Automatic welding system

Abstract

The invention discloses an automatic welding system which comprises a welding machine head, a welding machine placing platform and a control system, the welding machine head comprises a machine head body, a welding gun three-dimensional adjusting mechanism and a welding gun, a rotating device is arranged on the machine head body, a welding ground wire integration device is arranged on the rotating device, and the welding ground wire integration device is connected with the machine head body; the welding gun is arranged on the welding gun three-dimensional adjusting mechanism, and the welding gun three-dimensional adjusting mechanism is arranged on the rotating device; the welding placing platform is used for placing a welding machine head in a non-working state; the control system is electrically connected with the machine head body, the welding gun three-dimensional adjusting mechanism and the welding gun and used for controlling operation of the welding machine head. The device is high in automation degree, the workload of operators can be reduced, the working complexity can be reduced, and the device can be used for conducting long-distance capping operation on a glass curing product container in the radioactive material glass curing technological process in a hot chamber.

Description

Technical Field

[0001] The invention belongs to the technical field of nuclear engineering, and in particular relates to an automatic welding system. Background Art

[0002] In the field of nuclear fuel reprocessing, vitrification technology is usually used for the treatment of high-level radioactive waste, and the automatic welding system is an important equipment in the vitrification process. Its function is to weld the barrel cover of the product container to the product container containing the glass solid body in a hot chamber that can be operated remotely, so that the glass solid body is sealed and stored in the product container.

[0003] At present, some similar equipment at home and abroad have a relatively low degree of automation, and there are a lot of auxiliary tasks that need to be completed by personnel operating master and slave manipulators, such as laying ground wires on product containers, clamping and replacing tungsten electrodes, etc. The workload of operators is large and the work is highly complex. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic welding system in view of the above-mentioned deficiencies in the prior art, which has a high degree of automation, can reduce the workload of operators, and reduce the complexity of work. It can be used to perform remote capping operations on glass-cured product containers in the glass-curing process of radioactive materials in a hot chamber.

[0005] The technical solution of the present invention to solve the above technical problems is:

[0006] An automatic welding system includes a welding machine head, a welding machine placement platform and a control system, wherein the welding machine head includes a head body, a welding gun three-dimensional adjustment mechanism and a welding gun, wherein:

[0007] The machine head body is provided with a rotating device, and the rotating device is provided with a welding ground wire integrated device, and the welding ground wire integrated device is connected to the machine head body. When working, the welding machine head is placed on the product container, and the welding ground wire integrated device contacts the product container to form an electrical connection, which is used to enable the welding machine head to automatically complete the connection of the welding ground wire;

[0008] The welding gun is arranged on a three-dimensional adjustment mechanism of the welding gun, and the three-dimensional adjustment mechanism of the welding gun is arranged on a rotating device for adjusting the position of the welding gun;

[0009] The welding placement platform is used to place the welding machine head in a non-working state;

[0010] The control system is electrically connected to the head body, the welding gun three-dimensional adjustment mechanism and the welding gun in the welding machine head, and is used to control the operation of the welding machine head.

[0011] Preferably, the welding ground wire integrated device includes a welding ground wire connection plate, a welding ground wire and an insulating plate, the welding ground wire connection plate is arranged at the bottom end of the machine head body, one end of the welding ground wire is connected to the welding ground wire connection plate, and the other end thereof is connected to the machine head body, and the insulating plate is arranged between the welding ground wire connection plate and the joint body, and is used to insulate the welding wire connection plate from the machine head body.

[0012] Preferably, the three-dimensional adjustment mechanism of the welding gun includes a welding gun radial direction adjustment device, a welding gun axial direction adjustment device, a welding gun angle adjustment device and a welding gun clamping device, wherein:

[0013] The welding gun radial direction adjustment device is arranged on one side of the head body through the rotating device, and is used to adjust the position of the welding gun in the radial direction;

[0014] The welding gun axial direction adjustment device is arranged at the end of the welding gun radial direction adjustment device, and is used to adjust the position of the welding gun in the axial direction;

[0015] The welding gun angle adjustment device is arranged at the end of the welding gun axial direction adjustment device and is used to adjust the angle of the welding gun;

[0016] The welding gun clamping device is arranged at the end of the welding gun angle adjustment device and is used for clamping the welding gun.

