Nuclear power plant pipeline welding and grinding equipment

Abstract

The invention discloses nuclear power plant pipeline welding and grinding equipment which comprises a mounting circular rail, a welding and grinding device and a welding and grinding device. The number of the walking adjusting devices is two, and the two walking adjusting devices are movably mounted on the mounting circular rail; the wire feeding device is connected with the two walking adjusting devices; the welding device is connected with one walking adjusting device through a first mounting plate, and the welding device comprises a welding gun and a molten pool camera which are arranged on the first mounting plate; and the grinding device is connected with the other walking adjusting device through a second mounting plate, and the grinding device comprises a grinding machine connected with the second mounting plate. The equipment can be used for welding and grinding operation of nuclear power plant pipelines, compared with a manual welding and grinding mode, the operation efficiency can be effectively improved, the welding and grinding quality can be effectively improved, in addition, it can be guaranteed that radiation influences are reduced for workers, and the health of the workers is guaranteed. And the nuclear power plant pipeline welding and grinding equipment is relatively compact in structure and can be suitable for operation in a narrow space.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power, and in particular to a nuclear power plant pipeline welding and grinding device. Background Art

[0002] Nuclear power plants are equipped with many pipelines. The welding of a certain weld layer of the pipeline weld often goes through two processes: welding and grinding. That is, the weld is welded first, and the oxide film on the surface of the weld layer is ground after welding. After grinding, the next weld layer is welded, and the process is repeated until the weld is completed. At present, manual welding is mostly used, which has high labor intensity and low welding efficiency. In addition, some working spaces are relatively narrow, making manual welding inconvenient. In addition, some working areas have certain radiation, which is not conducive to long-term operation. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a nuclear power plant pipeline welding and grinding equipment.

[0004] The technical solution adopted by the present invention to solve the technical problem is: construct a nuclear power plant pipeline welding and grinding equipment, including:

[0005] An installation circular rail, wherein the installation circular rail is used to be sleeved on a nuclear power plant pipeline;

[0006] A walking adjustment device, wherein the number of the walking adjustment devices is two, and the two walking adjustment devices can be movably mounted on the mounting circular rail;

[0007] A wire feeding device, the wire feeding device is connected to the two travel adjustment devices;

[0008] A welding device, the welding device is connected to one of the travel adjustment devices via a first mounting plate, the welding device comprising at least one welding gun and at least one molten pool camera disposed on the first mounting plate;

[0009] A grinding device, wherein the grinding device is connected to another of the travel adjustment devices via a second mounting plate, and the grinding device comprises at least one grinder connected to the second mounting plate.

[0010] In some embodiments, the mounting circular rail includes an annular body, an annular boss is provided on the inner surface of the annular body, and the axial length of the annular body is greater than the axial length of the annular boss, so as to define a step surface on the inner surface of the annular body;

[0011] Each of the walking adjustment devices includes a first housing, a first drive motor, a walking wheel and a guide limit assembly, the first housing has a first side plate and a second side plate opposite to each other, the first drive motor is installed in the first housing, and the output end of the first drive motor protrudes from the first side plate, and the output end of the first drive motor is provided with a first drive gear;

[0012] The mounting shaft of the walking wheel is connected to the first side plate and the second side plate, the first end of the mounting shaft protrudes from the first side plate, and the portion of the first end of the mounting shaft protruding from the first side plate is provided with a first driven gear; the first driving gear and the first driven gear are meshed with each other;

[0013] There are two guide and limit assemblies, which are respectively connected to the first side plate and the second side plate, and each guide and limit assembly is provided with at least one guide wheel, which is in contact with the step surface.

[0014] In some embodiments, the guide limit assembly further includes a first fixed block, a second fixed block, a connecting block, a sliding block and an adjusting bolt;

[0015] The first fixing block and the second fixing block are arranged opposite to each other, the connecting block connects the first fixing block and the second fixing block, and an installation space is formed between the first fixing block and the second fixing block;

[0016] The slider is in an L-shaped structure, comprising a main body and a mounting portion connected to one side of the main body, the main body can be movably mounted in the mounting space, and the adjusting bolt is passed through the connecting block to be connected to the main body;

[0017] The guide wheel is mounted on the mounting portion.

