Automatic welding device and welding method for integrally repairing sealing structure of nuclear reactor pressure vessel

Abstract

The invention relates to the field of welding, in particular to an automatic welding device and a welding method for integrally repairing a nuclear reactor pressure vessel sealing structure. The device comprises a welding gun assembly and a container radial sliding frame assembly. The welding gun assembly is loaded on the container radial carriage assembly, so that the radial movement of the welding gun assembly is realized; the welding gun assembly comprises an arc voltage tracking mechanism, a welding gun swing angle mechanism, a welding gun and a camera shooting system and integrates water, electricity and gas. The welding gun swing angle mechanism is fixedly connected with the arc voltage tracking mechanism, and a welding gun is installed at one end of the welding gun swing angle mechanism. The camera system is installed on the welding gun and used for observing the welding state. And the swing angle of the welding gun meets the requirement that the top cover sealing ring groove width is not larger than 16 mm, and the bottom depth is not smaller than 40 mm. The technical problem of integral and automatic precision welding repair of a top cover sealing ring groove and a barrel flange sealing surface under the condition that a multi-type pressurized water reactor unit reactor pressure vessel sealing structure is limited in space and in an irradiation environment is solved.

Description

Technical Field

[0001] The invention relates to the field of welding, and in particular to an automatic welding device and a welding method for integrally repairing a sealing structure of a nuclear reactor pressure vessel. Background Art

[0002] The sealing structure of the reactor pressure vessel of a pressurized water reactor nuclear power plant consists of a top cover sealing ring groove and a cylinder flange sealing surface. The sealing surface is 309L and 308L stainless steel welded on a low alloy steel substrate. The sealing structure is the primary pressure-bearing boundary of the nuclear reactor pressure vessel, and its surface condition is directly related to the sealing and operational safety of the nuclear reactor. During the service of a pressurized water reactor nuclear power plant, the sealing structure of the nuclear reactor pressure vessel may produce defects of different forms and sizes, such as pits, scratches, pitting corrosion and other mechanical damage. According to the different groove depths, they are divided into corrosion-resistant layer defects, transition layer defects and matrix parent material defects, which will affect the sealing of the nuclear reactor and the integrity of the pressure-bearing boundary, and need to be repaired by welding.

[0003] Domestic nuclear power plants generally use grinding or manual welding to repair local defects in the corrosion-resistant layer of the pressure vessel sealing structure. For defects in the transition layer and low-alloy steel matrix parent material, the ASME and RCC-M standards clearly state that the tempering weld technology can be used to repair the low-alloy steel matrix without post-weld heat treatment. However, for the tempering weld heat input, overlap rate and other welding parameters for repairing larger defects, higher and more precise control requirements are put forward. Manual tempering weld technology and local welding equipment cannot meet the repair requirements.

[0004] In order to solve the technical difficulties of automatic welding repair of defects of a large range and different groove depth types in the sealing structure of a nuclear reactor pressure vessel, and fully consider the radioactive environment of the pressure vessel, the characteristics of the sealing structure, and various process requirements such as remote visualization control, data acquisition, and remote positioning indication when special welding equipment is used on site, it is necessary to invent an automatic welding device for the overall repair of the sealing structure of a nuclear reactor pressure vessel, so as to complete the automatic welding repair after the removal of defects in a large range of the sealing structure of the nuclear reactor pressure vessel, and realize the independence of my country's high-end nuclear power special maintenance technology. Summary of the invention

[0005] The technical problem to be solved by the present invention is: to provide an automatic welding device and a welding method for the overall repair of the sealing structure of a nuclear reactor pressure vessel, so as to solve the technical problem of overall and automatic precision welding repair of the top cover sealing ring groove and the cylinder flange sealing surface of the reactor pressure vessel sealing structure of various types of pressurized water reactor units in confined space and irradiation environment.

[0006] The present invention provides an automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel, comprising: a welding gun assembly and a vessel radial slide assembly;

[0007] The welding gun assembly is loaded on the container radial slide assembly, thereby realizing radial movement of the welding gun assembly;

[0008] The welding gun assembly includes arc voltage tracking mechanism, welding gun angle mechanism, welding gun, camera system, and integrates water, electricity and gas;

[0009] The welding gun swing angle mechanism is fixedly connected to the arc voltage tracking mechanism.

[0010] A welding gun is installed at one end of the welding gun angle swing mechanism;

[0011] The camera system is installed on the welding gun to observe the welding status;

[0012] The swing angle of the welding gun meets the requirements of welding repair in demanding spatial positions where the width of the top cover sealing ring groove does not exceed 16mm and the bottom depth is not less than 40mm.

