Clamping mechanism, automatic system and forming device for flexible forming moulding bed of nuclear power steel lining

Abstract

The invention provides a clamping mechanism, an automation system and a forming device for a flexible forming moulding bed of a nuclear power steel lining, and belongs to the technical field of nuclear power station building construction. The clamping mechanism comprises a supporting bridge overall base and a supporting bridge, and the supporting bridge is arranged in the radial direction of the supporting bridge overall base; the clamping mechanisms are arranged on a supporting bridge of the automatic system and comprise the long-edge clamping mechanism and the short-edge clamping mechanism, when a workpiece is placed on a girder of the supporting bridge, the workpiece is clamped by the long-edge clamping mechanism and the short-edge clamping mechanism through manual sliding, and the workpiece is clamped by the long-edge clamping mechanism and the short-edge clamping mechanism. The long-edge clamping mechanism is made to directly face the edge of the steel plate, then the clamping hydraulic cylinder drives the pressing block, and therefore clamping of the two sides of a workpiece is completed, the forming jig frame is suitable for forming jig frames of barrels of different sizes, bending forming of the barrel steel plate can be completed, and clamping continues to be conducted after forming so that welding of related parts on the barrels can be completed.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant construction, and particularly to a clamping mechanism, an automated system and a forming device for a flexible forming die of a nuclear power steel lining. Background Art

[0002] A steel lining refers to a layer of steel plate or metal material added inside a structure to enhance the strength and corrosion resistance of the structure. In the construction of a nuclear power plant, the steel lining is an important part of the containment; in addition, in the construction of a nuclear power plant, the cylindrical forming prefabrication technology is widely used. For example, the cylindrical part of the containment is usually composed of multiple prefabricated plates, which are processed and welded in a workshop and then transported to the site for assembly. That is to say, in the forming construction of the nuclear power steel lining in the workshop, the cylindrical forming prefabrication is a key process in the prefabrication process. Currently, in the workshop according to the prefabricated forming process, generally, a pre-determined sizing forming jig is used to prefabricate forming jigs of different specifications according to the core and steel lining sizes of different requirements. After completing the forming jig, the cylindrical steel plate is clamped on the forming jig manually. Since the cylindrical steel plate is generally 4-6 mm thick, when placed on the forming jig, the self-weight of the cylindrical steel plate can complete the bending, thus completing the forming of the cylindrical steel plate.

[0003] Since the size of the customized forming jig is fixed and generally made by welding section steel, it only meets the requirements of prefabricating a single-size cylindrical steel plate. When changing to different products, it is necessary to remanufacture the forming jig, which not only wastes materials to make a new forming jig, but also requires removing the original forming jig, taking time and effort and affecting work efficiency.

[0004] Therefore, there is an urgent need for an automated system for a flexible forming die of a nuclear power steel lining, which is applicable to forming jigs of different sizes of cylinders, and can complete the bending and forming of the cylindrical steel plate and continue to clamp after forming to complete the welding of related components on the cylinder. Summary of the Invention

[0005] Object of the Invention: The object of the present invention is to provide a clamping mechanism, an automated system and a forming device for a flexible forming die of a nuclear power steel lining, which are not only applicable to forming jigs of different sizes of cylinders, but also can complete the bending and forming of the cylindrical steel plate and continue to clamp after forming to complete the welding of related components on the cylinder in view of the deficiencies of the prior art.

[0006] Technical solution: The clamping mechanism of the flexible forming die for nuclear power steel lining of the present invention is arranged on the support bridge of the automation system, and includes a long-side clamping mechanism and a short-side clamping mechanism. The long-side clamping mechanism includes a mounting seat, a support block arranged on the support beam, a clamping hydraulic cylinder arranged on the mounting seat, and a pressing block arranged on the output end of the clamping hydraulic cylinder. The mounting seat is slidably connected to the support beam in the width direction of the workpiece, and the pressing block is rotatably connected to the output end of the clamping hydraulic cylinder. When the workpiece is placed on the main beam of the support bridge, through manual sliding, the long-side clamping mechanism is aligned with the edge of the steel plate, and then the clamping hydraulic cylinder drives the pressing block to complete the clamping on both sides of the workpiece.

[0007] Further, the short-side clamping mechanism is a manual C-type clamp.

[0008] Further, the contact surface shape of the pressing block in contact with the workpiece is a profiling clamping jaw to increase the contact area.

[0009] The automation system of the flexible forming die for nuclear power steel lining includes a clamping mechanism, and also includes a support bridge, an overall base of the support bridge, a lateral adjustment mechanism, a longitudinal adjustment mechanism, a middle pressing mechanism, and a control system. The support bridge is arranged in the radial direction of the overall base of the support bridge. The support bridge includes a group of evenly distributed flexible support bridges and two fixed support bridges. The flexible support bridges are arranged in the middle of the overall base of the support bridge, and the fixed support bridges are respectively arranged on both sides of the overall base of the support bridge. The flexible support bridges change the height of the flexible support bridges through electric elevators, thereby changing the arc of the flexible forming die to meet the positioning and assembly of workpieces with different curvatures. The top surfaces of the flexible support bridges and the fixed support bridges are combined to form a flexible jig with an arc; the lateral adjustment mechanism drives the workpiece to perform lateral displacement, the longitudinal adjustment mechanism drives the workpiece to perform longitudinal displacement, the middle pressing mechanism presses the middle part of the workpiece, and the control system controls the support bridge to reach the preset position.