[0018] In some embodiments, each of the walking adjustment devices further includes a Z-direction adjustment component and an X-direction adjustment component;

[0019] The Z-direction adjustment assembly includes a second drive motor, a first screw rod, a first screw rod nut seat and a slide plate, wherein the second drive motor and the first screw rod are installed in the first housing, and the axial direction of the first screw rod is arranged parallel to the Z direction; the first screw rod nut seat is installed on the first screw rod, the first end of the second drive motor and the first end of the first screw rod both protrude from the first side plate, and the first end of the second drive motor is provided with a second drive gear, the first end of the first screw rod is provided with a second driven gear, the second drive gear and the second driven gear are meshed with each other, and the slide plate is connected to the first screw rod nut seat;

[0020] The X-axis adjustment assembly comprises a second housing, a third drive motor, a second screw rod, and a second screw rod nut seat, wherein the second housing is connected to the slide plate, the third drive motor and the second screw rod are installed in the second housing, and the axial direction of the second screw rod is arranged parallel to the X direction; the second screw rod nut seat is installed on the second screw rod, the first end of the third drive motor and the first end of the second screw rod both protrude from the same side of the second housing, and the first end of the third drive motor is provided with a third drive gear, and the first end of the second screw rod is provided with a third driven gear, and the third drive gear and the third driven gear are meshed with each other;

[0021] The first mounting plate is connected to the second screw nut seat of one travel adjusting device, and the second mounting plate is connected to the second screw nut seat of another travel adjusting device.

[0022] In some embodiments, the wire feeding device includes a wire reel trolley and a wire reel mounted on the wire reel trolley, the wire reel trolley can be movably mounted on the mounting circular rail, and the wire reel trolley is connected to the two travel adjustment devices via a connecting plate.

[0023] In some embodiments, a wire feeding rod is further provided on the first mounting plate, and the wire feeding device includes a wire feeding drive assembly, which is installed on the connecting plate and arranged close to one side of the welding device, and is used to feed the welding wire on the wire reel to the wire feeding rod.

[0024] In some embodiments, the wire feeding drive assembly includes a fourth driving motor, a third housing, a wire feeding wheel, a gear set, a wire clamping rod and a wire clamping bearing, the fourth driving motor is installed on the side of the third housing, and the fourth driving motor is connected to the wire feeding wheel through the gear set;

[0025] The welding wire clamping rod is installed on the third shell, the welding wire clamping bearing is installed on the welding wire clamping rod, and the welding wire clamping bearing is arranged opposite to the circumferential surface of the wire feeding wheel.

[0026] In some embodiments, the wire feeding drive assembly further comprises a motor mounting seat, the fourth drive motor is mounted on the motor mounting seat, and the motor mounting seat is detachably mounted on a side surface of the third housing;

[0027] The wire feeding drive assembly also includes a tensioning bolt, which is used to pass through the motor mounting seat to abut against one end of the welding wire clamping rod to adjust the contact state between the welding wire clamping bearing and the wire feeding wheel.

[0028] In some embodiments, a first wire feeding pipe joint and a second wire feeding pipe joint may be respectively provided on both circumferential sides of the wire feeding wheel, the first wire feeding pipe joint is connected to the wire reel, and the second wire feeding pipe joint is connected to the wire feeding rod.

[0029] In some embodiments, the nuclear power plant pipeline welding and grinding equipment further includes a dust suction device connected to the second mounting plate, and the dust suction device is spaced apart from the grinding device.

[0030] The implementation of the present invention has the following beneficial effects: the nuclear power plant pipeline welding and grinding equipment can be used for the welding and grinding of nuclear power plant pipelines. Compared with the manual welding and grinding method, it can effectively improve the working efficiency and the welding and grinding quality. In addition, it can also ensure that the workers reduce the radiation impact and protect the health of the workers. The nuclear power plant pipeline welding and grinding equipment has a relatively compact structure and can be used for narrow space operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings:

[0032] Figure 1 is a schematic structural diagram of a nuclear power plant pipeline welding and grinding device in some embodiments of the present invention;

[0033] Figure 2 is a schematic diagram of the structure of the installation circular rail in some embodiments of the present invention;

[0034] Figure 3 is a partial structural schematic diagram of a circular rail installation in some embodiments of the present invention;

[0035] Figure 4 is a partial structural exploded view of the mounting circular rail in some embodiments of the present invention;

[0036] Figure 5 is a schematic diagram of the structure of the walking adjustment device in some embodiments of the present invention;

[0037] Figure 6 It is one of the partial structural schematic diagrams of the walking adjustment device in some embodiments of the present invention;

[0038] Figure 7 This is a second partial structural schematic diagram of a walking adjustment device in some embodiments of the present invention;

[0039] Figure 8It is one of the exploded views of the guide limiter assembly of the walking adjustment device in some embodiments of the present invention;

[0040] Fig. 9 This is the second exploded view of the guide limit assembly of the walking adjustment device in some embodiments of the present invention;

[0041] Fig.10 It is one of the structural schematic diagrams of the X-direction adjustment component and the Z-direction adjustment component of the travel adjustment device in some embodiments of the present invention;

[0042] Fig.11 This is the second structural schematic diagram of the X-direction adjustment component and the Z-direction adjustment component of the travel adjustment device in some embodiments of the present invention;

[0043] Fig.12 It is a third structural schematic diagram of the X-direction adjustment component and the Z-direction adjustment component of the travel adjustment device in some embodiments of the present invention;