[0017] Preferably, the welding gun comprises a rotary cylinder, a tungsten electrode clamping nut, a welding gun copper body, a tungsten electrode clamp, a welding gun insulating sleeve, a tungsten electrode chuck, a welding gun insulating sleeve, a tungsten electrode and a nozzle, wherein:

[0018] The rotary cylinder is arranged at the end of the tungsten electrode clamping nut and is used to drive the tungsten electrode clamping nut to rotate so that the tungsten electrode clamp clamps the tungsten electrode;

[0019] The copper body of the welding gun is sealed and connected to the tungsten electrode clamping nut for conducting electricity;

[0020] The tungsten electrode clamp is arranged inside the copper body of the welding gun and is connected to the tungsten electrode clamping nut for clamping the tungsten electrode;

[0021] The welding gun insulating sleeve is arranged on the outside of the welding gun copper body for insulation, and the welding gun is arranged on the welding gun three-dimensional adjustment mechanism through the welding gun insulating sleeve;

[0022] The tungsten electrode chuck is arranged at the end of the tungsten electrode clamp, and a conical surface structure is arranged inside the tungsten electrode to fix the tungsten electrode;

[0023] The tungsten electrode is arranged in a tungsten electrode clamp and a tungsten electrode chuck for welding.

[0024] Preferably, the welding machine placement platform includes a welding machine placement seat, a tungsten electrode removal device, a jacking platform, an origin limit switch, a tungsten electrode installation device and a tungsten electrode bin, wherein:

[0025] The welding machine placement seat is used to place the welding machine head and position it;

[0026] The lifting platform is arranged below the welding machine placement seat and is used to lift or lower the height of the tungsten electrode device for disassembly and installation;

[0027] The tungsten electrode removal device is arranged on the jacking platform and is located on one side of the welding machine placement seat, and is used to clamp the old tungsten electrode to be replaced in the welding gun, and cooperate with the action of the jacking platform to pull the old tungsten electrode out of the welding gun;

[0028] The tungsten electrode installation device is arranged on the lifting platform and is located on the other side of the welding machine placement seat, and is used to push the new tungsten electrode into the welding gun in coordination with the action of the lifting platform;

[0029] The origin limit switch is arranged on the running path of the jacking platform, and is used to limit the relative position of the tungsten electrode device for disassembling and installing relative to the welding gun;

[0030] The tungsten electrode bin is arranged on the tungsten electrode installation device and is used for storing new tungsten electrodes.

[0031] Preferably, the tungsten electrode installation device includes a tungsten electrode bin tightening mechanism, a limit switch, a tungsten electrode bin mounting seat, a tungsten electrode lifting block and a tungsten electrode lifting motor, wherein:

[0032] The tungsten pole bin mounting seat is arranged on the jacking platform and is used for mounting the tungsten pole bin;

[0033] The tungsten pole bin tightening mechanism is arranged on the opposite side of the tungsten pole bin mounting seat, and is used to tighten the tungsten pole bin to fix the tungsten pole bin;

[0034] The tungsten pole lifting block is arranged below the tungsten pole bin mounting seat, and a tungsten pole lifting block lifting port is arranged at a corresponding position on the tungsten pole bin mounting seat. The tungsten pole lifting motor is connected to the tungsten pole lifting block to drive the tungsten pole lifting block to move vertically, so as to lift up the new tungsten pole in the tungsten pole bin and push it into the welding gun.

[0035] The limit switch is arranged on one side of the tungsten pole bin tightening mechanism and is used to limit the movement range of the tungsten pole lifting motor and the tungsten pole lifting block to ensure the fixed length of the lifted tungsten pole.

[0036] Preferably, the rotating device includes a stepper motor, a transmission gear and a rotating outer ring, the stepper motor is arranged in the head body, the rotating outer ring is connected to the stepper motor through the transmission gear, and the welding gun three-dimensional adjustment mechanism and the counterweight block are both arranged on the rotating outer ring.

[0037] Preferably, the rotating device further comprises a rotary transformer, which is electrically connected to the control system and is used to detect the rotation parameters and provide feedback to the control system. The control system is also used to automatically control the welding action according to the fed-back rotation parameters.