[0010] Further, the flexible support bridge includes lift seats respectively arranged on both sides. Each lift seat is fixed with an electric elevator. The output ends of the electric elevators on both sides are respectively fixedly connected to both ends of the main beam. The electric elevator drives the main beam to lift; a group of support wheels are evenly distributed on the top of the main beam.

[0011] Further, the lift seat includes a lift seat bottom plate. Above the lift seat bottom plate, there are two square tube brackets. The front sides of the two square tube brackets are fixedly connected with electric elevators. The back sides of the two square tube brackets are fixedly connected with support plates, and the support plates are fixedly connected with lift guide rails.

[0012] Further, the electric elevator includes a screw elevator. The output shaft of the screw elevator is fixedly connected with the sliding bracket at the bottom of the flexible support bridge. The sliding bracket is driven by the electric elevator and moves up and down along the lift guide rail.

[0013] Further, the fixed support bridge includes fixed bases respectively arranged on both sides. The two ends of the fixed main beam are fixedly connected to the fixed bases respectively, and a group of support wheels are evenly distributed on the top end of the fixed main beam.

[0014] Further, the overall base of the support bridge includes two frame bases arranged in parallel along the axial direction. A group of frame units corresponding one-to-one to the flexible support bridge and the fixed support bridge are evenly distributed on the frame bases, and the frame units are fixedly connected to the bottom surfaces of the flexible support bridge and the fixed support bridge respectively.

[0015] Further, the lateral adjustment mechanism includes a vertical jacking mechanism, a horizontal pushing mechanism and a positioning mechanism. The vertical jacking mechanism is slidably connected to the support bridge to adjust the position of the workpiece in the width direction by sliding.

[0016] Further, the horizontal pushing mechanism is slidably arranged on the support bridge to adjust the position of the workpiece in the horizontal direction by sliding.

[0017] Further, the positioning mechanism is fixed at both ends of the support bridge to limit the workpiece.

[0018] Further, the middle pressing mechanism is composed of two double channel steels welded relatively. The top surfaces of the two double channel steels form a pressing beam, and the part between the two double channel steels is hollow. A pressing mechanism is slidably installed in the length direction of the pressing beam, and the pressing mechanism presses the workpiece through bolts.

[0019] Further, the control system includes an operation console and a system control cabinet.

[0020] A steel lining forming device for a nuclear power plant includes the above-mentioned steel lining flexible forming die automation system and an anchor stud welding device.

[0021] Further, the anchor stud welding device includes a pair of parallel main slide rails installed in the welding area. A movable device is installed on the parallel main slide rails. A gantry structure is installed between the two movable devices. A first guide rail is installed on the gantry structure. Two sliding plates are installed on the first guide rail. A driving device is installed on the sliding plates, and the driving device drives the sliding plates to move along the first guide rail; a laser cleaning device is installed on the lower surface of the sliding plates, a mounting plate is installed on one side of the sliding plates, a welding robot is installed on the mounting plate, and an automatic feeding system is installed on the upper surface of the sliding plates. After the automatic feeding system finishes feeding the anchor studs, the laser cleaning device cleans the area to be welded, and the welding robot welds the anchor studs.

[0022] Further, the automatic feeding system includes an anchor nail vibrating disk and a porcelain ring vibrating disk located on the mounting plate. Both the anchor nail vibrating disk and the porcelain ring vibrating disk are provided with spiral tracks. A first linear vibrating feeder is connected to the outlet of the anchor nail vibrating disk. A limiting boss is provided at the end of the first linear vibrating feeder. The first linear vibrating feeder is provided with a through groove for accommodating the anchor nails. When the anchor nails reach the limiting boss, the first grasping device grabs the anchor nails. A rotatable second grasping device is provided on the mounting plate. The second grasping device clamps the anchor nails from the first grasping device. An assembly table is provided below the second grasping device. At the outlet of the porcelain ring vibrating disk, a second linear vibrating feeder is provided. The second linear vibrating feeder is provided with a groove. The porcelain rings move along the groove. When the porcelain rings move to the top of the groove, they stop moving. The rotatable third grasping device grabs the porcelain rings. When the third grasping device rotates to a suitable position, the anchor nails grabbed by the second grasping device are located directly above the porcelain rings. A liftable pressing block is installed on the mounting plate. The anchor nails are pressed into the porcelain rings by the movable pressing block.