[0044] Fig.13 This is a fourth structural schematic diagram of an X-direction adjustment component and a Z-direction adjustment component of a travel adjustment device in some embodiments of the present invention;

[0045] Fig.14 is a partial structural exploded view of a walking adjustment device in some embodiments of the present invention;

[0046] Fig.15 is a schematic diagram of the connection between the walking adjustment device and the first mounting plate in some embodiments of the present invention;

[0047] Fig.16 is a schematic structural diagram of a wire feeding device in some embodiments of the present invention;

[0048] Fig.17 is a schematic structural diagram of a wire feeding drive assembly in some embodiments of the present invention;

[0049] Fig.18 is a partial structural schematic diagram of a wire feeding drive assembly in some embodiments of the present invention;

[0050] Fig.19 is a schematic diagram of the application of the welding device in some embodiments of the present invention;

[0051] Fig. 20 is a schematic structural diagram of a welding device in some embodiments of the present invention;

[0052] Fig.21 It is a schematic diagram of the structure of the grinding device and the dust collection device in some embodiments of the present invention. DETAILED DESCRIPTION

[0053] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0054] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0055] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0056] See also Figures 1 to 21 The present invention shows a nuclear power plant pipeline welding and grinding equipment, which can be used for the welding and grinding operation of the nuclear power plant pipeline 100. Compared with the manual welding and grinding method, it can effectively improve the operation efficiency and the welding and grinding quality. In addition, it can also ensure that the radiation impact of the workers is reduced and the health of the workers is protected. The structure of the nuclear power plant pipeline welding and grinding equipment is relatively compact and can be applied to narrow space operations.

[0057] The nuclear power plant pipeline welding and grinding equipment includes: a mounting circular rail 10, a travel adjustment device 20, a wire feeding device 30, a welding device 40, a first mounting plate 50, a grinding device 60, and a second mounting plate 70. The device arrangement is as follows: Figure 1 shown.

[0058] Among them, the mounting circular rail 10 is used to be mounted on the nuclear power plant pipeline 100 and is coaxially arranged with the nuclear power plant pipeline 100; the number of the travel adjustment devices 20 is two, and the two travel adjustment devices 20 can be movably installed on the mounting circular rail 10; the wire feeding device 30 connects the two travel adjustment devices 20; the welding device 40 is connected to one travel adjustment device 20 through the first mounting plate 50, and the welding device 40 includes at least one welding gun 41 and at least one molten pool camera 42 arranged on the first mounting plate 50; further, the number of the molten pool cameras 42 is two, and the two molten pool cameras 42 are respectively arranged on the left and right sides of the welding gun 41 for observing the welding molten pool state.

[0059] The grinding device 60 is connected to another travel adjustment device 20 via a second mounting plate 70 , and the grinding device 60 includes at least one grinder connected to the second mounting plate 70 .

[0060] like Figures 2 to 4 As shown, in some embodiments, the mounting circular rail 10 includes an annular body 11, the inner surface of which is provided with an annular boss 12, the axial length of the annular body 11 is greater than the axial length of the annular boss 12, so as to define a step surface 13 on the inner surface of the annular body 11; in some embodiments, the mounting circular rail 10 includes a first semicircular rail 10a and a second semicircular rail 10b which are detachably connected, so as to facilitate assembly to the nuclear power plant pipeline 100. In some embodiments, the end faces of both ends of the first semicircular rail 10a are respectively provided with first connecting holes 10c; the two ends of the second semicircular rail 10b are provided with second connecting holes 10d, and the second connecting holes 10d are set from the circumferential outer sides of the two ends of the second semicircular rail 10b to the end faces of the two ends of the second semicircular rail 10b; the first connecting hole 10c and the second connecting hole 10d are connected and fixed by fasteners. The fasteners include but are not limited to bolts or screws. The inner side surface of the annular boss 12 is further provided with a plurality of grooves 121 , and the grooves 121 are arranged at intervals along the circumferential direction of the annular boss 12 . The travel adjustment device 20 further includes a limit block 14 arranged in the groove 121 .

[0061] The inner wall surface of the groove 121 is provided with a plurality of adjustment holes 15 penetrating to the outer surface of the annular body 11, and the mounting circular rail 10 also includes an adjustment member penetrating the adjustment hole 15 to adjust the radial extension amount of the stop block 14, and the adjustment member includes but is not limited to a bolt. The radial extension amount of the stop block 14 can be adjusted so that the mounting circular rail can be better fixed on the nuclear power plant pipeline 100, and the stop block 14 can be replaced as needed to be suitable for nuclear power plant pipelines 100 with different outer diameters.

[0062] In some embodiments, the outer surface of the annular body 11 is further provided with textures to increase friction, so that the walking adjustment device 20 can walk more stably on the outer surface of the annular body 11.