[0013] In a specific embodiment of the present invention, the container radial slide assembly includes: a driving servo motor, a lead screw, a linear guide pair, a slide mounting plate, and a bottom plate;

[0014] The driving servo motor is fixedly connected to the base plate;

[0015] The lead screw is connected to the driving servo motor through an elastic coupling, and the lead screw and the driving servo motor are coaxially arranged;

[0016] The linear guide pair is fixedly connected to the bottom plate by bolts, and the slider mounting plate is fixedly connected to the slider of the linear guide pair, and is used for fixing and mounting the welding gun assembly;

[0017] The container radial slide assembly is driven by a servo motor to drive the welding gun assembly to move in the radial direction of the pressure vessel, and coordinates the arc pressure tracking mechanism and the welding gun swing angle mechanism to move in three different directions of space X, Y, and Z, so as to achieve full coverage of the welding positions of the welding gun assembly in the sealing structure area of ​​the nuclear reactor pressure vessel.

[0018] In a specific embodiment of the present invention, both ends of the screw rod are fixed and supported by a screw rod support seat.

[0019] The screw rod support seat is fixedly connected to the base plate by bolts.

[0020] In a specific embodiment of the present invention, a connecting plate is further included, and the connecting plate is connected to the container radial slide assembly and is used to fix the container radial slide assembly on the arm beam of the online processing and repairing device.

[0021] In a specific embodiment of the present invention, the welding gun angle swing mechanism realizes the angle adjustment of the welding gun.

[0022] The welding gun can be adjusted in the range of -45° to +45°.

[0023] In a specific implementation manner of the present invention, the camera system is mounted on the welding gun via a universal joint.

[0024] In a specific implementation manner of the present invention, the welding gun is a TIG welding gun.

[0025] In a specific implementation manner of the present invention, stoppers are further provided on both sides of the linear guide pair.

[0026] The present invention provides an automatic welding method for integrally repairing a sealing structure of a nuclear reactor pressure vessel, comprising the following steps:

[0027] Step 1: Install the connecting plate on the cantilever of the online processing and repair device;

[0028] Step 2: The container radial slide assembly is mounted on the connecting plate by bolts;

[0029] Step 3: According to the requirements for welding and repairing the sealing ring groove of the top cover and the sealing surface of the cylinder of the nuclear reactor pressure vessel, select different installation postures of the welding gun assembly and install it on the radial slide assembly of the vessel;

[0030] Step 4: Connect the rotating aviation plug of the welding gun assembly to the arm beam of the online repair device, and use the arm beam of the online repair device as the rotating motion axis of the automatic welding device;

[0031] Step 5: Adjust the welding gun angle, arc voltage tracking mechanism and the arm beam of the online processing and repair device through the control cabinet to accurately position the welding gun to the weld position;

[0032] Step 6: Input process parameters according to the process parameter requirements and start automatic welding and remote control.

[0033] In a specific embodiment of the present invention, the welding process realizes a high-precision arc trajectory by controlling the cantilever rotation of the online processing and repair device, the container radial slide assembly realizes the radial movement of the welding gun, and the arc voltage tracking mechanism adjusts the height of the welding gun in real time to complete the overall precision wire filling welding of the nuclear reactor pressure vessel sealing structure.

[0034] Compared with the prior art, the automatic welding device and welding method for integrally repairing the sealing structure of a nuclear reactor pressure vessel of the present invention have the following beneficial effects:

[0035] (1) The automatic welding device used for the overall repair of the nuclear reactor pressure vessel sealing structure can realize remote visual and controllable automatic cladding repair of different groove depths of the top cover sealing ring groove and the cylinder flange sealing surface of various types of pressurized water reactor units, and the welding quality is stable and reliable, and the weld root is fully fused. The whole welding process is automatically controlled, and programming adjustment can be realized between sections.

[0036] (2) The automatic welding device used for the overall repair of the sealing structure of the nuclear reactor pressure vessel can control the arm beam of the online processing repair device to complete a full circle of rotation. During the overall welding repair operation, the welding gun posture is manually assisted to prevent the ceramic nozzle from interfering with the workpiece.

[0037] (3) The welding gun assembly is not subject to spatial interference during operation, meeting the actual extreme position requirements of the depth and width of the weld groove.

[0038] (4) The welding gun assembly can realize positioning and fine-tuning within the groove to be welded, and the actual welding visibility is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a front view of the overall structure of an automatic welding device suitable for overall repair of a nuclear reactor pressure vessel sealing structure according to the present invention;

[0040] Figure 2 It is a left view of the overall structure of an automatic welding device suitable for overall repair of a sealing structure of a nuclear reactor pressure vessel according to the present invention;

[0041] Figure 3 It is a structural schematic diagram of a radial carriage assembly of a vessel in an automatic welding device suitable for integrally repairing a sealing structure of a nuclear reactor pressure vessel according to the present invention;

[0042] In the figure: 1. welding gun assembly; 2. connecting plate; 3. container radial slide assembly; 4. welding gun; 5. camera system; 6. welding gun swing angle mechanism; 7. arc voltage tracking mechanism; 8. driving servo motor; 9. lead screw; 10. slider mounting plate; 11. lead screw support seat; 12. linear guide pair; 13. stopper. DETAILED DESCRIPTION

[0043] In order to further understand the present invention, the embodiments of the present invention are described below in conjunction with examples, but it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the present invention.