[0023] A workpiece installation method for an automatic system of a flexible forming die for nuclear power steel lining includes the following steps:

[0024] Step 1: Set the position parameters of the flexible support bridge according to the drawing to be processed;

[0025] Step 2: The operator hoists and gently places the workpiece on the flexible fixture;

[0026] Step 3: Adjust the workpiece bottom plate to the appropriate horizontal position through the horizontal adjustment mechanism;

[0027] Step 4: Adjust the workpiece bottom plate to the appropriate longitudinal position through the longitudinal adjustment mechanism;

[0028] Step 5: Operate the long-side clamping mechanism of the operation part to clamp the long side direction of the workpiece bottom plate;

[0029] Step 6: The operator hoists the angle steel stiffener to the designed position on the drawing;

[0030] Step 7: Hoist the middle pressing mechanism, and the operator installs the middle pressing mechanism;

[0031] Step 8: Operate all the long-side clamping mechanisms to clamp the long side direction of the workpiece bottom plate;

[0032] Step 9: Operate the short-side clamping mechanism to clamp the short side direction of the workpiece bottom plate;

[0033] Step 10: Start welding;

[0034] Step 11: After welding is completed, the operator opens and removes the middle pressing mechanism;

[0035] Step Twelve: Open the long-side clamping mechanism and the short-side clamping mechanism;

[0036] Step Thirteen: The operator hoists and removes the workpiece to enter the next process.

[0037] Advantageous Effects: Compared with the prior art, the advantages of the present invention are as follows:

[0038] (1) The flexible forming die designed in the present invention can be applied to the forming jigs of cylinders with different sizes, and can complete the bending forming of the cylinder steel plate and continue to clamp after forming to complete the welding of related components on the cylinder;

[0039] (2) The flexible support bridge designed in the present invention can adjust the height of each flexible support bridge from the ground according to the design requirements of the workpiece, so that the bearing surface formed on the surface of the flexible support bridge meets the required radian. By controlling the height of each flexible support bridge from the ground, the construction accuracy can be ensured and sudden gaps can be avoided;

[0040] (3) The lateral adjustment mechanism designed in the present invention can adjust the position of the workpiece in the lateral direction on the entire system through the vertical lifting mechanism, the horizontal pushing mechanism and the positioning mechanism. The vertical lifting mechanism mainly adjusts the position of the workpiece by the rotation of the electric roller in the lateral direction. Compared with the traditional manual adjustment method, the adjustment of the electric roller is more stable; the horizontal pushing mechanism mainly relies on the pushing cylinder to adjust the relative position of the workpiece and the support wheel in the width direction. The pushing cylinder can push the workpiece to a suitable relative position with the support wheel according to actual needs to ensure the accurate position of the workpiece in the width direction; the positioning mechanism mainly relies on the rotating part of the positioning roller to realize the positioning and guiding of the workpiece. When the workpiece enters the processing or assembly position, the positioning roller can closely fit the workpiece, and through the rotation of the rotating part, the workpiece is guided to the predetermined position;

[0041] (4) The longitudinal adjustment mechanism designed in the present invention, when the longitudinal electric roller rolls in the longitudinal direction of the workpiece, the workpiece will move longitudinally along with the rolling of the roller, so as to realize the adjustment of the position of the workpiece in the longitudinal direction, and it can adapt to workpieces of various shapes and sizes. Whether it is a long strip, a rectangle or an irregularly shaped workpiece, as long as it is laid flat on the beam of the flexible support bridge, the longitudinal electric roller 920 can adjust its longitudinal position by rolling;

[0042] (5) The middle pressing mechanism designed in the present invention can effectively prevent the deformation of the workpiece by the close contact between the pressing block and the workpiece and applying sufficient pressure by tightening the pressing screw, ensure the stability of the workpiece during the processing, and prevent problems such as tearing or bulging of the workpiece during the processing;

[0043] (6) The long-side clamping mechanism and short-side clamping mechanism designed in the present invention. The long-side clamping mechanism can be pressed in place and self-lock. It is automatically controlled by the control system without affecting the loading and unloading. The pressing point is directly above the support bridge, and it can flexibly and effectively press the workpiece. The short-side clamping mechanism uses a manual C-type clamp to clamp. Through the cooperation of the two, the workpiece can be well fixed in both the long-side and short-side directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic structural view of the flexible die in the present invention;

[0045] Figure 2 is a schematic structural view of the flexible support bridge in the present invention;

[0046] Figure 3 is a schematic structural view of the lift seat in the present invention;

[0047] Figure 4 is a schematic structural view of the electric lift in the present invention;

[0048] Figure 5 is a schematic structural view of the fixed support bridge in the present invention;

[0049] Figure 6 is a schematic structural view of the vertical jacking mechanism in the present invention;

[0050] Figure 7 is a schematic structural view of the horizontal pushing mechanism in the present invention;

[0051] Figure 8 is a schematic structural view of the longitudinal adjustment mechanism in the present invention;

[0052] Figure 9 is a schematic structural view of the middle pressing mechanism in the present invention;

[0053] Figure 10 is a schematic structural view of the long-side clamping mechanism in the present invention;

[0054] Figure 11 is a schematic structural view of the anchor nail welding device in Embodiment 2.

[0055] Figure 12 is a partial enlarged view in Embodiment 2.

[0056] Figure 13 is a schematic structural view of the laser cleaning in Embodiment 2.

[0057] Figure 14 is Figure 13 the front view schematic diagram of

[0058] Figure 15 is Figure 13Structural schematic diagram of the detachable device.

[0059] Figure 16 Front view structural schematic diagram of the welding head in Embodiment 2.