[0063] like Figures 5 to 9 As shown, in some embodiments, each of the walking adjustment devices 20 includes a first housing 21, a first drive motor 22, a walking wheel 23 and a guide limit assembly 24, the first housing 21 has a first side plate 211 and a second side plate 212 opposite to each other, the first housing 21 is generally cylindrical, the first housing 21 has a first side plate 211 and a second side plate 212 opposite to each other, and a top plate 213 connecting the first side plate 211 and the second side plate 212. In some embodiments, the first housing 21 also includes a third side plate 214, the third side plate 214 can be connected to the top plate 213, and the third side plate 214 is arranged close to the first side plate 211, so that a accommodating space is formed between the third side plate 214 and the first side plate 211, and the relevant gears can be located in the accommodating space, so that the gears can be protected to a certain extent, and impurities in the welding process can be prevented from entering the gears and causing the gears to be stuck. The first drive motor 22 can be a servo motor, which has high adjustment accuracy and has forward and reverse functions.

[0064] The first driving motor 22 is installed in the first housing 21 , and an output end of the first driving motor 22 protrudes from the first side plate 211 , and a first driving gear 221 is disposed at the output end of the first driving motor 22 .

[0065] The mounting shaft of the traveling wheel 23 connects the first side plate 211 and the second side plate 212, the first end of the mounting shaft protrudes from the first side plate 211, and the part of the first end of the mounting shaft protruding from the first side plate 211 is provided with a first driven gear 231; the first driving gear 221 is meshed with the first driven gear 231.

[0066] There are two guide limit assemblies 24 , which are respectively connected to the first side plate 211 and the second side plate 212 , and each guide limit assemblies 24 is provided with at least one guide wheel 246 , which contacts the step surface 13 .

[0067] like Figure 8 and Fig. 9 As shown, in some embodiments, the guide limit assembly 24 also includes a first fixed block 241, a second fixed block 242, a connecting block 243, a sliding block 256, a slider 244 and an adjusting bolt 245; the first fixed block 241 and the second fixed block 242 are arranged opposite to each other, the connecting block 243 connects the first fixed block 241 and the second fixed block 242, and an installation space is formed between the first fixed block 241 and the second fixed block 242; the sliding block 256, the slider 244 is an L-shaped structure, the sliding block 256, the slider 244 includes a main body 2441 and a mounting portion 2442 connected to one side of the main body 2441, the main body 2441 can be movably installed in the installation space, the adjusting bolt 245 is penetrated by the connecting block 243 to be connected to the main body 2441; the guide wheel 246 is installed on the mounting portion 2442. The adjusting bolt 245 adjusts the contact tightness between the guide wheel 246 and the step surface 13, so that the guide wheel 246 can be closely attached to the step surface 13 and the friction between the walking wheel 23 and the upper surface of the mounting circular rail 10 can be increased, making the walking more stable and reliable.

[0068] Furthermore, the connection block 243 is provided with a threaded hole 2431 penetrating through the upper and lower surfaces thereof, and the adjusting bolt 245 is passed through the threaded hole 2431 .

[0069] In some embodiments, the first fixing block 241 is provided with a first guide groove 2411 on one side facing the second fixing block 242, and the second fixing block 242 is provided with a second guide groove 2421 on one side facing the first fixing block 241; the first limiting portion 24411 and the second limiting portion 24412 are respectively provided on opposite sides of the main body 2441, the first limiting portion 24411 is located in the first guide groove 2411, and the second limiting portion 24412 is located in the second guide groove 2421. Alternatively, in some embodiments, the main body 2441 is provided with a pin shaft, and the two ends of the pin shaft respectively protrude from the opposite sides of the main body 2441 and extend into the first guide groove 2411 and the second guide groove 2421, respectively.

[0070] like Figure 6 As shown, in some embodiments, each walking adjustment device 20 further includes an encoder 27 installed in the first housing 21, and a gear 271 of the encoder 27 is meshed with the first driving gear 221 or the first driven gear 231. Preferably, the gear 271 of the encoder 27 is meshed with the first driven gear 231.

[0071] In some embodiments, each of the travel adjustment devices 20 further includes a driven roller 28 so that the travel adjustment device 20 can more closely fit the circular rail 10 for travel.

[0072] The walking adjustment device 20 has a relatively compact structure and does not occupy a large space, and can be used for operations in narrow spaces. The walking adjustment device 20 can achieve stable walking on the periphery of the nuclear power plant pipeline 100, and then drive the welding device 40 and the like to rotate along the periphery of the nuclear power plant pipeline 100, thereby achieving automatic welding operations of the nuclear power plant pipeline 100.

[0073] like Figures 10 to 15 In some embodiments, each walking adjustment device 20 also includes a Z-axis adjustment component 25 and an X-axis adjustment component 26.

