figure 5 It is a partial enlarged view of the present invention.

[0024] Figure 6 It is a schematic diagram of the structure of laser cleaning in the present invention.

[0025] Figure 7 for Figure 6 Schematic diagram of the main view.

[0026] Figure 8 for Figure 6 Schematic diagram of the structure of the detachable device.

[0027] Fig. 9 This is a schematic diagram of the structure of automatic feeding.

[0028] Fig.10 for Fig. 9It is a schematic diagram of the structure of the feeding tray in the present invention.

[0029] Fig.11 It is a schematic diagram of the cross-sectional structure of the feeding tray in the present invention.

[0030] In the figure: 11, anchor nail vibration plate; 12, camera; 13, ceramic ring vibration plate; 14, first lifting mechanism; 15, first sliding mechanism; 16, anchor nail; 17, support frame; 19, first grabbing unit; 20, second grabbing unit; 21, third grabbing unit; 22, second linear vibration feeder; 23, first linear vibration feeder; 201, fixed shaft; 203, first motor; 204, first planetary reducer; 206, connecting block; 207, laser ranging sensor; 208, sensor mounting plate; 209, wind knife; 210, wind knife support; 211, laser head; 214, fourth bracket; 215 third bracket; 216, drag chain; 217, first side plate; 218, back plate; 219, panel; 220, transition plate; 221, opening support; 222, guide shaft; 223, second side plate; 224, guide column; 225, compression spring; 227, mounting seat; 228, movable plate; 229, moving block; 230, groove; 231, ball bearing; 301, mounting flange; 302, welding gun bracket; 303, SK shaft support; 304, proximity switch; 305, induction sheet; 306, sliding seat; 307, welding gun transition plate; 308, guide seat; 309, ferrule joint; 310, YF-DH-16 stud welding gun; 311, first guide rod; 312, through-beam photoelectric sensor; 313 , ceramic ring clamp; 314, diffuse reflection photoelectric sensor; 315, second guide rod; 316, bracket fixing plate; 317, sliding seat; 318, third guide rod; 401, main slide rail; 402, buffer rubber pad; 403, embedded parts; 404, locking mechanism; 405, bevel rack; 407, gantry support leg; 408, gantry beam; 409, foundation embedded parts; 410, servo motor; 411, reducer; 412, walking gear; 413, clamping wheel; 414, moving plate; 415, first guide rail; 416, moving rack. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] like Figures 1 to 3As shown, the automatic welding head of the present invention includes a mounting flange 301, a welding gun bracket 302 connected to the mounting flange 301, and a stud welding gun 310, wherein the stud welding gun 310 is fixed to a welding gun transition plate 307 by bolts, and the welding gun transition plate 307 is locked on the welding gun bracket 302 by bolts, and a guide seat 308 is installed on the welding gun transition plate 307, and two first guide rods 311 are installed on the guide seat 308, and the first guide rods 311 are fixed by a ferrule joint 309, and two SK shaft supports 303 are installed at the bottom of the welding gun bracket 302, and a second guide rod 315 passes through the two SK shaft supports 303, and a first opening fixing seat is provided at the end of the second guide rod, and a diffuse reflection photoelectric sensor 314 is installed on the first opening fixing seat, and the first opening fixing seat includes a fixing unit and a movable unit, and the movable unit is provided with two waist-shaped holes designed vertically, and the angle of the diffuse reflection photoelectric sensor 314 is adjusted by the two waist-shaped holes. The bottom of the two first guide rods 311 is connected to the third guide rod 318, and a sliding seat 317 is sleeved on the third guide rod 318. A sliding seat spring is provided between the sliding seat 317 and the boss of the third guide rod 318, and the sliding seat 317 is connected to the ceramic ring clamp 313; a second opening fixed seat is installed in the middle of the two SK shaft supports 303, and the second opening fixed seat is fixed on the welding gun transition plate 307. A proximity switch 304 and an L-shaped bracket are installed at the bottom of the second opening fixed seat, and a group of opposite-beam photoelectric sensors 312 are installed on the L-shaped bracket. A bracket fixing plate 316 is installed at the chuck of the stud welding gun 310, and the induction plate is connected to the bracket fixing plate 316 by bolts. The position of the induction plate is adjusted through the waist hole on the induction plate, so that the ceramic ring clamp 313 is completely close to the surface of the workpiece. The chuck of the stud welding gun 310 is a four-petal copper tube structure. The diameter of the large end of the anchor nail is slightly larger than the inner diameter of the copper tube. After the anchor nail is inserted into the welding gun head, the four-petal copper tube is stretched open to clamp the anchor nail. The four-petal copper tube structure is that three open grooves are opened on the copper tube to form an elastic chuck. The chuck of the stud welding gun 310 is connected to the stud welding gun 310 through an elastic structure, and the chuck of the stud welding gun 310 and the stud welding gun 310 can move relative to each other. The proximity switch at the rear can just sense the sensor plate and conduct, and this signal is used as the welding start signal. The offline programming system of the KuKa robot ensures that the direction of the welding gun head is always aligned with the center of the fetal membrane, perpendicular to the normal surface of the workpiece, and the ceramic ring clamp and the welding gun head are pointed vertically. The robot arm drives the welding gun head to press down to ensure that the ceramic ring clamp and the workpiece surface are completely close. After the ceramic ring and the workpiece surface are in close contact, the robot arm continues to press down, driving the welding gun head to lift up. The induction sheet and the welding gun head are linked, and the induction sheet rises accordingly, reaching the height of the proximity switch, which means that the welding gun can start an arc. At the same time, a group of photoelectric sensors 312 are arranged on both sides of the fixing seat, and the position of the bracket is adjusted so that the light emitted by the sensor is just blocked by the anchor nail, which is used to detect the presence of the anchor nail. After the automatic feeding system has processed the anchor nail, the anchor nail is sent into the chuck of the stud welding gun 310 by the robot arm.

