Nuclear power plant pipe welding and polishing apparatus

Abstract

The application discloses a nuclear power plant pipeline welding and polishing device, which comprises a mounting circular rail for sleeving on a nuclear power plant pipeline, two walking adjusting devices movably mounted on the mounting circular rail, a wire feeding device connected with the two walking adjusting devices, a welding device connected with one walking adjusting device through a first mounting plate, the welding device comprising a welding torch and a molten pool camera arranged on the first mounting plate, and a polishing device connected with the other walking adjusting device through a second mounting plate, the polishing device comprising a polisher connected with the second mounting plate. The device can be used for welding and polishing of the nuclear power plant pipeline, and can effectively improve the working efficiency and the welding and polishing quality compared with the manual welding and polishing mode, and can also ensure that the staff is less affected by radiation and the health of the staff is protected. In addition, the nuclear power plant pipeline welding and polishing device has a relatively compact structure and can be applied to narrow space operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power technology, and in particular to a nuclear power plant pipeline welding and polishing device. BACKGROUND

[0002] A nuclear power plant is equipped with a large number of pipelines, and the welding of a certain welding layer of a pipeline weld often needs to go through two processes of welding and polishing, that is, the weld is first welded, the oxide film on the surface of the welding layer is polished after the welding is completed, the welding of the next welding layer is performed after the polishing is completed, and the process is repeated until the welding of the weld is completed. At present, manual welding is mostly used, the labor intensity of the workers is high, the welding efficiency is low, and the working space is relatively narrow in some cases, so manual welding is not convenient, in addition, some working areas have a certain radiation, which is not conducive to long-time operation. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a nuclear power plant pipeline welding and polishing device.

[0004] The technical scheme adopted by the present application to solve the technical problem is that a nuclear power plant pipeline welding and polishing device is constructed, which comprises:

[0005] A mounting circular rail is provided for sleeving on a nuclear power plant pipeline;

[0006] Two walking adjusting devices are movably installed on the mounting circular rail;

[0007] A wire feeding device is connected to the two walking adjusting devices;

[0008] A welding device is connected to one of the walking adjusting devices through a first mounting plate, and the welding device comprises at least one welding gun and at least one molten pool camera arranged on the first mounting plate;

[0009] A polishing device is connected to the other walking adjusting device through a second mounting plate, and the polishing device comprises at least one polisher connected to the second mounting plate.

[0010] In some embodiments, the mounting circular rail comprises a ring-shaped body, an annular boss is arranged on the inner surface of the ring-shaped body, and the axial length of the ring-shaped body is greater than the axial length of the annular boss to define a stepped surface on the inner surface of the ring-shaped body;

[0011] Each of the walking adjusting devices comprises a first housing, a first driving motor, a walking wheel and a guide limiting component, the first housing has opposite first and second side plates, the first driving motor is installed in the first housing, and an output end of the first driving motor protrudes from the first side plate, and the output end of the first driving motor is provided with a first driving gear;

[0012] An installation shaft of the walking wheel connects the first and second side plates, a first end of the installation shaft protrudes from the first side plate, and a portion of the first end of the installation shaft protruding from the first side plate is provided with a first driven gear; the first driving gear and the first driven gear are in mesh with each other;

[0013] The number of the guide limiting components is two, the two guide limiting components are connected with the first and second side plates respectively, and each of the guide limiting components is provided with at least one guide wheel, and the guide wheel is in contact with the stepped surface.

[0014] In some embodiments, the guide limiting component further comprises a first fixed block, a second fixed block, a connecting block, a sliding block and an adjusting bolt;

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

[0016] The sliding block has an L-shaped structure, the sliding block comprises a main body portion and an installation portion connected with one side of the main body portion, the main body portion is movably installed in the installation space, and the adjusting bolt is arranged through the connecting block to be connected with the main body portion;

[0017] The guide wheel is installed on the installation portion.