[0074] The Z-axis adjustment component 25 includes a second drive motor 251, a first screw rod 252, a first screw rod nut seat 253 and a slide plate 254. The second drive motor 251 and the first screw rod 252 are installed in the first housing 21, and the axial direction of the first screw rod 252 is arranged parallel to the Z direction; the first screw rod nut seat 253 is installed on the first screw rod 252, the first end of the second drive motor 251 and the first end of the first screw rod 252 both protrude from the first side plate 211, and the first end of the second drive motor 251 is provided with a second drive gear 2511, and the first end of the first screw rod 252 is provided with a second driven gear 2521, the second drive gear 2511 and the second driven gear 2521 are meshed with each other, and the slide plate 254 is connected to the first screw rod nut seat 253. The second drive motor 251 drives the second drive gear 2511 to rotate, and the second drive gear 2511 drives the second driven gear 2521 to rotate, thereby causing the first screw nut seat 253 to move axially along the first screw 252, thereby driving the slide plate 254 to move along the Z direction. Figure 1 For example, the direction may be the axial direction of the nuclear power plant pipeline 100 .

[0075] The X-axis adjustment assembly 26 includes a second housing 261, a third drive motor 262, a second screw rod 263, and a second screw rod nut seat 264. The second housing 261 is connected to the slide plate 254, and the overall structure of the second housing 261 and the slide plate 254 is roughly L-shaped. The third drive motor 262 and the second screw rod 263 are installed in the second housing 261, and the axial direction of the second screw rod 263 is arranged parallel to the X direction; the second screw rod nut seat 264 is installed on the second screw rod 263, the first end of the third drive motor 262 and the first end of the second screw rod 263 both protrude from the same side of the second housing 261, and the first end of the third drive motor 262 is provided with a third driving gear 2621, and the first end of the second screw rod 263 is provided with a third driven gear 2631, and the third driving gear 2621 and the third driven gear 2631 are meshed with each other; wherein, the third drive motor 262 drives the third driving gear 2621 to rotate, and the third driving gear 2621 drives the third driven gear 2631 to rotate, thereby causing the second screw rod nut seat 264 to move axially along the second screw rod 263, thereby driving the first mounting plate 50 and / or the second mounting plate 70 to move along the X direction, and the X direction is Figure 1 For example, the radial direction of the nuclear power plant pipeline 100 can be taken as an example.

[0076] Specifically, the first mounting plate 50 is connected to the second screw nut seat 264 of one travel adjustment device 20 , and the second mounting plate 70 is connected to the second screw nut seat 264 of another travel adjustment device 20 .

[0077] like Fig.13 and Fig.14 As shown, in some embodiments, a first limiting groove 21a is further provided on the first shell 21, and the first limiting groove 21a extends along the Z direction. Part of the structure of the first screw nut seat 253 is located in the first limiting groove 21a, and the first limiting groove 21a can guide and limit the first screw nut seat 253.

[0078] like Fig.13 and Fig.14 As shown, in some embodiments, two slide rails 255 are respectively provided on both sides of the first limiting groove 21a of the first housing 21, and the slide rails 255 are extended along the Z direction, wherein one slide rail 255 may be installed on the top surface of the first housing 21, and the other slide rail 255 may be installed on the side of the first housing 21. The slide plate 254 is provided with a slide block 256 movably installed on the slide rail 255, and the slide block 256 may be detachably connected to the slide plate 254, or the slide block 256 may be fixedly connected to the slide plate 254, which is not specifically limited here.

[0079] like Fig.11As shown, in some embodiments, the second housing 261 is further provided with a second limiting groove 261a, the second limiting groove 261a is extended along the X direction, and part of the structure of the second screw nut seat 264 is located in the second limiting groove 261a. The second limiting groove 261a can guide and limit the second screw nut seat 264.

[0080] like Fig.14 As shown, in some embodiments, the X-axis adjustment mechanism 26 further includes a connecting gear 265, which is mounted on the second housing 261 and is respectively meshed with the third driving gear 2621 and the third driven gear 2631. Of course, the connecting gear 265 may not be provided.

[0081] like Fig.14 As shown, the X-axis adjustment mechanism 26 also includes a protective shell 266 connected to the second shell 261 and used to cover the outer periphery of the third driving gear 2621 and the third driven gear 2631, so as to protect the third driving gear 2621 and the third driven gear 2631 and prevent impurities from entering the teeth of the third driving gear 2621 and the third driven gear 2631 during welding operations and causing jamming.

[0082] In some embodiments, the second driving motor 251 and the third driving motor 262 are both servo motors. The servo motors have high adjustment accuracy and have forward and reverse rotation functions.

[0083] In some embodiments, the first screw rod 252 and the second screw rod 263 are both ball screws.

[0084] like Figures 16 to 18 As shown, in some embodiments, the wire feeding device 30 includes a wire reel trolley 31 and a wire reel 32 installed on the wire reel trolley 31, and the wire reel trolley 31 can be movably installed on the mounting circular rail 10, and the wire reel trolley 31 is connected to the two walking adjustment devices 20 through a connecting plate 80.