[0033] like Figure 1 As shown, a welding device for anchor nail welding of the present invention comprises a pair of parallel main slide rails 401 installed in a welding area, a movable device is installed on the parallel main slide rails 401, a gantry structure is installed between the two movable devices, a first guide rail is installed on the gantry structure, the first guide rail is two linear slide rails, two slide plates are installed on the first guide rail, a driving device is installed on the slide plate, and the driving device drives the slide plate to move along the first guide rail; a laser cleaning device is installed on the lower surface of the slide plate, a mounting plate is installed on one side of the slide plate, a welding robot is installed on the mounting plate, and an automatic feeding system is installed on the upper surface of the slide plate, after the automatic feeding system completes feeding the anchor nail 16, the laser cleaning device cleans the area to be welded, and the welding robot welds the anchor nail 16.

[0034] In the present invention, the main slide rail 401 is a 50 steel rail, and the entire main slide rail is installed on a foundation embedded part 409. A plurality of embedded parts 403 are arranged on the foundation embedded part 409. The embedded parts 403 are provided with no less than three locking mechanisms 404, and the locking mechanisms are used to lock the main slide rail 401. The main slide rail 401 is located on the embedded parts 403. The top and side of the slide rail are machined into a plane. A bevel rack 405 is installed on the side. The travel gear contacts the top of the track. The gantry legs 407 are located on the left and right sides of the gantry beam 408 and are connected by bolts to form a gantry structure. Travel gears 412 and guide wheels are arranged on the front and rear sides of the gantry legs 407. The servo motor 410 is installed on the reducer 411 output On the end face of the input flange, the reducer 411 is connected to the gantry leg 407 through a connecting plate, and a travel gear 412 is installed at the input shaft of the reducer. The travel gear is tightly meshed with the bevel rack 405 through a pull rod and a disc spring. Buffer rubber pads 402 are installed on both sides of the main slide rail 401, and a travel switch is also installed between the travel gear and the guide wheel; two linear slide rails are arranged on the upper part of the gantry beam, and a rack is installed between the two linear slide rails. At the same time, there is also a linear slide rail on the side of the gantry beam. One side of the slide rail mounting groove is processed into a single V shape, and the V-shaped groove is locked with the gantry beam by a wedge block, so that the positioning side of the main slide rail is close to the side of the mounting groove, and the slide mounting plate is locked with a linear rail on the side and the top by bolts.

[0035] In the present invention, the driving device includes a servo motor, a moving gear and a moving rack. The moving rack is located between two linear slide rails. The gear is driven to rotate by the moving servo motor, thereby driving the moving plate 414 to move along the moving rack.