[0060] Figure 17 For Figure 16 right view.

[0061] Figure 18 For Figure 16 left view.

[0062] Figure 19 Structural schematic diagram of automatic feeding.

[0063] Figure 20 For Figure 19 Structural schematic diagram of the feeding tray in the present invention.

[0064] Figure 21 Cross-sectional structural schematic diagram of the feeding tray in Embodiment 2.

[0065] In the figure: 11, anchor pin vibrating bowl; 12, camera; 13, porcelain ring vibrating bowl; 14, first lifting mechanism; 15, first sliding mechanism; 16, anchor pin; 17, support frame; 19, first grasping unit; 20, second grasping unit; 21, third grasping unit; 22, second linear vibrating feeder; 23, first linear vibrating feeder; 201, fixed shaft; 203, first motor; 204, first planetary reducer; 206, connecting block; 207, laser distance sensor; 208, sensor mounting plate; 209, air knife; 210, air knife support; 211, laser head; 214, fourth bracket; 215, third bracket; 216, drag chain; 217, first side plate; 218, back plate; 219, front panel; 220, transition plate; 221, open support; 222, guide shaft; 223, second side plate; 224, guide post; 225, compression spring; 227, mounting seat; 228, movable plate; 229, moving block; 230, groove; 231, ball; 301, mounting flange; 302, welding torch support; 303, SK shaft support; 304, proximity switch; 305, induction piece; 306, sliding seat; 307, welding torch transition plate; 308, guide seat; 309, ferrule joint; 310, YF-DH-16 stud welding torch; 311, first guide rod; 312, opposed photoelectric sensor; 313, porcelain ring clamping plate; 314, diffuse reflection photoelectric sensor; 315, second guide rod; 316, bracket fixing plate; 317, sliding seat; 318, third guide rod; 401, main slide rail; 402, buffer rubber pad; 403, embedded part; 404, locking mechanism; 405, helical rack; 407, gantry leg; 408, gantry cross beam; 409, foundation embedded part; 410, servo motor; 411, reducer; 412, traveling gear; 413, clamping wheel; 414, moving plate; 415, first guide rail; 416, moving rack; 5, flexible support bridge; 510, girder; 520, support wheel; 530, electric elevator; 5301, screw elevator; 540, elevator seat; 5401, elevator seat bottom plate; 5402, square pipe support; 5403, support plate; 5404, lifting guide rail; 6, fixed support bridge; 610, fixed base; 7, overall base of support bridge; 8, lateral adjustment mechanism; 810, straight jacking mechanism; 8101, adjustment frame; 8102, adjustment cylinder; 8103, electric roller; 8104, guide pillar and guide sleeve; 820, horizontal pushing mechanism; 8201, pushing frame; 8202, pushing cylinder; 830, positioning mechanism; 9, longitudinal adjustment mechanism; 910, hydraulic lifting pressure roller; 920, longitudinal electric roller; 930, second guide rail; 10, middle pressing mechanism; 1010, pressing beam; 1020, pressing seat; 1030, pressing screw; 24, long side clamping mechanism; 2410, support block; 2420, mounting seat; 2430, clamping hydraulic cylinder; 2440, pressing block; 25, short side clamping mechanism;26. Welding rib plate; 27. Anti-drop step plate; 28. Guardrail. Detailed implementation mode

[0066] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the described embodiments.

[0067] As Figure 1 shown, the automatic system for the flexible forming die of nuclear power steel lining has an overall floor area of width * length: 7000mm * 17000mm, and includes a support bridge overall base 7 and a support bridge. The support bridge is arranged in the radial direction of the support bridge overall base 7. The support bridge includes 19 flexible support bridges 5 and 2 fixed support bridges 6. The 19 flexible support bridges are arranged in the middle of the support bridge overall base 7, and the 2 fixed support bridges 6 are respectively arranged on both sides of the support bridge overall base 7. The support bridge overall base 7 includes two frame bases 710 arranged in parallel along the axial direction. A group of frame units corresponding one by one to the flexible support bridges 5 and the fixed support bridges 6 are evenly distributed on the frame bases 710. The frame units are respectively fixedly connected to the bottom surfaces of the flexible support bridges 5 and the fixed support bridges 6 one by one, playing a role in supporting and fixing the support bridge.

[0068] As Figure 2 shown, each flexible support bridge 5 includes lift seats 540 respectively arranged on both sides. An electric lift 530 is fixed on each lift seat 540. The output ends of the electric lifts 530 on both sides are respectively fixedly connected to both ends of a girder 510. The electric lift 530 drives the girder 510 to lift and lower; a group of support wheels 520 are evenly distributed on the top end of the girder 510. As Figure 3 shown, the lift seat 540 includes a lift seat bottom plate 5401. Two square tube brackets 5402 are arranged above the lift seat bottom plate 5401. An electric lift 530 is fixedly connected to the front surface of the two square tube brackets 5402. A support plate 5403 is fixedly connected to the back surface of the two square tube brackets 5402. A lift guide rail 5404 is fixedly connected to the support plate 5403. As Figure 4 shown, the electric lift 530 includes a screw lift 5301. The output shaft of the screw lift 5301 is fixedly connected to a sliding bracket 550 at the bottom of the flexible support bridge 5. The sliding bracket 550 is driven by the electric lift 530 and moves up and down along the lift guide rail 5404. The flexible support bridge 5 changes the height of the flexible support bridge 5 from the support bridge overall base 7 through the electric lift 530, thereby changing the radian of the flexible forming die, meeting the positioning and assembly of workpieces with different curvatures. The top surfaces of the flexible support bridge 5 and the fixed support bridge 6 are combined to form a flexible jig with a radian.