[0085] In some embodiments, a wire feeding rod 43 is also provided on the first mounting plate 50, and the wire feeding device 30 includes a wire feeding drive assembly 33, which is installed on the connecting plate 80, and the wire feeding drive assembly 33 is arranged close to one side of the welding device 40, and the wire feeding drive assembly 33 is used to feed the welding wire on the wire reel 32 to the wire feeding rod 43.

[0086] In some embodiments, the wire feeding drive assembly 33 includes a fourth drive motor 331, a third housing 332, a wire feeding wheel 333, a gear set 334, a wire clamping rod 335 and a wire clamping bearing 336. The third housing 332 can be mounted on the connecting plate 80, the fourth drive motor 331 is mounted on the side of the third housing 332, and the fourth drive motor 331 is connected to the wire feeding wheel 333 through the gear set 334; the gear set 334 can be a bevel gear combination (such as Fig.18 The fourth drive motor 331 can be a servo motor, which has high adjustment accuracy and forward and reverse functions. The welding wire clamping rod 335 is installed on the third housing 332, and the welding wire clamping bearing 336 is installed on the welding wire clamping rod 335, and the welding wire clamping bearing 336 is arranged opposite to the circumferential surface of the wire feeding wheel 333.

[0087] In some embodiments, the circumferential surface of the wire feeding wheel 333 is provided with a V-shaped groove 3331, and the wire clamping bearing 336 is arranged opposite to the V-shaped groove 3331. In some embodiments, the wire feeding drive assembly 33 further includes a motor mounting seat 337, and the fourth driving motor 331 is mounted on the motor mounting seat 337, and the motor mounting seat 337 is detachably mounted on the side of the third housing 332; the wire feeding drive assembly 33 further includes a tension bolt 338, and the tension bolt 338 is used to penetrate the motor mounting seat 337 to abut against one end of the wire clamping rod 335 to adjust the contact state between the wire clamping bearing 336 and the wire feeding wheel 333.

[0088] In some embodiments, the wire feeding wheel 333 may be provided with a first wire feeding pipe joint 339 and a second wire feeding pipe joint 3310 on both circumferential sides respectively. The first wire feeding pipe joint 339 is connected to the wire reel 32, and the second wire feeding pipe joint 3310 is connected to the wire feeding rod 43, which may be connected through a delivery hose.

[0089] Among them, when the welding operation is in progress, the welding wire in the wire reel 32 is passed through the first wire feeding pipe joint 339, the circumferential side of the wire feeding wheel 333 (or the V-groove 3331 of the wire feeding wheel 333) and the second wire feeding pipe joint 3310 in sequence, and the welding wire clamping rod 335 is pressed by the tightening bolt 338, so that the welding wire clamping bearing 336 clamps the welding wire, thereby increasing the friction between the welding wire and the wire feeding wheel 333 and the welding wire clamping bearing 336, and the fourth driving motor 331 drives the wire feeding wheel 333 to rotate through the bevel gear set. Under the action of the friction force, the welding wire is continuously transported to the tungsten extreme end of the welding gun head of the welding gun 41.

[0090] In some embodiments, the first mounting plate 50 and the second mounting plate 70 are both curved plates, and both are bent toward the mounting circular rail 10 to reduce the radial height of the device in the nuclear power plant pipeline 100. Fig.15 , Fig.19 , Fig. 20 As shown, the surface 51 and the surface 52 on the first mounting plate 50 are substantially perpendicular to each other (eg Fig.15 As shown in FIG. 1 , the welding device 40 is fixed on the first mounting plate 50, and the axis of the tungsten pole of the welding gun 41 is perpendicular to the surface 51 on the first mounting plate 50 and passes through the center of the cross section of the nuclear power plant pipeline 100. The welding gun 41 moves along the radial direction of the nuclear power plant pipeline 100, that is, the height direction of the weld 101, so as to achieve the best welding position.

[0091] like Fig.21 As shown, in some embodiments, the grinding device 60 is used to grind the oxide layer on the surface of a certain layer of weld after the welding device 40 welds the weld to facilitate the next welding. It includes a grinder and a high-definition camera. The grinder may include a drive motor and a grinding wheel connected to each other. The grinder is fixed to a second mounting plate 70 through a motor mounting seat. The second mounting plate 70 is fixed to a travel adjustment device 20. The travel adjustment device 20 is used to align the grinding wheel of the grinder with the weld 101 and insert it into the weld 101 to grind the weld layer. At the same time, a high-definition camera is also installed on the second mounting plate 70 to observe the grinding situation.