[0038] Preferably, the welding machine head is suspended in the hot chamber by a lifting component, the welding machine placement platform is arranged on one side of the hot chamber, the control system is arranged outside the hot chamber, and the system further comprises a cable suspension device, which is arranged on the front wall of the hot chamber near the peep window side and is used to guide the cable to prevent the cable from interfering with the welding process during operation.

[0039] The automatic welding system of the present invention has the following beneficial effects:

[0040] (1) High degree of automation. When the welding machine is placed on the product container, the ground wire can be automatically connected. This solves the problem that workers need to operate the manipulator to complete the ground wire connection before each welding. This makes the welding machine operation more convenient, reduces the workload of operators, and reduces the complexity of work.

[0041] (2) It can realize automatic replacement of tungsten electrodes, ensure the consistency of the tungsten electrode extension length when replacing the tungsten electrode, save the tedious and complicated process of measuring the tungsten electrode extension length when manually (or manually operated manipulator) replaces the tungsten electrode, solve the tedious operation problem of manual replacement of tungsten electrodes, and at the same time, it can also determine the accurate distance of the tungsten electrode relative to the welding position before welding, solve the problem of the unfixed position of the tungsten electrode relative to the weld during manual operation;

[0042] (3) The sealing cap can be automatically welded to the product container in the hot chamber to seal the glass solidified body in the product container. It can be used to perform remote sealing operations on the glass solidified product containers in the process of glass solidification of radioactive materials in the hot chamber. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of an automatic welding system according to an embodiment of the present invention;

[0044] Figure 2 A schematic structural diagram of a welding machine head according to an embodiment of the present invention;

[0045] Figure 3 It is a structural schematic diagram of the head body of an embodiment of the present invention;

[0046] Figure 4 A schematic diagram of a welding gun posture according to an embodiment of the present invention;

[0047] Figure 5 A schematic diagram of the structure of a welding gun according to an embodiment of the present invention;

[0048] Figure 6 It is a structural schematic diagram of a welding machine placement platform according to an embodiment of the present invention;

[0049] Figure 7 It is a structural schematic diagram of a tungsten electrode installation device according to an embodiment of the present invention;

[0050] Figure 8 Schematic diagram of the structure of the tungsten pole chamber according to an embodiment of the present invention.

[0051] In the figure: 1-cable suspension device, 2-welding machine head, 3-product container, 4-welding machine placement platform, 5-manipulator, 6-welding power supply, 7-control system, 8-head body, 9-counterweight, 10-three-dimensional adjustment mechanism of welding gun, 11-welding gun, 12-welding ground wire, 13-rotating transformer, 14-welding ground wire connection plate, 15-insulating plate, 16-rotating outer ring, 17-transmission gear, 18-stepping motor, 19-rotating cylinder, 2 0-tungsten electrode clamping nut, 21-welding gun copper body, 22-tungsten electrode clamp, 23-tungsten electrode chuck, 24-tungsten electrode, 25-welding machine placement seat, 26-install tungsten electrode device, 27-quick connector, 28-tungsten electrode collection box, 29-disassemble tungsten electrode device, 30-lifting platform, 31-tungsten electrode bin tightening mechanism, 32-limit switch, 33-tungsten electrode lifting block, 34-tungsten electrode lifting motor, 35-tungsten electrode bin mounting seat, 36-constant force coil spring, 37-tungsten electrode bin. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention.

[0053] In the description of the present invention, it should be noted that the term "upper" and the like to indicate orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0054] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] The automatic welding system in the prior art has a relatively low degree of automation, which leads to a large workload for operators and high complexity of work. The present invention discloses an automatic welding system, including a welding machine head, a welding machine placement platform and a control system, wherein the welding machine head includes a head body, a welding gun three-dimensional adjustment mechanism and a welding gun, wherein:

[0056] The machine head body is provided with a rotating device, and the rotating device is provided with a welding ground wire integrated device, and the welding ground wire integrated device is connected to the machine head body. When the automatic welding system is working, the welding machine head is placed on the product container, and the welding ground wire integrated device contacts the product container to form an electrical connection, so that the welding machine head automatically completes the connection of the welding ground wire;

[0057] The welding gun is arranged on a three-dimensional adjustment mechanism of the welding gun, and the three-dimensional adjustment mechanism of the welding gun is arranged on a rotating device for adjusting the position of the welding gun;

[0058] The welding placement platform is used to place the welding machine head in a non-working state;

[0059] The control system is electrically connected to the head body, the welding gun three-dimensional adjustment mechanism and the welding gun in the welding machine head, and is used to control the operation of the welding machine head.