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

[0019] The Z-direction adjusting component comprises a second driving motor, a first lead screw, a first lead screw nut seat and a sliding plate, the second driving motor and the first lead screw are installed in the first housing, and an axial direction of the first lead screw is arranged in parallel with the Z direction; the first lead screw nut seat is installed on the first lead screw, a first end of the second driving motor and a first end of the first lead screw both protrude from the first side plate, the first end of the second driving motor is provided with a second driving gear, the first end of the first lead screw is provided with a second driven gear, the second driving gear and the second driven gear are in mesh with each other, and the sliding plate is connected with the first lead screw nut seat;

[0020] The X-direction adjusting assembly comprises a second housing, a third driving motor, a second screw rod, and a second screw rod nut seat, the second housing is connected with the sliding plate, the third driving motor and the second screw rod are installed in the second housing, and the axial direction of the second screw rod is parallel to the X direction; the second screw rod nut seat is installed on the second screw rod, the first end of the third driving motor and the first end of the second screw rod protrude from the same side of the second housing, and the first end of the third driving motor is provided with a third driving gear, and the first end of the second screw rod is provided with a third driven gear, and the third driving gear and the third driven gear are in mesh with each other.

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

[0022] In some embodiments, the wire feeding device comprises a wire reel trolley and a wire reel installed on the wire reel trolley, the wire reel trolley is movably installed on the mounting circular rail, and the wire reel trolley is connected with the two walking adjusting devices through a connecting plate.

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

[0024] In some embodiments, the wire feeding driving assembly comprises a fourth driving motor, a third housing, a wire feeding wheel, a gear set, a welding wire clamping rod, and a welding wire clamping bearing, the fourth driving motor is installed on the side of the third housing, and the fourth driving motor is connected with the wire feeding wheel through the gear set.

[0025] The welding wire clamping rod is installed on the third housing, 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 driving assembly further comprises a motor mounting seat, the fourth driving motor is installed on the motor mounting seat, and the motor mounting seat is detachably installed on the side of the third housing.

[0027] The wire feeding driving assembly further comprises a tensioning bolt, the tensioning bolt is used to pass through the motor mounting seat to abut against one end of the welding wire clamping rod, so as to adjust the contact state of the welding wire clamping bearing and the wire feeding wheel.

[0028] In some embodiments, the wire feeding wheel can be provided with a first wire feeding pipe joint and a second wire feeding pipe joint on two circumferential sides respectively, the first wire feeding pipe joint being connected with the wire disc, and the second wire feeding pipe joint being connected with the wire feeding rod.

[0029] In some embodiments, the nuclear power plant pipeline welding and polishing device further comprises a dust collection device connected with the second mounting plate, the dust collection device being arranged at intervals with the polishing device.

[0030] The implementation of the present application has the following beneficial effects: the nuclear power plant pipeline welding and polishing device can be used for welding and polishing of nuclear power plant pipelines, can effectively improve the work efficiency and the welding and polishing quality compared with manual welding and polishing, can also ensure that the staff is less affected by radiation, and can protect the health of the staff. In addition, the structure of the nuclear power plant pipeline welding and polishing device is relatively compact, and can be suitable for narrow space operation. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the present application, the present application will be further described below in combination with the drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

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

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

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

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

[0036] Figure 5 is a structural schematic diagram of the walking adjusting device in some embodiments of the present application;

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

[0038] Figure 7 is the second partial structural schematic diagram of the walking adjusting device in some embodiments of the present application;

[0039] Figure 8is one of exploded view of the guide limiting assembly of the walking adjusting device in some embodiments of the present application;

[0040] Figure 9 is the second exploded view of the guide limiting assembly of the walking adjusting device in some embodiments of the present application;

[0041] Figure 10 is one of structural schematic view of the X-direction adjusting assembly and the Z-direction adjusting assembly of the walking adjusting device in some embodiments of the present application;

[0042] Figure 11 is the second structural schematic view of the X-direction adjusting assembly and the Z-direction adjusting assembly of the walking adjusting device in some embodiments of the present application;

[0043] Figure 12 is the third structural schematic view of the X-direction adjusting assembly and the Z-direction adjusting assembly of the walking adjusting device in some embodiments of the present application;