[0036] In the present invention, the laser cleaning device includes a fixed shaft 201, which is fixed on a slide plate, and a slide rail is provided on the fixed shaft 201. A sliding frame is sleeved on the fixed shaft 201, and the sliding frame is composed of a first side plate 217, a back plate 218, a panel 219 and a second side plate 223. A first motor 203 is installed on the sliding frame, and the first motor 203 is connected to a first planetary reducer 204. A sliding device is installed on the output shaft of the first planetary reducer 204, and the sliding device slides along the slide rail; a third bracket 215 is installed on the sliding frame, and the third bracket 215 is connected to a drag chain 216, and the drag chain 216 is connected to a transition plate 220 through a fourth bracket 214, and the transition plate 220 is connected to a connecting block 206, and a wind knife 209, a laser distance sensor 207 and a laser head 211 are provided on the connecting block 206. The laser distance sensor 207 is connected to the connecting block 206 through a sensor mounting plate 208. The connecting block 206 is provided with a wind knife support 210, and a wind knife 209 is provided on the wind knife support 210. The wind knife support 210 is provided with an open slot, and an insertion guide shaft is provided on the open slot, and the end of the guide shaft 222 is a rectangular boss, and the rectangular boss is inserted into the open slot. The wind knife 209 is installed on the open support 221, and the guide shaft 222 passes through the open support 221. The guide shaft 222 and the open support 221 are interference fit. A locking bolt is provided in the open slot, and when the guide shaft 222 moves to a suitable position, it is locked by locking the locking bolt. The sliding device is a gear, and a cleaning rack is provided on the slide rail, and the gear moves along the cleaning rack. A mounting seat 227 is installed on the connecting block 206, and the laser head 211 is installed on the mounting seat 227 through a detachable device.

[0037] In the present invention, the detachable device includes a moving block 229 provided with a groove 230, a hemispherical groove is provided in the groove 230, a ball 231 is provided in the hemispherical groove, a cavity is provided at one end of the mounting seat 227, a circular arc groove matching the hemispherical groove is provided on the lower surface of the cavity, a movable plate 228 is installed in the cavity, a guide column 224 is provided in the cavity, the movable plate 228 is provided with a through hole, the guide column 224 is inserted into the through hole, a compression spring 225 is provided on the guide column 224, one end of the compression spring 225 presses against the movable plate 228, and the other end presses against the inner wall of the cavity, and the laser head 211 is located on the moving block 229.

[0038] In the present invention, the welding robot includes a robot body and an automatic welding head located on the robot body, the automatic welding head includes a mounting flange 301, a welding gun bracket 302 connected to the mounting flange 301, and a stud welding gun 310, the stud welding gun 310 is fixed to the welding gun transition plate 307 by bolts, the welding gun transition plate 307 is locked on the welding gun bracket 302 by bolts, a guide seat 308 is installed on the welding gun transition plate 307, two first guide rods 311 are installed on the guide seat 308, the first guide rods 311 are fixed by a ferrule joint 309, two SK shaft supports 303 are installed at the bottom of the welding gun bracket 302, the second guide rod 315 passes through the two SK shaft supports 303, a first opening fixed seat is provided at the end of the second guide rod, a diffuse reflection photoelectric sensor 314 is installed on the first opening fixed seat, the first opening fixed seat includes a fixed unit and a movable unit, the movable unit is provided with two waist-shaped holes designed vertically, and the angle of the diffuse reflection photoelectric sensor 314 is adjusted by the two waist-shaped holes. The bottom of the two first guide rods 311 is connected to the third guide rod 318, and the third guide rod 318 is sleeved with a sliding seat 317, and a sliding seat spring is provided between the sliding seat 317 and the boss of the third guide rod 318, and the sliding seat 317 is connected to the ceramic ring clamp 313; a second opening fixed seat is installed in the middle of the two SK shaft supports 303, and the second opening fixed seat is fixed on the welding gun transition plate 307, and a proximity switch 304 and an L-shaped bracket are installed at the bottom of the second opening fixed seat, and a group of opposite-beam photoelectric sensors 312 are installed on the L-shaped bracket; a bracket fixing plate 316 is installed at the chuck of the stud welding gun 310, and the induction sheet and the bracket fixing plate 316 are connected by bolts, and the position of the induction sheet is adjusted through the waist hole on the induction sheet, so that the ceramic ring clamp 313 is completely close to the surface of the workpiece. The proximity switch at the rear can just sense the induction sheet and conduct, and this signal is used as a welding start signal. At the same time, a group of through-beam photoelectric sensors 312 are arranged on both sides of the fixing seat, and the position of the bracket is adjusted so that the light emitted by the sensor is just blocked by the anchor nail, so as to detect the presence or absence of the anchor nail.