[0060] Example 1

[0061] like Figure 1 As shown, this embodiment discloses an automatic welding system, including a welding machine head 2, a welding machine placement platform 4 and a control system 7, wherein:

[0062] The welding machine head 2 is the main operating part of the automatic welding system of this embodiment and is also the most important component of the entire system. Figure 2 As shown, the welding machine head 2 includes a head body 8, a welding gun three-dimensional adjustment mechanism 10, a welding gun 11 and other components.

[0063] Specifically, if Figure 3As shown, the head body 8 is an important component of the welding machine head 2, and is also the base of the entire welding machine head 2. Other components are respectively connected to the head body 8 through connectors. A rotating device is provided on the head body 8, and a welding ground wire integrated device is provided on the rotating device. The welding ground wire integrated device is connected to the head body 8, that is, the welding machine and the ground wire are integrated. When the system is working, the operator places the welding machine head 2 on the product container 3 through a manipulator in the operation area. The welding ground wire integrated device contacts the product container 3 to form an electrical connection, which is used to enable the welding machine head 2 to automatically complete the overlap of the welding ground wire and realize automatic welding, so as to avoid the need for the operator to operate the manipulator 5 to complete the overlap of the welding ground wire before each welding in the traditional welding system, thereby making the welding machine operation more convenient; the welding gun 11 is provided on the welding gun three-dimensional adjustment mechanism 10, and the welding gun three-dimensional adjustment mechanism 10 is provided on the rotating device through a deadweight locking mechanism. The welding gun three-dimensional adjustment mechanism 10 is a motion mechanism for adjusting the position of the welding gun, and is used to adjust the position of the welding gun 11;

[0064] The welding placement platform 4 is used to place the welding machine head in a non-working state;

[0065] The control system 7 is connected to the head body 8, the welding gun three-dimensional adjustment mechanism 10 and the welding gun 11 in the welding machine head 2 through cables, respectively, and is used to control the operation of the welding machine head.

[0066] In some embodiments, the welding machine head 2 also includes a counterweight block 9, which is arranged on the rotating device and is located on the opposite side of the welding gun three-dimensional adjustment mechanism 10. In addition, the counterweight block 9 can adjust the radial position according to actual conditions to adjust the center of gravity of the welding machine head to balance the weight on the welding gun side, so that the center of gravity of the welding machine head is centered to ensure that the welding machine head will not deviate to the side.

[0067] In some embodiments, the welding ground wire integrated device includes a welding ground wire connection plate 14 , a welding ground wire 12 , and an insulating plate 15 .

[0068] Specifically, if Figure 3 As shown, the welding ground wire connection plate 14 is arranged at the bottom end of the machine head body 8, one end of the welding ground wire 12 is connected to the welding ground wire connection plate 14, and the other end thereof is directly connected to the machine head body 8 and connected to the machine head body 8 by bolts. An insulating plate 15 is arranged between the welding ground wire connection plate 14 and the joint body 8, and is used to fix the welding ground wire connection plate and insulate the welding wire connection plate from the machine head body.

[0069] In some embodiments, the welding gun three-dimensional adjustment mechanism 10 includes a welding gun radial direction adjustment device, a welding gun axial direction adjustment device, a welding gun angle adjustment device and a welding gun clamping device.

[0070] Specifically, if Figure 4As shown, the welding gun radial direction adjustment device is arranged on one side of the head body 8 through a rotating device, and is used to adjust the position of the welding gun in the radial direction; the welding gun axial direction adjustment device is arranged at the end of the welding gun radial direction adjustment device, and is used to adjust the position of the welding gun in the axial direction; the welding gun angle adjustment device is arranged at the end of the welding gun axial direction adjustment device, and is used to adjust the angle of the welding gun; the welding gun clamping device is arranged at the end of the welding gun angle adjustment device, and is used to clamp the welding gun 11.