[0044] Figure 13 is the fourth structural schematic view of the X-direction adjusting assembly and the Z-direction adjusting assembly of the walking adjusting device in some embodiments of the present application;

[0045] Figure 14 is the partial structural exploded view of the walking adjusting device in some embodiments of the present application;

[0046] Figure 15 is the connection schematic view of the walking adjusting device and the first mounting plate in some embodiments of the present application;

[0047] Figure 16 is the structural schematic view of the wire feeding device in some embodiments of the present application;

[0048] Figure 17 is the structural schematic view of the wire feeding driving assembly in some embodiments of the present application;

[0049] Figure 18 is the partial structural schematic view of the wire feeding driving assembly in some embodiments of the present application;

[0050] Figure 19 is the application schematic view of the welding device in some embodiments of the present application;

[0051] Figure 20 is the structural schematic view of the welding device in some embodiments of the present application;

[0052] Figure 21 is the structural schematic view of the polishing device and the dust collection device in some embodiments of the present application. DETAILED DESCRIPTION

[0053] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will now be described in detail with reference to the drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the directions or positional relationships shown in the drawings, constructed and operated in a particular direction, and are only for the convenience of describing the technical solutions, and are not intended to indicate that the devices or elements referred to must have a particular direction, and therefore cannot be understood as limiting the present application.

[0054] It should also be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "setting" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "below" another element, the element can be "directly" or "indirectly" above the other element, or there can be one or more intervening elements. The terms "first", "second", "third" and the like are only for the convenience of describing the technical solutions, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly included one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] In the following description, specific details such as specific system structures, techniques, etc. are presented for the purpose of illustration, not for the purpose of limitation, so as to thoroughly understand the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also 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 avoid unnecessary details that hinder the description of the present application.

[0056] Referring to Figures 1 to 21 The present application shows a kind of nuclear power plant pipe welding polishing equipment, it can be used for the welding polishing operation of nuclear power plant pipe 100, compared with artificial welding polishing mode, compared with artificial welding polishing mode, it can effectively improve operation efficiency, and effectively improve welding polishing quality, in addition, it can also ensure that staff reduces radiation influence, safeguard the health of staff.The structure of the nuclear power plant pipe welding polishing equipment is relatively compact, and can be suitable for narrow space operation.

[0057] The nuclear power plant pipeline welding and polishing device comprises a mounting circular rail 10, a walking adjusting device 20, a wire feeding device 30, a welding device 40, a first mounting plate 50, a polishing device 60, and a second mounting plate 70. The device arrangement is as shown in Figure 1 .

[0058] The mounting circular rail 10 is used to be sleeved on the nuclear power plant pipeline 100 and is coaxially arranged with the nuclear power plant pipeline 100. The number of the walking adjusting devices 20 is two, and the two walking adjusting devices 20 are movably mounted on the mounting circular rail 10. The wire feeding device 30 is connected with the two walking adjusting devices 20. The welding device 40 is connected with one of the walking adjusting devices 20 through the first mounting plate 50, and the welding device 40 comprises 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 arranged on the left and right sides of the welding gun 41 respectively, and are used to observe the welding molten pool state.

[0059] The polishing device 60 is connected with the other walking adjusting device 20 through the second mounting plate 70, and the polishing device 60 comprises at least one polisher connected with the second mounting plate 70.