[0039] In the present invention, the automatic feeding system includes an anchoring nail vibrating disk 11 and a ceramic ring vibrating disk 13 located on a mounting plate, wherein the anchoring nail vibrating disk 11 and the ceramic ring vibrating disk 13 are both provided with spiral tracks, and rubber pads with tiny bosses are provided on the tracks. A first linear vibrating feeder 23 is connected to the outlet of the anchoring nail vibrating disk 11, and a limiting boss is provided at the end of the first linear vibrating feeder 23. The first linear vibrating feeder 23 is provided with a through groove that can accommodate an anchoring nail 16. When the anchoring nail 16 reaches the limiting boss, the first gripping device grips the anchoring nail 16. A camera 12 is provided below the end of the first linear vibrating feeder 23. When the first gripping device grips the anchoring nail 16, the camera takes a picture of the anchoring nail. When the picture is processed by the controller and judged to be qualified, the first gripping device feeds the anchoring nail into the second gripping device. A rotatable second grasping device is provided on the mounting plate, and the second grasping device clamps the anchoring nail 16 from the first grasping device, and an assembly table is provided under the second grasping device; a second linear vibration feeder 22 is provided at the outlet of the ceramic ring vibration disk 13, and the second linear vibration feeder 22 is provided with a groove 230, and the ceramic ring moves along the groove 230. When the ceramic ring moves to the top of the groove 230, the movement is stopped, and the rotatable third grasping device grasps the ceramic ring. When the third grasping device is rotated to a suitable position, the anchoring nail 16 grasped by the second grasping device is located directly above the ceramic ring, and a liftable pressure block is installed on the mounting plate, and the anchoring nail 16 is pressed into the ceramic ring by the movable pressure block.

[0040] In the present invention, the first grasping device includes a first bracket located on the mounting plate, a first lifting mechanism 14 is installed on the first bracket, a first sliding mechanism 15 for horizontal movement is installed on the first lifting block of the first lifting mechanism 14, the first sliding mechanism 15 includes a first screw and a first slider, and a first grasping unit 19 is installed on the first slider.

[0041] In the present invention, a second bracket is mounted on the mounting plate, a second grabbing device is located on the second bracket, the second grabbing device comprises a second base mounted on the second bracket, a motor is mounted in the second base, the motor is connected to a rotating shaft, a second grabbing unit 20 is mounted on the rotating shaft, the rotating shaft is driven to rotate by the motor, thereby driving the second grabbing unit 20 to rotate. A support frame 17 is mounted on the second bracket, a notch is provided on the top of the support frame 17, a ceramic ring is located on the notch, and an anchoring nail 16 passes through the ceramic ring and the notch.

[0042] In the present invention, the third grasping device is located on the second bracket, and the third grasping device includes a third base, on which a third motor is installed. The third motor is connected to the third rotating shaft, and a third grasping unit 21 is installed on the third rotating shaft, and the third grasping unit 21 is driven to rotate by the third rotating shaft.

[0043] In the present invention, a feeding tray is installed between the outlet of the anchoring nail 16 vibration disk 11 and the first linear vibration feeder 23. The cross-section of the feeding tray is trapezoidal. A slide groove is provided at the bottom of the feeding tray. A plurality of baffles are installed on the feeding tray to prevent the movement of excess anchoring nails 16. A gap is provided between the baffle and the bottom of the feeding tray, and the slide groove of the feeding tray is connected to the through groove.

[0044] A welding method of a welding device for welding an anchoring nail 16 comprises the following steps: Step 1: The arc-shaped steel lining workpiece is hoisted onto the fetal membrane fixture, and the workpiece is calibrated and adjusted; Step 2: Weld the nails before the shift, and perform a 45° bending test after welding; Step 3: Import the workpiece 3D model into the equipment offline programming system, set the software parameters according to the size of the workpiece, generate the program and import it into the robot control system; Step 4: Only laser cleaning operation is performed, and laser cleaning is carried out one by one on the welding positions of the first three rows of anchor nails 16; Step 5: Starting from the fourth row to the third row from the bottom, the collaborative working mode is executed, the surface of the fourth row of the area to be welded is cleaned by laser, and the first row of anchor nails 16 is welded by the robot at the same time, and the process is carried out row by row backwards; Step 6: Welding operation only. The last three rows only perform robot welding operations. After all welding is completed, the gantry moves to the negative limit of the ground rail.