[0071] Through the above settings, the distance position of the welding gun to the workpiece in the axial direction and radial direction can be adjusted. For example, the welding gun can be placed in two posture positions of 40° or 90°. When the welding gun is in the posture position of 40°, it is used for welding operations; when the welding gun is in the posture position of 90°, it is used for the posture of automatic tungsten electrode replacement operations, but it is not limited to this. The operator can freely set the welding operation posture and the posture angle of the automatic tungsten electrode replacement operation according to different operation requirements, and adjust the welding gun radial direction adjustment device, the welding gun axial direction adjustment device, and the welding gun angle adjustment device through the manipulator to switch the welding gun posture.

[0072] In some embodiments, the welding gun 11 includes a rotary cylinder 19 , a tungsten electrode clamping nut 20 , a welding gun copper body 21 , a tungsten electrode clamp 22 , a welding gun insulating sleeve, a tungsten electrode chuck 23 and a tungsten electrode 24 .

[0073] Specifically, if Figure 5 As shown, the rotary cylinder 19 is arranged at the end of the tungsten pole clamping nut 20, which is used to drive the tungsten pole clamping nut to rotate. In addition, the rotary cylinder 19 can be electrically connected to the control system 7, and the tungsten pole clamping nut 20 is driven to rotate through the control of the control system 7, so that the tungsten pole clamp 22 clamps the tungsten pole; the welding gun copper body 21 is sealed and connected to the tungsten pole clamping nut 20 through a sealing ring for conduction; the tungsten pole clamp 22 is arranged inside the welding gun copper body 21 and is connected to the tungsten pole clamping nut 20 for clamping the tungsten pole 24; the welding gun insulating sleeve is arranged outside the welding gun copper body 21 for insulation, and the welding gun 11 is arranged on the welding gun three-dimensional adjustment mechanism (specifically arranged on the welding gun clamping device) through the welding gun insulating sleeve; the tungsten pole chuck 23 is arranged at the end of the tungsten pole clamp 22, and a conical surface structure is arranged inside it for fixing the tungsten pole 24; the tungsten pole 24 is arranged in the tungsten pole clamp 22 and the tungsten pole chuck 23 for welding.

[0074] Through the above-mentioned arrangement, the welding gun 11 has the function of automatically clamping the tungsten electrode 24, which is an important functional component for realizing automatic replacement of the tungsten electrode 24. The principle is as follows: the rotary cylinder 19 moves under the push of compressed air, driving the tungsten electrode clamping nut 20 to rotate, and utilizing the spiral structure to make the tungsten electrode clamping nut 20 move downward to squeeze the tungsten electrode clamp, applying a downward force to the tungsten electrode clamp 22. The interior of the tungsten electrode clamp 23 is a conical structure, which can convert the downward force of the tungsten electrode clamp 22 into a clamping force for clamping the tungsten electrode 24, thereby playing the role of clamping the tungsten electrode 24; when the rotary cylinder 19 rotates in the opposite direction, the clamping of the tungsten electrode 24 can be released.

[0075] In some embodiments, a nozzle is disposed outside the tungsten electrode chuck 23 to protect the welding area.

[0076] In some embodiments, the welding machine placement platform 4 includes a welding machine placement seat 25 , a tungsten electrode removal device 29 , a lifting platform 30 , an origin limit switch, a tungsten electrode installation device 26 and a tungsten electrode bin 37 .