[0060] As shown in Figures 2 to 4 , in some embodiments, the mounting circular rail 10 comprises a ring-shaped body 11, the inner surface of the ring-shaped body 11 is provided with a ring-shaped boss 12, the axial length of the ring-shaped body 11 is greater than the axial length of the ring-shaped boss 12, so as to define a stepped surface 13 on the inner surface of the ring-shaped body 11; in some embodiments, the mounting circular rail 10 comprises a first half-circular rail 10a and a second half-circular rail 10b which are detachably connected, so as to be assembled on the nuclear power plant pipeline 100. In some embodiments, the end surface of each end of the first half-circular rail 10a is provided with a first connecting hole 10c; the two ends of the second half-circular rail 10b are provided with second connecting holes 10d, the second connecting holes 10d are arranged through the end surface of each end of the second half-circular rail 10b from the circumferential outer side of each end of the second half-circular rail 10b; the first connecting hole 10c and the second connecting hole 10d are connected and fixed by a fastener. The fastener comprises but is not limited to a bolt or a screw. The inner side of the ring-shaped boss 12 is further provided with a plurality of grooves 121, the grooves 121 are arranged at intervals along the circumferential direction of the ring-shaped boss 12, and the walking adjusting device 20 further comprises a limiting block 14 arranged in the groove 121.

[0061] The inner wall surface of the groove 121 is provided with several adjusting holes 15 penetrating to the outer surface of the annular body 11. The mounting circular rail 10 further comprises an adjusting member, such as a bolt, penetrating the adjusting hole 15 to adjust the radial extension amount of the limiting block 14. The radial extension amount of the limiting block 14 can be adjusted to better fix the mounting circular rail on the nuclear power plant pipeline 100, and the limiting block 14 can be replaced as needed to be applicable to 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 a texture to increase friction, so that the walking adjusting device 20 can more stably walk on the outer surface of the annular body 11.

[0063] As shown in Figures 5 to 9 In some embodiments, each walking adjusting device 20 comprises a first housing 21, a first driving motor 22, a walking wheel 23, and a guide limiting assembly 24. The first housing 21 has opposite first and second side plates 211 and 212, and is generally in a cylindrical structure. The first housing 21 has opposite first and second side plates 211 and 212, and a top plate 213 connecting the first and second side plates 211 and 212. In some embodiments, the first housing 21 further comprises a third side plate 214, which can be connected to the top plate 213 and disposed close to the first side plate 211, so that a containing space is formed between the third side plate 214 and the first side plate 211, and relevant gears can be located in the containing space, so that the gears can be protected from impurities entering the gears during welding operation and causing the gears to jam. The first driving motor 22 can be a servo motor, which has high adjustment accuracy and reverse rotation function.

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

[0065] The mounting shaft of the walking wheel 23 connects the first and second side plates 211 and 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 and the first driven gear 231 are in mesh with each other.

[0066] The guide limiting assembly 24 is provided with at least one guide wheel 246. The guide wheel 246 is in contact with the stepped surface 13.

[0067] As shown in Figure 8 and Figure 9 In some embodiments, the guide limiting assembly 24 further comprises a first fixed block 241, a second fixed block 242, a connecting block 243, a sliding block 256, a sliding block 244 and an adjusting bolt 245. The first fixed block 241 is arranged opposite to the second fixed block 242. The connecting block 243 connects the first fixed block 241 and the second fixed block 242, and a mounting space is formed between the first fixed block 241 and the second fixed block 242. The sliding block 256 is in an L-shaped structure, and comprises a main body part 2441 and a mounting part 2442 connected to one side of the main body part 2441. The main body part 2441 is movably mounted in the mounting space. The adjusting bolt 245 is arranged through the connecting block 243 to connect with the main body part 2441. The guide wheel 246 is mounted on the mounting part 2442. The adjusting bolt 245 adjusts the tightness of the contact between the guide wheel 246 and the stepped surface 13, so that the guide wheel 246 closely contacts with the stepped surface 13 and the friction between the walking wheel 23 and the upper surface of the mounting circular rail 10 is increased, so that the walking is more stable and reliable.

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

[0069] In some embodiments, the side of the first fixed block 241 facing the second fixed block 242 is provided with a first guide groove 2411, and the side of the second fixed block 242 facing the first fixed block 241 is provided with a second guide groove 2421. The opposite sides of the main body part 2441 are respectively provided with a first limiting part 24411 and a second limiting part 24412. The first limiting part 24411 is located in the first guide groove 2411, and the second limiting part 24412 is located in the second guide groove 2421. Alternatively, in some embodiments, the main body part 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 part 2441 and respectively extend into the first guide groove 2411 and the second guide groove 2421.