[0044] The automatic welding device used for the overall repair of the sealing structure of the nuclear reactor pressure vessel is installed on the arm beam of the online processing and repair device, and controls the arm beam of the online processing and repair device to become the rotating motion axis of the automatic welding device. It has the functions of automatic tracking and control of the arc length during welding, radial adjustment of the welding gun position, wire feeding, radial adjustment of the welding gun angle, camera monitoring, etc., and can meet the overall welding maintenance needs of the flat welding position on the sealing surface of the cylinder flange of the nuclear reactor pressure vessel of various types of pressurized water reactor units and the overhead welding position of the top cover sealing ring groove.

[0045] The embodiment of the present invention discloses an automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel, such as Figures 1-2As shown, it includes: a welding gun assembly 1 and a container radial slide assembly 3;

[0046] It also includes a connecting plate 2, which is connected to the container radial slide assembly 3 and is used to fix the container radial slide assembly 3 on the arm beam of the online processing and repairing device.

[0047] The welding gun assembly 1 is loaded on the container radial slide assembly 3, so as to realize the radial movement of the welding gun assembly 1;

[0048] The welding gun assembly 1 includes an arc voltage tracking mechanism 7, a welding gun angle swing mechanism 6, a welding gun 4, a camera system 5, and integrates water, electricity and gas;

[0049] The arc voltage tracking mechanism 7 is fixedly connected to the slider mounting plate 10 of the container radial slide assembly 3 by bolts, and is used to adjust the distance between the welding gun 4 and the workpiece surface in real time;

[0050] The welding gun angle swing mechanism 6 and the arc voltage tracking mechanism 7 are fixedly connected by bolts and a mounting plate. The welding gun angle swing mechanism 6 realizes the angle adjustment of the welding gun 4.

[0051] The welding gun 4 can be adjusted in angle within the range of -45° to +45°.

[0052] The welding gun 4 is installed at one end of the welding gun angle swing mechanism 6; the welding gun 4 is fixedly connected to the welding gun angle swing mechanism 6 by bolts and a clamping block;

[0053] The camera system 5 is mounted on the welding gun 4 through a universal joint and is used to observe the welding status;

[0054] The swing angle of the welding gun 4 satisfies the welding repair in the demanding space position where the width of the top cover sealing ring groove does not exceed 16 mm and the bottom depth is not less than 40 mm.

[0055] The welding gun 4 is a TIG welding gun.

[0056] The container radial slide assembly 3 includes: a driving servo motor 8, a screw rod 9, a linear guide pair 12, a slide mounting plate 10, and a bottom plate;

[0057] The driving servo motor 8 is fixedly connected to the base plate by bolts;

[0058] The two ends of the screw rod 9 are fixed and supported by the screw rod support seat 11.

[0059] The screw support seat 11 is fixedly connected to the bottom plate by bolts.

[0060] The screw rod 9 is connected to the driving servo motor 8 through an elastic coupling, and the screw rod 9 and the driving servo motor 8 are coaxially arranged;

[0061] The linear guide pair 12 is fixedly connected to the bottom plate by bolts, and the slider mounting plate 10 is fixedly connected to the slider of the linear guide pair 12, and is used to fix and install the welding gun assembly 1;

[0062] The container radial slide assembly is driven by a servo motor to drive the welding gun assembly to move in the radial direction of the pressure vessel, and coordinates the arc pressure tracking mechanism and the welding gun swing angle mechanism to move in three different directions of space X, Y, and Z, so as to achieve full coverage of the welding positions of the welding gun assembly in the sealing structure area of ​​the nuclear reactor pressure vessel.

[0063] Stoppers 13 are also provided on both sides of the linear guide pair 12 .

[0064] The embodiment of the present invention also discloses an automatic welding method for integrally repairing a sealing structure of a nuclear reactor pressure vessel, comprising the following steps:

[0065] Step 1: Install the connecting plate 2 on the cantilever of the online processing and repairing device;

[0066] Step 2: The container radial slide assembly 3 is mounted on the connecting plate 2 by bolts;

[0067] Step 3: According to the requirements for welding and repairing the sealing ring groove of the top cover and the sealing surface of the cylinder of the nuclear reactor pressure vessel, select different installation postures of the welding gun assembly 1 and install it on the radial slide assembly 3 of the vessel;

[0068] Step 4: Connect the rotating aviation plug of the welding gun assembly 1 to the arm beam of the online repair device, and use the arm beam of the online repair device as the rotating motion axis of the automatic welding device;

[0069] Step 5: Adjust the angle of the welding gun 4, the arc voltage tracking mechanism 7 and the arm beam of the online processing and repair device through the control cabinet to accurately position the welding gun 4 to the welding seam position;

[0070] Step 6: Input process parameters according to the process parameter requirements and start automatic welding and remote control.