[0077] Specifically, if Figure 6 As shown, the welding machine placement seat 25 is arranged in the hot chamber for placing and positioning the welding machine head in a non-working state. The welding machine placement seat 25 is provided with a quick connector 27 for connecting the welding power source 6 and a tungsten electrode collection box 28 for placing the old tungsten electrode. The lifting platform 30 is arranged below the welding machine placement seat 25, driven by a cylinder, and is used to lift or lower the height of the tungsten electrode device for disassembling and installing. The tungsten electrode device 29 for disassembling is arranged on the lifting platform 30 and is located on one side of the welding machine placement seat 25, and is used to clamp the old tungsten electrode to be replaced in the welding gun, and cooperate with the action of the lifting platform to pull the old tungsten electrode out of the welding gun; the tungsten electrode device for installing 26 is arranged on the lifting platform 30 and is located on the other side of the welding machine placement seat 25, and is used to cooperate with the action of the lifting platform to push the new tungsten electrode into the welding gun; the origin limit switch is arranged on the running path of the lifting platform 30, and is used to limit the relative position of the tungsten electrode device for disassembling and installing relative to the welding gun when automatically replacing the tungsten electrode, so as to achieve the purpose of accurate positioning, and provide a guarantee for realizing the automatic replacement of tungsten electrode function; the tungsten electrode bin 37 is arranged on the tungsten electrode device 26 for storing new tungsten electrodes.

[0078] Through the above arrangement, in combination with the above welding gun structure, the automatic replacement function of the tungsten electrode can be realized.

[0079] In some embodiments, the main structure of the tungsten electrode device 29 for disassembling adopts a pneumatic guide rail type parallel mechanical clamp driven by compressed gas. When replacing the tungsten electrode 24, the tungsten electrode 24 to be replaced in the welding gun 11 is clamped, and then the old tungsten electrode 24 is pulled out of the welding gun 11 in cooperation with the lifting action of the lifting platform 30.

[0080] In some embodiments, the tungsten electrode installation device 26 includes a tungsten electrode bin tightening mechanism 31 , a limit switch 32 , a tungsten electrode bin mounting seat 35 , a tungsten electrode lifting block 33 and a tungsten electrode lifting motor 34 .

[0081] Specifically, if Figure 7 As shown, a tungsten pole bin mounting seat 35 is provided on the lifting platform 30 for installing the tungsten pole bin; a tungsten pole bin tightening mechanism 31 is provided on the opposite side of the tungsten pole bin mounting seat 35 for tightening the tungsten pole bin to fix the tungsten pole bin; a tungsten pole lifting block 33 is provided below the tungsten pole bin mounting seat 35, and a tungsten pole lifting block lifting port is provided at a corresponding position on the tungsten pole bin mounting seat 35; a tungsten pole lifting motor 34 is connected to the tungsten pole lifting block 33 for driving the tungsten pole lifting block to move vertically, so as to lift up the new tungsten pole in the tungsten pole bin and push it into the welding gun; a limit switch 32 is provided on one side of the tungsten pole bin tightening mechanism 31 for limiting the movement range of the tungsten pole lifting motor and the tungsten pole lifting block to ensure a fixed length of the lifted tungsten pole.

[0082] In some embodiments, Figure 8 As shown, a constant force coil spring 36 is provided at one end of the tungsten electrode magazine 37. Driven by the constant force coil spring, after the previous new tungsten electrode is lifted up for replacement, the new tungsten electrode will be automatically pushed to the position to be replaced. The principle is similar to that of a gun magazine, which will not be elaborated here.

[0083] In some embodiments, the rotating device includes a stepping motor 18, a transmission gear 17, and a rotating outer ring 16 to provide the head body 8 with the rotational motion required for sealing welding.

[0084] Specifically, if Figure 3 As shown, the stepper motor 18 is arranged in the head body 8, the rotating outer ring 16 is connected to the stepper motor 18 through the transmission gear 17, the welding gun three-dimensional adjustment mechanism 10 and the counterweight block 9 are both arranged on the rotating outer ring 16, and the stepper motor 18 drives the transmission gear 17 to drive the rotating outer ring 16 and the welding gun three-dimensional adjustment mechanism 10, the counterweight block 9 and the welding gun 11 thereon to rotate, and the counterweight block 9 is used to ensure the stability of the rotation during the rotation process.

[0085] In some embodiments, Figure 3 As shown, the rotating device also includes a rotating transformer 13, which is arranged in the head body 8 and is electrically connected to the control system 7 for detecting the rotation parameters and implementing feedback to the control system. The control system is also used to automatically control the welding action according to the feedback rotation parameters.