[0070] As shown in Figure 6 In some embodiments, each walking adjusting device 20 further comprises an encoder 27 mounted in the first housing 21. The gear 271 of the encoder 27 is engaged with the first driving gear 221 or the first driven gear 231. Preferably, the gear 271 of the encoder 27 is engaged with the first driven gear 231.

[0071] In some embodiments, each walking adjusting device 20 further comprises a driven roller 28, so that the walking adjusting device 20 is more suitable for walking on the mounting circular rail 10.

[0072] The walking adjustment device 20 has a relatively compact structure and does not occupy a large space, making it suitable for operation in narrow spaces. The walking adjustment device 20 can achieve stable movement around the outer periphery of the nuclear power plant pipeline 100, thereby driving the welding device 40 and other devices to rotate around the outer periphery of the nuclear power plant pipeline 100, thus realizing automatic welding operations on the nuclear power plant pipeline 100.

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

[0074] The Z-axis adjustment assembly 25 includes a second drive motor 251, a first lead screw 252, a first lead screw nut seat 253, and a sliding plate 254. The second drive motor 251 and the first lead screw 252 are installed inside the first housing 21, and the axial direction of the first lead screw 252 is parallel to the Z-axis. The first lead screw nut seat 253 is installed on the first lead screw 252. The first end of the second drive motor 251 and the first end of the first lead screw 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, and the first end of the first lead screw 252 is provided with a second driven gear 2521. The second drive gear 2511 and the second driven gear 2521 mesh with each other. The sliding plate 254 is connected to the first lead screw nut seat 253. The second drive motor 251 drives the second drive gear 2511 to rotate, which in turn drives the second driven gear 2521 to rotate. This causes the first lead screw nut seat 253 to move axially along the first lead screw 252, which in turn moves the slide plate 254 along the Z-axis. Figure 1 Taking direction as an example, it can be the axial direction of the nuclear power plant pipeline 100.

[0075] The X-direction adjusting assembly 26 comprises a second housing 261, a third driving motor 262, a second screw rod 263, and a second screw rod nut seat 264. The second housing 261 is connected with the slide plate 254, and the overall structure of the second housing 261 and the slide plate 254 is approximately L-shaped. The third driving 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 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 driving motor 262 and the first end of the second screw rod 263 protrude from the same side of the second housing 261. The first end of the third driving 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. The third driving gear 2621 and the third driven gear 2631 are in meshing engagement with each other. The third driving motor 262 drives the third driving gear 2621 to rotate, which drives the third driven gear 2631 to rotate, thereby driving the second screw rod nut seat 264 to move along the axial direction of the second screw rod 263, and then driving the first mounting plate 50 and / or the second mounting plate 70 to move along the X-direction. The X-direction is taken as an example, which can be the radial direction of the nuclear power plant pipeline 100. Figure 1 The X-direction is taken as an example, which can be the radial direction of the nuclear power plant pipeline 100.

[0076] Specifically, the first mounting plate 50 is connected with the second screw rod nut seat 264 of one walking adjusting device 20, and the second mounting plate 70 is connected with the second screw rod nut seat 264 of another walking adjusting device 20.

[0077] As shown in Figure 13 and Figure 14 , in some embodiments, the first housing 21 is further provided with a first limiting groove 21a extending along the Z-direction. Part of the structure of the first screw rod nut seat 253 is located in the first limiting groove 21a, and the first limiting groove 21a can guide and limit the first screw rod nut seat 253.

[0078] As shown in Figure 13 and Figure 14 , in some embodiments, the first housing 21 is provided with two slide rails 255 on both sides of the first limiting groove 21a, which extend along the Z-direction. One of the slide rails 255 can be installed at the top position of the first housing 21, and the other slide rail 255 can be installed at the side position of the first housing 21. The slide plate 254 is provided with a sliding block 256 movably installed on the slide rail 255. The sliding block 256 can be detachably connected with the slide plate 254, or the sliding block 256 can be fixedly connected with the slide plate 254, which is not limited here.