[0069] As Figure 5As shown in the figure, the fixed support bridge 6 includes fixed bases 610 respectively arranged on both sides. The two ends of a fixed girder 620 are fixedly connected to the fixed bases 610 respectively. A set of fixed support wheels 630 are evenly distributed on the top of the fixed girder 620.

[0070] As Figure 6 shown in the figure, the lateral adjustment mechanism 8 includes a vertical jacking mechanism 810, a horizontal pushing mechanism 820 and a positioning mechanism 830. The vertical jacking mechanism 810 is arranged on at least one support bridge and includes an adjustment frame 8101, an adjustment cylinder 8102 and an electric roller 8103. The adjustment frame 8101 is slidably connected between two support bridges along the width direction of the workpiece. The adjustment cylinder 8102 is arranged on the frame of the adjustment frame 8101. The electric roller 8103 is arranged at the top of the adjustment frame 8101. The output end of the adjustment cylinder 8102 is connected to the electric roller 8103. When it is necessary to adjust the position of the workpiece in the width direction, that is, the lateral direction, the adjustment cylinder 8102 is driven, so as to drive the electric roller 8103 to rotate. Since there is friction between the electric roller and the workpiece, the electric roller 8103 drives the workpiece to displace in the lateral direction. In addition, the lateral adjustment mechanism 8 further includes guide posts and guide sleeves 8104 arranged on both sides of the adjustment frame 8101. The guide posts are used as supporting and positioning elements, and the guide sleeves are hollow tubular elements sleeved on the guide posts, which can play the role of wear resistance or lubrication. When the adjustment frame slides in the width direction of the tool, the guide posts can bear the loads from the adjustment frame in the radial and axial directions, and at the same time ensure the smooth movement track of the adjustment frame, while the guide sleeves can reduce friction and wear. As Figure 7 shown in the figure, the horizontal pushing mechanism 820 includes a pushing frame 8201 and a pushing cylinder 8202. The pushing cylinder 8202 is arranged on the pushing frame 8201, and the relative position between the workpiece and the support wheel in the width direction can be adjusted. The positioning mechanism is a positioning roller 830, which is arranged at both ends of the pushing frame 8201. When the workpiece contacts the rotating parts on the positioning roller 830, the rotating parts rotate through the outer ring of the rolling bearing, so as to realize the positioning and guiding of the workpiece.

[0071] As Figure 8As shown in the figure, the longitudinal adjustment mechanism 9 includes two sets of hydraulic lifting pressure rollers 910 at both ends of the girder 510 of the flexible support bridge, a longitudinal electric roller 920, and a second guide rail 930. The second guide rail 930 is arranged on the side of the girder 510 of the flexible support bridge. One guide rail 930 is arranged at each end of the girder 510 of the flexible support bridge. A set of hydraulic lifting pressure rollers 910 is slidably arranged on each second guide rail 930. When the workpiece is laid flat on the girder 510 of the flexible support bridge, the longitudinal electric roller 920 rolls in the longitudinal direction of the workpiece, so that the workpiece is adjusted to an appropriate position in the longitudinal direction. Then the hydraulic lifting pressure rollers 910 slide on the slide rail. When the hydraulic lifting pressure rollers 910 slide to an appropriate position, the hydraulic lifting pressure rollers 910 press down to press the workpiece tightly in the vertical direction. At the same time, since the workpiece is bent by its own weight, the material is driven by the longitudinal electric roller 920 to slide on the support bridge girder. Since the deformation of the workpiece is related to the self-weight of the workpiece, when the center of gravity of the workpiece deviates from the highest point, the bending moment of the workpiece on the highest point is greater, which is beneficial to the bending deformation at both ends of the workpiece and reduces the warping degree on both sides in the length direction of the subsequent cylindrical steel plate.

[0072] As Figure 9 shown in the figure, the middle pressing mechanism 10 is arranged above the flexible support bridge and includes a pressing beam 1010 formed by welding two double channel steels opposite to each other. The middle part of the pressing beam 1010 is hollow. A pressing seat 1020 is fixed on the pressing beam 1010. The pressing seat 1020 can be slidably installed on the pressing beam 1010 and placed at a suitable position according to actual needs. A pressing screw 1030 is threadedly connected in the vertical direction of the pressing seat 1020. One end of the pressing screw 1030 facing the workpiece is fixed with a pressing block. When the workpiece is adjusted to an appropriate position by the transverse adjustment mechanism 8 and the longitudinal adjustment mechanism 9, the operator can fixedly install the pressing beam 1010 above the flexible support bridge, then slide the pressing seat 1020 to an appropriate position, and then insert the pressing screw 1030 into the threaded hole of the pressing seat 1020. When the pressing block touches the workpiece, tighten the pressing screw 1030. Generally, the middle pressing mechanism 10 is arranged above the flexible support bridge at the middle part of the whole device. By installing the pressing beam, the pressing of the middle position of the workpiece is completed, preventing the workpiece from deforming and preventing problems such as steel plate tearing or bulging, which affect subsequent processing.