[0086] In some embodiments, Figure 1As shown, the system also includes a cable suspension device 1, a welding machine head 2 is suspended in the hot chamber by a lifting component, a welding machine placement platform 4 is arranged on one side of the hot chamber, a control system 7 and a welding power supply 6 are arranged outside the hot chamber, and a cable suspension device 1 is arranged on the front wall of the hot chamber near the peep window side, and is used to guide the cable to prevent the cable from interfering with the welding process during operation.

[0087] The automatic welding system of this embodiment has the following effects:

[0088] (1) High degree of automation. When the welding machine is placed on the product container, the ground wire can be automatically connected. This solves the problem that workers need to operate the manipulator to complete the ground wire connection before each welding. This makes the welding machine operation more convenient, reduces the workload of operators, and reduces the complexity of work.

[0089] (2) It can realize automatic replacement of tungsten electrodes, ensure the consistency of the tungsten electrode extension length when replacing the tungsten electrode, save the tedious and complicated process of measuring the tungsten electrode extension length when manually (or manually operated manipulator) replaces the tungsten electrode, solve the tedious operation problem of manual replacement of tungsten electrodes, and at the same time, it can also determine the accurate distance of the tungsten electrode relative to the welding position before welding, solve the problem of the unfixed position of the tungsten electrode relative to the weld during manual operation;

[0090] (3) The sealing cap can be automatically welded to the product container in the hot chamber to seal the glass solidified body in the product container. It can be used to perform remote sealing operations on the glass solidified product containers in the process of glass solidification of radioactive materials in the hot chamber.

[0091] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An automatic welding system, characterized in that: The invention comprises a welding machine head (2), a welding machine placement platform (4) and a control system (7), wherein the welding machine head comprises a head body (8), a welding gun three-dimensional adjustment mechanism (10) and a welding gun (11), wherein: The machine head body is provided with a rotating device, and the rotating device is provided with a welding ground wire integrated device, and the welding ground wire integrated device is connected to the machine head body. When working, the welding machine head is placed on the product container, and the welding ground wire integrated device contacts the product container to form an electrical connection, which is used to enable the welding machine head to automatically complete the connection of the welding ground wire; The welding gun is arranged on a three-dimensional adjustment mechanism of the welding gun, and the three-dimensional adjustment mechanism of the welding gun is arranged on a rotating device for adjusting the position of the welding gun; The welding placement platform is used to place the welding machine head in a non-working state; The control system is electrically connected to the head body, the welding gun three-dimensional adjustment mechanism and the welding gun in the welding machine head, and is used to control the operation of the welding machine head.

2. The automatic welding system according to claim 1, characterized in that: The welding ground wire integrated device comprises a welding ground wire connecting plate (14), a welding ground wire (12) and an insulating plate (15). The welding ground wire connection plate is arranged at the bottom end of the machine head body, one end of the welding ground wire is connected to the welding ground wire connection plate, and the other end is connected to the machine head body. The insulating plate is arranged between the welding ground wire connection plate and the joint body, and is used to insulate the welding wire connection plate from the machine head body.

3. The automatic welding system according to claim 1, characterized in that: The three-dimensional adjustment mechanism of the welding gun includes a welding gun radial direction adjustment device, a welding gun axial direction adjustment device, a welding gun angle adjustment device and a welding gun clamping device, wherein: The welding gun radial direction adjustment device is arranged on one side of the head body through the rotating device, and is used to adjust the position of the welding gun in the radial direction; The welding gun axial direction adjustment device is arranged at the end of the welding gun radial direction adjustment device, and is used to adjust the position of the welding gun in the axial direction; The welding gun angle adjustment device is arranged at the end of the welding gun axial direction adjustment device and is used to adjust the angle of the welding gun; The welding gun clamping device is arranged at the end of the welding gun angle adjustment device and is used for clamping the welding gun.