[0071] The welding process achieves a high-precision arc trajectory by controlling the cantilever rotation of the online processing and repair device, the radial slide assembly of the container realizes the radial movement of the welding gun, and the arc voltage tracking mechanism adjusts the height of the welding gun in real time to complete the overall precision wire filling welding of the nuclear reactor pressure vessel sealing structure.

[0072] The above embodiments are only used to help understand the method and core idea of ​​the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0073] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel, characterized in that: include: Welding gun assembly and container radial carriage assembly; The welding gun assembly is loaded on the container radial slide assembly, thereby realizing radial movement of the welding gun assembly; The welding gun assembly includes arc voltage tracking mechanism, welding gun angle mechanism, welding gun, camera system, and integrates water, electricity and gas; The welding gun swing angle mechanism is fixedly connected to the arc voltage tracking mechanism. A welding gun is installed at one end of the welding gun angle swing mechanism; The camera system is installed on the welding gun to observe the welding status; The swing angle of the welding gun meets the requirements of welding repair in demanding spatial positions where the width of the top cover sealing ring groove does not exceed 16mm and the bottom depth is not less than 40mm.

2. The automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel according to claim 1, characterized in that: The container radial slide assembly comprises: a driving servo motor, a lead screw, a linear guide pair, a slide mounting plate, and a bottom plate; The driving servo motor is fixedly connected to the base plate; The lead screw is connected to the driving servo motor through an elastic coupling, and the lead screw and the driving servo motor are coaxially arranged; The linear guide pair is fixedly connected to the bottom plate by bolts, and the slider mounting plate is fixedly connected to the slider of the linear guide pair, and is used for fixing and mounting the welding gun assembly; The container radial slide assembly is driven by a servo motor to drive the welding gun assembly to move in the radial direction of the pressure vessel, and coordinates the arc pressure tracking mechanism and the welding gun swing angle mechanism to move in three different directions of space X, Y, and Z, so as to achieve full coverage of the welding positions of the welding gun assembly in the sealing structure area of ​​the nuclear reactor pressure vessel.

3. The automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel according to claim 2, characterized in that: The two ends of the screw rod are fixed and supported by screw rod support seats. The screw rod support seat is fixedly connected to the base plate by bolts.

4. The automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel according to claim 1, characterized in that: It also includes a connecting plate, which is connected to the container radial slide assembly and is used to fix the container radial slide assembly on the arm beam of the online processing and repairing device.

5. The automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel according to claim 1, characterized in that: The welding gun angle swing mechanism realizes the angle adjustment of the welding gun. The welding gun can be adjusted in the range of -45° to +45°.

6. The automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel according to claim 1, characterized in that: The camera system is mounted on the welding gun via a universal joint.

7. The automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel according to claim 1, characterized in that: The welding gun is a TIG welding gun.

8. The automatic welding device for integrally repairing the sealing structure of a nuclear reactor pressure vessel according to claim 1, characterized in that: Stoppers are also arranged on both sides of the linear guide pair.

9. An automatic welding method for integrally repairing a nuclear reactor pressure vessel sealing structure, characterized in that: The following steps are involved: Step 1: Install the connecting plate on the cantilever of the online processing and repair device; Step 2: The container radial slide assembly is installed on the connecting plate by bolts; Step 3: According to the requirements for welding and repairing the sealing ring groove of the top cover and the sealing surface of the cylinder of the nuclear reactor pressure vessel, select different installation postures of the welding gun assembly and install it on the radial slide assembly of the vessel; Step 4: Connect the rotating aviation plug of the welding gun assembly to the arm beam of the online repair device, and use the arm beam of the online repair device as the rotating motion axis of the automatic welding device; Step 5: Adjust the welding gun angle, arc voltage tracking mechanism and the arm beam of the online processing and repair device through the control cabinet to accurately position the welding gun to the weld position; Step 6: Input process parameters according to the process parameter requirements and start automatic welding and remote control.

10. The automatic welding method for integrally repairing the sealing structure of a nuclear reactor pressure vessel according to claim 9, characterized in that: The welding process realizes a high-precision arc trajectory by controlling the cantilever rotation of the online processing and repairing device, the radial slide assembly of the container realizes the radial movement of the welding gun, and the arc voltage tracking mechanism adjusts the height of the welding gun in real time, thereby completing the overall precision wire filling welding of the nuclear reactor pressure vessel sealing structure.

Images