[0079] As shown in Figure 11As shown in the drawings, in some embodiments, the second housing 261 is further provided with a second limiting groove 261a extending 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] As shown in the drawings, Figure 14 In some embodiments, the X-direction adjusting mechanism 26 further includes a connecting gear 265 mounted on the second housing 261, and the connecting gear 265 is engaged with the third driving gear 2621 and the third driven gear 2631, respectively. Of course, the connecting gear 265 can also not be provided.

[0081] As shown in the drawings, Figure 14 The X-direction adjusting mechanism 26 further includes a protective shell 266 connected with the second housing 261 for covering 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 avoid impurities entering the teeth of the third driving gear 2621 and the third driven gear 2631 to cause jamming during the welding operation.

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

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

[0084] As shown in the drawings, Figures 16 to 18 In some embodiments, the wire feeding device 30 includes 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 with the two walking adjusting devices 20 through a connecting plate 80.

[0085] In some embodiments, the first mounting plate 50 is further provided with a wire feeding rod 43, the wire feeding device 30 includes a wire feeding driving assembly 33 mounted on the connecting plate 80, and the wire feeding driving assembly 33 is arranged close to one side of the welding device 40, and the wire feeding driving 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 comprises 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 with the wire feeding wheel 333 through the gear set 334. The gear set 334 can be a bevel gear combination (as shown in FIG. 3). Figure 18 The fourth drive motor 331 can be a servo motor, which has high adjustment precision and reverse rotation function. The wire clamping rod 335 is mounted on the third housing 332, and the wire clamping bearing 336 is mounted on the wire clamping rod 335, and the 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 comprises a motor mounting seat 337, and the fourth drive motor 331 is mounted on the motor mounting seat 337. The motor mounting seat 337 can be detachably mounted on the side of the third housing 332. The wire feeding drive assembly 33 further comprises a tensioning bolt 338, which is used to penetrate the motor mounting seat 337 to abut one end of the wire clamping rod 335, so as to adjust the contact state of the wire clamping bearing 336 and the wire feeding wheel 333.

[0088] 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 comprises a motor mounting seat 337, and the fourth drive motor 331 is mounted on the motor mounting seat 337. The motor mounting seat 337 can be detachably mounted on the side of the third housing 332. The wire feeding drive assembly 33 further comprises a tensioning bolt 338, which is used to penetrate the motor mounting seat 337 to abut one end of the wire clamping rod 335, so as to adjust the contact state of the wire clamping bearing 336 and the wire feeding wheel 333.

[0089] 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 comprises a motor mounting seat 337, and the fourth drive motor 331 is mounted on the motor mounting seat 337. The motor mounting seat 337 can be detachably mounted on the side of the third housing 332. The wire feeding drive assembly 33 further comprises a tensioning bolt 338, which is used to penetrate the motor mounting seat 337 to abut one end of the wire clamping rod 335, so as to adjust the contact state of the wire clamping bearing 336 and the wire feeding wheel 333.

[0090] In some embodiments, the first mounting plate 50 and the second mounting plate 70 are curved plates, which are bent towards the mounting circular rail 10, so as to reduce the height of the equipment in the radial direction of the nuclear power plant pipeline 100. Further, as shown in FIG. 1, the first mounting plate 50 and the second mounting plate 70 are arranged on the same side of the mounting circular rail 10, so as to reduce the height of the equipment in the radial direction of the nuclear power plant pipeline 100.Figure 15 , Figure 19 , Figure 20 As shown, surfaces 51 and 52 on the first mounting plate 50 are approximately perpendicular to each other (e.g., Figure 15 As shown, the welding device 40 is fixed on the first mounting plate 50, and the axis of the tungsten electrode of the welding torch 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. This allows the welding torch 41 to move along the radial direction of the nuclear power plant pipeline 100, i.e., the height direction of the weld 101, to achieve the optimal welding position.