[0092] In some embodiments, the nuclear power plant pipeline welding and grinding equipment further includes a dust suction device 90 connected to the second mounting plate 70, and the dust suction device 90 is spaced apart from the grinding device 60. The dust suction device 90 is mounted on the second mounting plate 70, located on one side of the grinder, and a dust suction hose is arranged at the end thereof, which is used to automatically collect dust generated during the grinding process so as to clean the surface of the weld layer after grinding for the next welding.

[0093] The nuclear power plant pipeline welding and grinding equipment has the following technical effects:

[0094] 1. The nuclear power plant pipeline welding and grinding equipment is equipped with a welding device 40 and a grinding device 60. After realizing automatic welding of the weld 101, the oxide layer on the surface of the weld layer can be automatically ground and smoke can be collected. Compared with manual operation, the efficiency is improved, the welding and grinding time of each weld layer is greatly reduced, and the welding and grinding quality is better and more stable. This will generate huge economic value for application scenarios with strict requirements on time and quality, such as power plant maintenance.

[0095] 2. The nuclear power plant pipeline welding and grinding equipment arranges various mechanisms close to the installation circular rail 10 and converts the height direction adjustment of the welding gun 41 into the adjustment of the position adjustment device along the tangent direction of the weld, which cleverly reduces the height of the nuclear power plant pipeline welding and grinding equipment in the pipeline radial direction, which is conducive to the nuclear power plant pipeline welding and grinding equipment entering a narrow space (such as an adjacent pipeline 200 or a wall is very close to the nuclear power plant pipeline 100 to be welded) for operation, and can weld areas that are inaccessible to humans, and has extremely high application value.

[0096] 3. The nuclear power plant pipeline welding and grinding equipment is provided with two sets of travel adjustment devices 20, each of which is equipped with a first drive motor 22, and adopts a dual-motor drive mode, so that the nuclear power plant pipeline welding and grinding equipment can move clockwise along the installation circular rail 10, and can also move counterclockwise along the installation circular rail 10, making the position adjustment of the nuclear power plant pipeline welding and grinding equipment more flexible and convenient.

[0097] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope covered by the claims of the present invention.

Claims

1. A nuclear power plant pipeline welding and grinding equipment, characterized in that: include: An installation circular rail (10), wherein the installation circular rail (10) is used for being sleeved on a pipeline of a nuclear power plant; A walking adjustment device (20), wherein the number of the walking adjustment devices (20) is two, and the two walking adjustment devices (20) are movably mounted on the mounting circular rail (10); A wire feeding device (30), wherein the wire feeding device (30) is connected to the two travel adjustment devices (20); A welding device (40), the welding device (40) being connected to one of the travel adjustment devices (20) via a first mounting plate (50), the welding device (40) comprising at least one welding gun (41) and at least one molten pool camera (42) arranged on the first mounting plate (50); A grinding device (60), wherein the grinding device (60) is connected to another travel adjustment device (20) via a second mounting plate (70), and the grinding device (60) comprises at least one grinder connected to the second mounting plate (70).

2. The nuclear power plant pipeline welding and grinding equipment according to claim 1 is characterized in that: The mounting circular rail (10) comprises an annular body (11), an annular boss (12) is provided on the inner surface of the annular body (11), the axial length of the annular body (11) is greater than the axial length of the annular boss (12), so as to define a step surface (13) on the inner surface of the annular body (11); Each of the walking adjustment devices (20) comprises a first housing (21), a first drive motor (22), a walking wheel (23) and a guide limit assembly (24); the first housing (21) has a first side plate (211) and a second side plate (212) opposite to each other; the first drive motor (22) is installed in the first housing (21), and the output end of the first drive motor (22) protrudes from the first side plate (211); and the output end of the first drive motor (22) is provided with a first drive gear (221); The mounting shaft of the walking wheel (23) is connected to the first side plate (211) and the second side plate (212); the first end of the mounting shaft protrudes from the first side plate (211); and the portion of the first end of the mounting shaft protruding from the first side plate (211) is provided with a first driven gear (231); the first driving gear (221) and the first driven gear (231) are meshed with each other; There are two guide limit assemblies (24), the two guide limit assemblies (24) are respectively connected to the first side plate (211) and the second side plate (212), and each guide limit assembly (24) is provided with at least one guide wheel (246), and the guide wheel (246) is in contact with the step surface (13).

3. The nuclear power plant pipeline welding and grinding equipment according to claim 2 is characterized in that: The guide limiter assembly (24) further comprises a first fixing block (241), a second fixing block (242), a connecting block (243), a sliding block (244) and an adjusting bolt (245); The first fixing block (241) and the second fixing block (242) are arranged opposite to each other, the connecting block (243) connects the first fixing block (241) and the second fixing block (242), and an installation space is formed between the first fixing block (241) and the second fixing block (242); The slider (244) is of an L-shaped structure, and comprises a main body (2441) and a mounting portion (2442) connected to one side of the main body (2441); the main body (2441) is movably mounted in the mounting space, and the adjusting bolt (245) is passed through the connecting block (243) to be connected to the main body (2441); The guide wheel (246) is mounted on the mounting portion (2442).