[0073] As Figure 10As shown, the long-side clamping mechanism 24 includes a mounting base 2420, a support block 2410 disposed on the support beam, a clamping hydraulic cylinder 2430 disposed on the mounting base 2420, and a pressing block 2440 disposed on the output end of the clamping hydraulic cylinder. The mounting base 2420 is slidably connected to the support beam in the width direction of the material. The pressing block 2440 is rotatably connected to the output end of the clamping hydraulic cylinder 2430. When the workpiece is placed on the main beam of the support bridge, through manual sliding, the long-side clamping mechanism 24 is aligned with the edge of the steel plate. Then, the clamping hydraulic cylinder 2430 drives the pressing block 2440 to complete the clamping on both sides of the workpiece. The pressing point of the long-side clamping mechanism 24 is located directly above the support bridge; the short-side clamping mechanism 25 is a C-type clamp for clamping the workpiece. The long-side clamping mechanism 24 and the short-side clamping mechanism 25 can control the welding deformation at the edge of the workpiece. Generally, the long-side hydraulic pressing mechanism can provide a pressure of 3 to 5 tons, hold in place and self-lock. It is automatically controlled by the control system without affecting the loading and unloading. The pressing point is directly above the support bridge, and it can hold the workpiece flexibly and effectively. Two groups are provided on each main beam, with a total of 42 groups. When the clamping points move, double lifting points are used for synchronous clamping. The pressing block 2440 uses a profiling clamping jaw, which can increase the contact area. The short-side clamping mechanism uses a manual C-type clamp to clamp the workpiece.

[0074] The flexible forming die automatic system for nuclear power steel lining also includes a control system, which consists of an operation console and a system control cabinet. The operation console is used for parameter input of the whole system, manual operation of each actuator, etc. It adopts a Chinese operating system with a touch screen HMI. The HMI is installed on the PLC control cabinet, which can realize simulation, manual and automatic control operations, and has functions such as program reading, fault alarm and emergency stop. The system is also equipped with a 65-inch display screen for displaying relevant status and information of the equipment. The system control cabinet includes the hardware part and the software part of the control system. The hardware part includes a power cabinet, a servo cabinet, a PLC cabinet, an audible and visual alarm system and a wireless control module. The communication adopts the industrial Ethernet method. The control cabinet is connected to the welding power supply and transmission line of each station equipment by a standard wire trough box. The software part is the software that has been developed and completed, with automatic programming and point control adjustment control functions. The control system has automatic programming control and jog adjustment control functions, and the switching is selected by function keys on the HMI operation interface; the program software is written using TIA Portal software; separate program numbers can be established according to the specifications of the steel lining wall panels and the programs can be stored. The stored and solidified programs can be called at any time later, and the number of stored program numbers is more than 30 groups. The control functions include: programming the lifting speed and lifting distance of the support bridge lifting servo, jog adjustment control and display on the HMI interface; realizing the single-point jog and synchronous linkage functions of the support bridge; long-side pressing hydraulic control, which can realize linkage or single-point jog control; longitudinal and transverse translation and centering control functions; setting the motor speed of the electric roller, programming and adjusting the longitudinal and transverse translation adjustment speed; using the control hydraulic solenoid valve group for shunt control to realize the automatic and jog control functions of the hydraulic cylinder pressing and releasing; on-off control of pneumatic centering; logic signal interaction function to realize the automatic or jog adjustment function of longitudinal and transverse movement; the human-machine HMI operation interface is installed on the console and operates with a Chinese menu. The menu adopts a hierarchical expansion mode, which is convenient for setting and operating functions intuitively and quickly; all servo motor models, PLCs and HMI interfaces are realized by the PN bus method, with signal interaction anti-interference ability, fast response speed, low failure rate and other characteristics; by equipping physical buttons on the wireless remote control, jog operations can be performed on the functions that need to be adjusted. Real-time alarm prompts are given for signals such as safety positions and safety protection to protect the operation accuracy of the equipment and the safety of personnel.

[0075] The flexible forming die automatic system for nuclear power steel lining also includes a channel component, which is several welding rib plates 26 arranged between the support bridges. The welding rib plates form a channel for manual passage.

[0076] The automated system for the flexible forming die of the nuclear power steel lining also includes a safety component, which includes a fall-prevention tread plate 27 and a guardrail 28. The fall-prevention tread plate 27 is arranged on the side of each support bridge. The fall-prevention tread plate 27 rises and falls with the support bridge. The surface of the fall-prevention tread plate uses patterned plate to increase friction and play a role in anti-slip. The guardrail 28 is arranged on the lift base 540 and is fixed, not moving up and down with the support bridge.