[0091] like Figure 21 As shown, in some embodiments, the grinding device 60 is used to grind the oxide layer on the surface of a weld bead after the welding device 40 has completed welding a certain weld bead, so as to facilitate the next welding. It includes a grinding machine and a high-definition camera. The grinding machine may include a drive motor and a grinding wheel connected to each other. The grinding machine is fixed to the second mounting plate 70 through a motor mounting base. The second mounting plate 70 is fixed to a travel adjustment device 20. The travel adjustment device 20 is used to make the grinding wheel of the grinding machine align 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 collection device 90 connected to the second mounting plate 70, which is spaced apart from the grinding device 60. The dust collection device 90 is mounted on the second mounting plate 70, located on one side of the grinding machine, and has a dust collection hose at its end. Its function is to automatically collect the dust generated during the grinding process 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 advantages:

[0094] 1. The nuclear power plant pipeline welding and grinding equipment is equipped with both a welding device 40 and a grinding device 60. After automatically welding the weld 101, it can automatically grind the oxide layer on the weld surface and collect fumes. Compared with manual operation, it improves efficiency, greatly reduces the welding and grinding time for each weld layer, and the welding and grinding quality is better and more stable. This will generate huge economic value for application scenarios with strict time and quality requirements, such as power plant maintenance.

[0095] 2、The nuclear power plant pipeline welding and polishing device is arranged by closely installing each mechanism to the circular rail 10 and adjusting the height direction of the welding gun 41 to the adjustment of the position adjusting device in the tangential direction of the weld, which ingeniously reduces the height of the nuclear power plant pipeline welding and polishing device in the radial direction of the pipeline, is beneficial to the nuclear power plant pipeline welding and polishing device to enter narrow space (such as the distance between the adjacent pipeline 200 or the wall and the nuclear power plant pipeline 100 to be welded is very close) for operation, and can weld the area that is not accessible by artificial, and has very high application value.

[0096] 3、The nuclear power plant pipeline welding and polishing device is arranged by closely installing each mechanism to the circular rail 10 and adjusting the height direction of the welding gun 41 to the adjustment of the position adjusting device in the tangential direction of the weld, which ingeniously reduces the height of the nuclear power plant pipeline welding and polishing device in the radial direction of the pipeline, is beneficial to the nuclear power plant pipeline welding and polishing device to enter narrow space (such as the distance between the adjacent pipeline 200 or the wall and the nuclear power plant pipeline 100 to be welded is very close) for operation, and can weld the area that is not accessible by artificial, and has very high application value.

[0097] It can be understood that the above embodiments only express the preferred embodiments of the present application, the description is more specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application; it should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and several modifications and improvements can be made, which belong to the protection scope of the present application; therefore, any equivalent transformation and modification within the scope of the claims of the present application should belong to the scope of the claims of the present application.

Claims

1. A nuclear power plant pipeline welding and grinding equipment, characterized in that, include: Mounting rail (10), which is used to fit onto the pipeline of the nuclear power plant; Walking adjustment device (20), the number of the walking adjustment device (20) is two, and the two walking adjustment devices (20) are movably installed on the mounting circular rail (10); A wire feeding device (30) is connected to two of the walking adjustment devices (20); A welding device (40) is connected to a walking adjustment device (20) via a first mounting plate (50). The welding device (40) includes at least one welding torch (41) and at least one molten pool camera (42) disposed on the first mounting plate (50). A polishing device (60) is connected to another of the travel adjustment devices (20) via a second mounting plate (70), the polishing device (60) including at least one polisher connected to the second mounting plate (70).