4. The nuclear power plant pipeline welding and grinding equipment according to claim 2, characterized in that: Each of the travel adjustment devices (20) further comprises a Z-direction adjustment component (25) and an X-direction adjustment component (26); The Z-direction adjustment component (25) comprises a second drive motor (251), a first screw rod (252), a first screw rod nut seat (253) and a slide plate (254); the second drive motor (251) and the first screw rod (252) are installed in the first housing (21); the axial direction of the first screw rod (252) is arranged parallel to the Z direction; the first screw rod nut seat (253) is installed on the first screw rod (252); the first end of the second drive motor (251) and the first end of the first screw rod (252) both protrude from the first side plate (211); the first end of the second drive motor (251) is provided with a second drive gear (2511); the first end of the first screw rod (252) is provided with a second driven gear (2521); the second drive gear (2511) and the second driven gear (2521) are meshed with each other; the slide plate (254) is connected to the first screw rod nut seat (253); The X-axis adjustment component (26) comprises a second housing (261), a third drive motor (262), a second screw rod (263), and a second screw rod nut seat (264); the second housing (261) is connected to the slide plate (254); the third drive motor (262) and the second screw rod (263) are installed in the second housing (261); the axial direction of the second screw rod (263) is arranged parallel to the X-axis; the second screw rod nut seat (264) is installed on the second screw rod (263); the first end of the third drive motor (262) and the first end of the second screw rod (263) both protrude from the same side of the second housing (261); the first end of the third drive motor (262) is provided with a third drive gear (2621); the first end of the second screw rod (263) is provided with a third driven gear (2631); the third drive gear (2621) and the third driven gear (2631) are meshed with each other; The first mounting plate (50) is connected to the second screw nut seat (264) of one travel adjustment device (20), and the second mounting plate (70) is connected to the second screw nut seat (264) of another travel adjustment device (20).

5. The nuclear power plant pipeline welding and grinding equipment according to claim 2, characterized in that: The wire feeding device (30) comprises a wire reel trolley (31) and a wire reel (32) mounted on the wire reel trolley (31); the wire reel trolley (31) is movably mounted on the mounting circular rail (10); and the wire reel trolley (31) is connected to the two travel adjustment devices (20) via a connecting plate (80).

6. The nuclear power plant pipeline welding and grinding equipment according to claim 5, characterized in that: A wire feeding rod (43) is also provided on the first mounting plate (50), and the wire feeding device (30) includes a wire feeding drive assembly (33), the wire feeding drive assembly (33) is installed on the connecting plate (80), and the wire feeding drive assembly (33) is arranged close to one side of the welding device (40), and the wire feeding drive assembly (33) is used to feed the welding wire on the wire reel (32) to the wire feeding rod (43).

7. The nuclear power plant pipeline welding and grinding equipment according to claim 6, characterized in that: The wire feeding drive assembly (33) comprises a fourth driving motor (331), a third housing (332), a wire feeding wheel (333), a gear set (334), a welding wire clamping rod (335) and a welding wire clamping bearing (336); the fourth driving motor (331) is mounted on a side of the third housing (332), and the fourth driving motor (331) is connected to the wire feeding wheel (333) via the gear set (334); The welding wire clamping rod (335) is mounted on the third housing (332), the welding wire clamping bearing (336) is mounted on the welding wire clamping rod (335), and the welding wire clamping bearing (336) is arranged opposite to the circumferential surface of the wire feeding wheel (333).

8. The nuclear power plant pipeline welding and grinding equipment according to claim 7, characterized in that: The wire feeding drive assembly (33) further comprises a motor mounting seat (337), the fourth drive motor (331) is mounted on the motor mounting seat (337), and the motor mounting seat (337) is detachably mounted on a side surface of the third housing (332); The wire feeding drive assembly (33) further comprises a tensioning bolt (338), wherein the tensioning bolt (338) is used to pass through the motor mounting seat (337) to abut against one end of the welding wire clamping rod (335) to adjust the contact state between the welding wire clamping bearing (336) and the wire feeding wheel (333).

9. The nuclear power plant pipeline welding and grinding equipment according to claim 8, characterized in that: The wire feeding wheel (333) may be provided with a first wire feeding pipe joint (339) and a second wire feeding pipe joint (3310) on both circumferential sides, respectively. The first wire feeding pipe joint (339) is connected to the wire reel (32), and the second wire feeding pipe joint (3310) is connected to the wire feeding rod (43).

10. The nuclear power plant pipeline welding and grinding equipment according to any one of claims 1 to 9, characterized in that: The nuclear power plant pipeline welding and grinding equipment further comprises a dust suction device (90) connected to the second mounting plate (70), and the dust suction device (90) is arranged at a distance from the grinding device (60).

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