[0077] This embodiment also provides a workpiece installation method for the automated system of the flexible forming die of the nuclear power steel lining, including the following steps:

[0078] Step 1: Set the position parameters of the flexible support bridge according to the drawing to be processed;

[0079] Step 2: The operator hoists and gently places the workpiece on the flexible jig;

[0080] Step 3: Adjust the workpiece bottom plate to the appropriate horizontal position through the horizontal adjustment mechanism;

[0081] Step 4: Adjust the workpiece bottom plate to the appropriate longitudinal position through the longitudinal adjustment mechanism;

[0082] Step 5: Operate the long-side clamping mechanism to press the long side direction of the workpiece bottom plate;

[0083] Step 6: The operator hoists the angle steel stiffener to the position designed in the drawing;

[0084] Step 7: Hoist the middle pressing mechanism, and the operator installs the middle pressing mechanism;

[0085] Step 8: Operate all the long-side clamping mechanisms to press the long side direction of the workpiece bottom plate;

[0086] Step 9: Operate the short-side clamping mechanism to press the short side direction of the workpiece bottom plate;

[0087] Step 10: Start welding;

[0088] Step 11: After welding is completed, the operator opens and removes the middle pressing mechanism;

[0089] Step 12: Open the long-side clamping mechanism and the short-side clamping mechanism;

[0090] Step 13: The operator hoists and removes the workpiece to enter the next process.

[0091] Specifically as follows:

[0092] During operation, according to the size of the workpiece, generally a cylindrical steel plate, the height of the support beam is adjusted by adjusting the lifting assembly so that the top surface of the support beam forms an arc for supporting the cylindrical steel plate. Then, the position of the flexible support bridge is adjusted. Subsequently, the material is loaded by a gantry crane so that the cylindrical steel plate is located on the support beam. Then, the electric roller 8103 is pressed against the cylindrical steel plate by adjusting the cylinder 8102. At this time, the electric roller 8103 is driven to drive the cylindrical steel plate to move, completing the adjustment of the position of the cylindrical steel plate. By driving the reciprocating movement of the cylindrical steel plate within a certain range, under the influence of its own weight, the two sides of the cylindrical steel plate are bent to a certain extent, improving the bending performance and reducing the springback of the cylindrical steel plate. After completion, the long-side clamping mechanism 24 is clamped. The mounting seat is pushed manually so that the profiling clamping jaws are directly opposite the cylindrical steel plate and are directly above the support block. The profiling clamping jaws complete the clamping of both sides of the cylindrical steel plate through the hydraulic lifting pressure roller 2410. When clamping, the clamping sequence of the hydraulic lifting pressure roller 2410 is to clamp from the highest support beam to the support beams on both sides in turn. Since the cylindrical steel plate will deform to a certain extent when being pressed, clamping from both sides in turn makes it difficult for the deformation of the cylindrical steel plate to concentrate between the two pressing blocks, preventing the cylindrical steel plate from arching and causing excessive deformation of the cylindrical steel plate, which affects the performance of the cylindrical steel plate.

[0093] The guide rail 2430 is taken out and installed on the corresponding support beam according to the length of the cylindrical steel plate. By sliding the sliding seat, the two ends of the cylindrical steel plate are exactly located between the profiling clamping jaws and the support angle iron. The screw is rotated to complete the clamping of both ends of the cylindrical steel plate by the profiling clamping jaws and the support angle iron. Finally, the middle pressing mechanism 10 is installed. By sliding the position of the pressing seat 1020 and then rotating the pressing screw 1030, the pressing block completes the clamping of the position in the middle area of the cylindrical steel plate, ensuring the pressing of the middle area of the cylindrical steel plate to ensure the flatness of the cylindrical steel plate.

[0094] Embodiment 2

[0095] A steel lining forming device for a nuclear power plant, comprising a flexible forming die automation system for the steel lining and an anchor bolt welding device. The flexible forming die automation system for the steel lining is as described in Embodiment 1. The anchor bolt welding device includes a pair of parallel main slide rails 401 installed in the welding area. A movable device is installed on the parallel main slide rails 401. A gantry structure is installed between the two movable devices. A first guide rail is installed on the gantry structure. The first guide rail is two linear slide rails. Two slides are installed on the first guide rail. A driving device is installed on the slide. The driving device drives the slide to move along the first guide rail. A laser cleaning device is installed on the lower surface of the slide. A mounting plate is installed on one side of the slide. A welding robot is installed on the mounting plate. An automatic feeding system is installed on the upper surface of the slide. After the automatic feeding system finishes feeding the anchor bolts 16, the laser cleaning device cleans the area to be welded, and the welding robot welds the anchor bolts 16.