2. The nuclear power plant pipeline welding and grinding equipment according to claim 1, characterized in that, The mounting rail (10) includes an annular body (11), and 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 stepped surface (13) on the inner surface of the annular body (11). Each of the walking adjustment devices (20) includes a first housing (21), a first drive motor (22), a walking wheel (23), and a guide limiting assembly (24). The first housing (21) has a first side plate (211) and a second side plate (212) facing each other. The first drive motor (22) is installed inside the first housing (21), and the output end of the first drive motor (22) protrudes from the first side plate (211). 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) 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 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) meshes with the first driven gear (231). There are two guide limiting components (24). The two guide limiting components (24) are connected to the first side plate (211) and the second side plate (212) respectively. Each guide limiting component (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, characterized in that, The guide limiting assembly (24) also includes a first fixing block (241), a second fixing block (242), a connecting block (243), a slider (244), and an adjusting bolt (245); The first fixing block (241) and the second fixing block (242) are arranged opposite to each other, and the connecting block (243) connects the first fixing block (241) and the second fixing block (242), forming an installation space between the first fixing block (241) and the second fixing block (242); The slider (244) has an L-shaped structure. The slider (244) includes a main body (2441) and a mounting part (2442) connected to one side of the main body (2441). The main body (2441) is movably mounted in the mounting space. The adjusting bolt (245) passes through the connecting block (243) to connect with the main body (2441). The guide wheel (246) is mounted on the mounting part (2442).

4. The nuclear power plant pipeline welding and grinding equipment according to claim 2, characterized in that, Each of the walking adjustment devices (20) further includes a Z-axis adjustment component (25) and an X-axis adjustment component (26); The Z-axis adjustment assembly (25) includes a second drive motor (251), a first lead screw (252), a first lead screw nut seat (253), and a sliding plate (254). The second drive motor (251) and the first lead screw (252) are installed inside the first housing (21). The axial direction of the first lead screw (252) is parallel to the Z-axis. The first lead screw nut seat (253) is installed on the first lead screw (252). The first end of the second drive motor (251) and the first end of the first lead screw (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), and the first end of the first lead screw (252) is provided with a second driven gear (2521). The second drive gear (2511) and the second driven gear (2521) mesh with each other. The sliding plate (254) is connected to the first lead screw nut seat (253). The X-axis adjustment assembly (26) includes a second housing (261), a third drive motor (262), a second lead screw (263), and a second lead screw nut seat (264). The second housing (261) is connected to the slide plate (254). The third drive motor (262) and the second lead screw (263) are installed inside the second housing (261). The axial direction of the second lead screw (263) is parallel to the X-axis. The second lead screw nut seat (264) is installed on the second lead screw (263). The first end of the third drive motor (262) and the first end of the second lead screw (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), and the first end of the second lead screw (263) is provided with a third driven gear (2631). The third drive gear (2621) and the third driven gear (2631) mesh with each other. The first mounting plate (50) is connected to the second lead screw nut seat (264) of a travel adjustment device (20), and the second mounting plate (70) is connected to the second lead 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) includes a wire spool carriage (31) and a wire spool (32) mounted on the wire spool carriage (31). The wire spool carriage (31) is movably mounted on the mounting circular rail (10). The wire spool carriage (31) is connected to the two walking adjustment devices (20) through a connecting plate (80).

6. The nuclear power plant pipeline welding and grinding equipment according to claim 5, characterized in that, The first mounting plate (50) is also provided with a wire feeder (43). The wire feeding device (30) includes a wire feeding drive assembly (33). The wire feeding drive assembly (33) is mounted on the connecting plate (80) and is located on the side close to the welding device (40). The wire feeding drive assembly (33) is used to feed the welding wire on the wire spool (32) to the wire feeder (43).

7. The nuclear power plant pipeline welding and grinding equipment according to claim 6, characterized in that, 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 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 wire clamping rod (335) is mounted on the third housing (332), the wire clamping bearing (336) is mounted on the wire clamping rod (335), and the 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) also includes a motor mounting base (337), the fourth drive motor (331) is mounted on the motor mounting base (337), and the motor mounting base (337) is detachably mounted on the side of the third housing (332); The wire feeding drive assembly (33) also includes a tensioning bolt (338), which is used to pass through the motor mounting base (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).

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 tube connector (339) and a second wire feeding tube connector (3310) on its circumferential sides respectively. The first wire feeding tube connector (339) is connected to the wire spool (32), and the second wire feeding tube connector (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 also includes a dust collection device (90) connected to the second mounting plate (70), and the dust collection device (90) and the grinding device (60) are spaced apart.

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