[0045] The seventh step is to conduct nail welding and bending tests after class.

[0046] The welding quantity and inspection requirements are the same as those in step 2. If the bending is unqualified after the shift and is detected to be unqualified after repair welding, all anchor nails 16 welded by the welder during the shift shall be bent by 15°~30°, and damage or cracking is not allowed.

[0047] Step 8: Clean the ceramic ring and self-inspect the weld.

[0048] After welding, the ceramic ring is manually broken for self-inspection and cleaning. Workers visually inspect all welds to ensure that there are no defects such as spatter, missing meat around the edges, and pores. The ceramic ring must be cleaned carefully and violent operations must not be performed to damage the weld and the parent material. Defective welds must be marked for QC review and to facilitate quick identification of unqualified welds during repair welding.

[0049] Step 9: Weld position accuracy detection.

[0050] QC personnel use a tape measure to measure the weld position, and test the positioning accuracy of the first row and the first column of each separate area separated by the transverse and longitudinal angle steels, and test the relative position accuracy of other anchor nails 16 in the area with the adjacent anchor nails 16. The positioning accuracy measurement benchmark is the right angle side of the angle steel, and the relative position accuracy measurement benchmark is the center line of the adjacent anchor nails 16. Both the positioning accuracy and the relative position accuracy require that the error between the measured value and the theoretical size of the drawing is ≤±5mm, otherwise it is considered that the accuracy does not meet the standard.

[0051] Step 10: Weld VT detection and repair welding.

[0052] The QC personnel perform VT testing on all welds. If an unqualified weld is detected, the welder is required to re-weld an anchor nail 16 near the unqualified weld and perform VT testing on the re-welded anchor nail 16 again.

[0053] Step 11: Random inspection of weld destructive tests.

[0054] In the present invention, in the step five, the collaborative mode is that the robot automatically picks up the material for welding and the laser cleaning are carried out simultaneously and independently of each other. The robot welds the 16 anchor nails of the Nth row and the Kth column, and the laser external axis cleans the N+3th row and the Kth column to be welded area. After the laser cleaning and welding are completed, the slide moves horizontally to the next welding point position. The laser cleaning and the robot operate independently and synchronously. When all welding and cleaning of the area covered by one workstation are completed in advance, it is necessary to stop at the position of the last anchor nail 16 welding point and wait for the operation of another workstation to be completed. The gantry moves to the next row and the two slides move synchronously to the position of the first anchor nail 16 welding point in their respective coverage areas.

[0055] In the present invention, 10% of the total amount of welding of the anchor nail 16 is sampled, and a certain number of welds should be sampled in each area, and the phenomenon of excessive sampling in some areas and too little or even zero sampling in some areas shall not occur. The destructive test is a hammer test, and the sleeve shall not be bent. The hammering angle is 20°. The hammering should be divided into multiple times, each time 3°~5°, and the angle gauge is used to measure after each hammering. It is strictly forbidden to hammer at an excessive angle and then hammer in the opposite direction to the specified angle.

[0056] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A robot automatic welding head for anchor nails of nuclear power containment, characterized in that: It comprises a mounting flange, a welding gun bracket connected with the mounting flange and a stud welding gun, wherein the stud welding gun is fixed to a welding gun transition plate by bolts, the welding gun transition plate is locked on the welding gun bracket by bolts, a guide seat is installed on the welding gun transition plate, two first guide rods are installed on the guide seat, the first guide rods are fixed by a ferrule joint, two SK shaft supports are installed at the bottom of the welding gun bracket, a second guide rod passes through the two SK shaft supports, a first opening fixing seat is provided at the end of the second guide rod, and a diffuse reflection photoelectric sensor is installed on the first opening fixing seat; the bottoms of the two first guide rods are provided with a first opening fixing seat, and a diffuse reflection photoelectric sensor is installed on the first opening fixing seat; The first part is connected with the third guide rod, a sliding seat is sleeved on the third guide rod, a sliding seat spring is arranged between the sliding seat and the boss of the third guide rod, and the sliding seat is connected with the ceramic ring clamp; a second open fixed seat is installed in the middle of the two SK shaft supports, a proximity switch and an L-shaped bracket are installed at the bottom of the second open fixed seat, and a group of through-beam photoelectric sensors are installed on the L-shaped bracket; a bracket fixing plate is installed at the chuck of the stud welding gun, the induction sheet and the bracket fixing plate are connected by bolts, and the position of the induction sheet is adjusted through the waist hole on the induction sheet so that the ceramic ring clamp is completely in close contact with the surface of the workpiece.