4. The automatic welding system according to any one of claims 1 to 3, characterized in that: The welding gun comprises a rotary cylinder (19), a tungsten electrode clamping nut (20), a welding gun copper body (21), a tungsten electrode clamp (22), a welding gun insulating sleeve, a tungsten electrode chuck (23) and a tungsten electrode (24), wherein: The rotary cylinder is arranged at the end of the tungsten electrode clamping nut and is used to drive the tungsten electrode clamping nut to rotate so that the tungsten electrode clamp clamps the tungsten electrode; The copper body of the welding gun is sealed and connected to the tungsten electrode clamping nut for conducting electricity; The tungsten electrode clamp is arranged inside the copper body of the welding gun and is connected to the tungsten electrode clamping nut for clamping the tungsten electrode; The welding gun insulating sleeve is arranged on the outside of the welding gun copper body for insulation, and the welding gun is arranged on the welding gun three-dimensional adjustment mechanism through the welding gun insulating sleeve; The tungsten electrode chuck is arranged at the end of the tungsten electrode clamp, and a conical surface structure is arranged inside the tungsten electrode to fix the tungsten electrode; The tungsten electrode is arranged in a tungsten electrode clamp and a tungsten electrode chuck for welding.

5. The automatic welding system according to claim 4, characterized in that: The welding machine placement platform comprises a welding machine placement seat (25), a tungsten electrode disassembly device (29), a lifting platform (30), an origin limit switch, a tungsten electrode installation device (26) and a tungsten electrode bin (37), wherein: The welding machine placement seat is used to place the welding machine head and position it; The lifting platform is arranged below the welding machine placement seat and is used to lift or lower the height of the tungsten electrode device for disassembly and installation; The tungsten electrode removal device is arranged on the lifting platform and is located on one side of the welding machine placement seat, and is used to clamp the old tungsten electrode to be replaced in the welding gun, and pull the old tungsten electrode out of the welding gun in coordination with the action of the lifting platform; The tungsten electrode installation device is arranged on the lifting platform and is located on the other side of the welding machine placement seat, and is used to push the new tungsten electrode into the welding gun in coordination with the action of the lifting platform; The origin limit switch is arranged on the running path of the jacking platform, and is used to limit the relative position of the tungsten electrode device for disassembling and installing relative to the welding gun; The tungsten electrode bin is arranged on the tungsten electrode installation device and is used for storing new tungsten electrodes.

6. The automatic welding system according to claim 5, characterized in that: The tungsten electrode installation device comprises a tungsten electrode bin tightening mechanism (31), a limit switch (32), a tungsten electrode bin mounting seat (35), a tungsten electrode lifting block (33) and a tungsten electrode lifting motor (34), wherein: The tungsten pole bin mounting seat is arranged on the jacking platform and is used for mounting the tungsten pole bin; The tungsten pole bin tightening mechanism is arranged on the opposite side of the tungsten pole bin mounting seat, and is used to tighten the tungsten pole bin to fix the tungsten pole bin; The tungsten pole lifting block is arranged below the tungsten pole bin mounting seat, and a tungsten pole lifting block lifting port is arranged at a corresponding position on the tungsten pole bin mounting seat. The tungsten pole lifting motor is connected to the tungsten pole lifting block to drive the tungsten pole lifting block to move vertically, so as to lift up the new tungsten pole in the tungsten pole bin and push it into the welding gun. The limit switch is arranged on one side of the tungsten pole bin tightening mechanism and is used to limit the movement range of the tungsten pole lifting motor and the tungsten pole lifting block to ensure the fixed length of the lifted tungsten pole.

7. The automatic welding system according to claim 6, characterized in that: The rotating device comprises a stepping motor (18), a transmission gear (17) and a rotating outer ring (16), wherein: The stepper motor is arranged in the machine head body, the rotating outer ring is connected with the stepper motor through the transmission gear, and the welding gun three-dimensional adjustment mechanism and the counterweight block are both arranged on the rotating outer ring.

8. The automatic welding system according to claim 7, characterized in that: The rotating device further comprises a rotary transformer (13), The rotary transformer is electrically connected to the control system and is used to detect the rotation parameters and provide feedback to the control system. The control system is also used to automatically control the welding action according to the feedback rotation parameters.

9. The automatic welding system according to claim 8, characterized in that: The welding machine head is suspended in the hot chamber by a hanging component, the welding machine placement platform is arranged on one side of the hot chamber, the control system is arranged outside the hot chamber, and the system further comprises a cable hanging device (1), The cable suspension device is arranged on the front wall of the hot chamber near the side of the peep window, and is used to guide the cable to prevent the cable from interfering with the welding process during operation.

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