2. The automatic welding head for anchor nails of nuclear power containment according to claim 1 is characterized in that: The first opening fixing seat comprises a fixing unit and a movable unit. The movable unit is provided with two waist-shaped holes designed vertically, and the angle of the diffuse reflection photoelectric sensor is adjusted through the two waist-shaped holes.

3. An automatic welding system for anchor nail robots, characterized in that: It comprises a gantry system, on which a movable slide mounting plate is installed, on which the automatic welding head for welding anchor nails of a nuclear power containment steel lining as claimed in claim 1 or 2 is installed, and on the slide mounting plate there is also an automatic feeding system, through which the automatic feeding system is used to load materials, and the automatic welding head completes the welding of the anchor nails.

4. The robot automatic welding system for anchor nails according to claim 3 is characterized in that: The automatic feeding system comprises an anchoring nail vibrating plate and a ceramic ring vibrating plate located on a mounting plate, wherein the anchoring nail vibrating plate and the ceramic ring vibrating plate are both provided with spiral tracks, a first linear vibrating feeder is connected to the outlet of the anchoring nail vibrating plate, a limiting boss is provided at the end of the first linear vibrating feeder, the first linear vibrating feeder is provided with a through slot for accommodating the anchoring nail, when the anchoring nail reaches the limiting boss, a first grasping device grasps the anchoring nail, a rotatable second grasping device is provided on the mounting plate, and the second grasping device moves from the first grasping device An anchor nail is clamped in the picking device, and an assembly table is provided under the second grabbing device; a second linear vibration feeder is provided at the outlet of the ceramic ring vibration disk, and the second linear vibration feeder is provided with a groove, and the ceramic ring moves along the groove. When the ceramic ring moves to the top of the groove, the movement is stopped, and the rotatable third grabbing device grabs the ceramic ring. When the third grabbing device is rotated to a suitable position, the anchor nail grabbed by the second grabbing device is located directly above the ceramic ring, and a liftable pressure block is installed on the mounting plate, and the anchor nail is pressed into the ceramic ring by the movable pressure block.

5. The robot automatic welding system for anchor nails according to claim 4 is characterized in that: The first grasping device includes a first bracket located on the mounting plate, a first lifting mechanism is installed on the first bracket, a first sliding mechanism for horizontal movement is installed on the first lifting block of the first lifting mechanism, the first sliding mechanism includes a first screw and a first slider, and a first grasping unit is installed on the first slider.

6. The robot automatic welding system for anchor nails according to claim 4 is characterized in that: A second bracket is installed on the mounting plate, and a second grabbing device is located on the second bracket. The second grabbing device includes a second base installed on the second bracket. A motor is installed in the second base, and the motor is connected to a rotating shaft. A second grabbing unit is installed on the rotating shaft. The rotating shaft is driven to rotate by the motor, thereby driving the second grabbing unit to rotate.

7. The automatic feeding system for anchor pin welding according to claim 5 is characterized in that: A support frame is installed on the second bracket, a notch is arranged on the top of the support frame, a ceramic ring is located on the notch, and an anchoring nail passes through the ceramic ring and the notch.

8. The welding system for anchoring nails according to claim 5, characterized in that: The third grabbing device is located on the second bracket, and the third grabbing device includes a third base, on which a third motor is installed. The third motor is connected to a third rotating shaft, on which a third grabbing unit is installed, and the third rotating shaft drives the third grabbing unit to rotate.

9. The welding system for anchoring nails according to claim 4, characterized in that: A feeding tray is installed between the anchor nail vibration plate outlet and the first linear vibration feeder. The cross-section of the feeding tray is trapezoidal. A slide groove is provided at the bottom of the feeding tray. A plurality of baffles are installed on the feeding tray to prevent the movement of excess anchor nails. A gap is provided between the baffle and the bottom of the feeding tray, and the slide groove of the feeding tray is connected to the through groove.

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