[0096] In the present invention, the main slide rail 401 is a 50 steel rail. The entire main slide rail is installed on the foundation embedment 409. A number of embedded parts 403 are provided on the foundation embedment 409. There are no less than three locking mechanisms 404 on the embedded parts 403. The locking mechanisms are used to lock the main slide rail 401. The main slide rail 401 is located on the embedded parts 403. The top and side of the slide rail are machined into planes. An inclined rack 405 is installed on the side. The traveling gear contacts the top of the rail. The gantry legs 407 are located on the left and right sides of the gantry crossbeam 408 and are connected by bolts to form a gantry structure. Traveling gears 412 and guide wheels are arranged on the front and rear sides of the gantry legs 407. The servo motor 410 is installed on the flange end face of the input end of the speed reducer 411. The speed reducer 411 is connected to the gantry legs 407 through a connecting plate. A traveling gear 412 is installed at the input shaft of the speed reducer. The traveling gear is tightly engaged with the inclined rack 405 through a pull rod and a disc spring. Buffer rubber pads 402 are installed on both sides of the main slide rail 401. A travel switch is also installed between the traveling gear and the guide wheel. Two linear slide rails are arranged on the upper part of the gantry crossbeam. A rack is installed between the two linear slide rails. At the same time, there is also a linear slide rail on the side of the gantry crossbeam. One side of all the slide rail installation grooves is machined into a single V shape. The V-shaped groove is locked with the gantry girder through a wedge block, so that the positioning side of the main slide rail is closely attached to the side of the installation groove. The slide mounting plate is locked with the side and the top linear guide rail through bolts.

[0097] In the present invention, the driving device includes a servo motor, a moving gear, and a moving rack. The moving rack is located between the two linear slide rails. The gear is driven to rotate by the moving servo motor, thereby driving the moving plate 414 to move along the moving rack.

[0098] In the present invention, the laser cleaning device includes a fixed shaft 201 which is fixed on a slide plate. A slide rail is provided on the fixed shaft 201. A sliding frame is sleeved on the fixed shaft 201. The sliding frame is composed of a first side plate 217, a back plate 218, a front panel 219 and a second side plate 223. A first motor 203 is installed on the sliding frame. The first motor 203 is connected to a first planetary speed reducer 204. A sliding device is installed on the output shaft of the first planetary speed reducer 204. The sliding device slides along the slide rail. A third bracket 215 is installed on the sliding frame. The third bracket 215 is connected to a drag chain 216. The drag chain 216 is connected to a transition plate 220 through a fourth bracket 214. The transition plate 220 is connected to a connecting block 206. An air knife 209, a laser distance sensor 207 and a laser head 211 are provided on the connecting block 206. The laser distance sensor 207 is connected to the connecting block 206 through a sensor mounting plate 208. An air knife support 210 is installed on the connecting block 206. The air knife 209 is installed on the air knife support 210. The air knife support 210 is provided with an opening groove. An insertion guide shaft is installed on the opening groove. The end of the guide shaft 222 is a rectangular boss which is inserted into the opening groove. The air knife 209 is installed on an opening support 221. The guide shaft 222 passes through the opening support 221. The guide shaft 222 and the opening support 221 are in interference fit. A locking bolt is provided in the opening groove. After the guide shaft 222 moves to a proper position, it is locked by tightening the locking bolt. The sliding device is a gear. A cleaning rack is provided on the slide rail. The gear moves along the cleaning rack. A mounting seat 227 is installed on the connecting block 206. The laser head 211 is installed on the mounting seat 227 through a detachable device.

[0099] In the present invention, the detachable device includes a moving block 229 provided with a groove 230. A hemispherical groove is provided in the groove 230. A ball 231 is provided in the hemispherical groove. A cavity is provided at one end of the mounting seat 227. An arc groove adapted to the hemispherical groove is provided on the lower surface of the cavity. A movable plate 228 is installed in the cavity. A guide post 224 is provided in the cavity. The movable plate 228 is provided with a through hole. The guide post 224 is inserted into the through hole. A compression spring 225 is provided on the guide post 224. One end of the compression spring 225 abuts against the movable plate 228 and the other end abuts against the inner wall of the cavity. The laser head 211 is located on the moving block 229.

[0100] In the present invention, the welding robot includes a robot body and an automatic welding head located on the robot body, the automatic welding head includes a mounting flange 301, a welding gun bracket 302 connected to the mounting flange 301, and a stud welding gun 310, the stud welding gun 310 is fixed to the welding gun transition plate 307 by bolts, the welding gun transition plate 307 is locked on the welding gun bracket 302 by bolts, a guide seat 308 is installed on the welding gun transition plate 307, two first guide rods 311 are installed on the guide seat 308, the first guide rods 311 are fixed by a ferrule joint 309, two SK shaft supports 303 are installed at the bottom of the welding gun bracket 302, the second guide rod 315 passes through the two SK shaft supports 303, a first opening fixed seat is provided at the end of the second guide rod, a diffuse reflection photoelectric sensor 314 is installed on the first opening fixed seat, the first opening fixed seat includes a fixed unit and a movable unit, the movable unit is provided with two waist-shaped holes designed vertically, and the angle of the diffuse reflection photoelectric sensor 314 is adjusted by the two waist-shaped holes. The bottom of the two first guide rods 311 is connected to the third guide rod 318, and a sliding seat 317 is sleeved on the third guide rod 318. A sliding seat spring is provided between the sliding seat 317 and the boss of the third guide rod 318, and the sliding seat 317 is connected to the ceramic ring clamp 313; a second opening fixed seat is installed in the middle of the two SK shaft supports 303, and the second opening fixed seat is fixed on the welding gun transition plate 307. A proximity switch 304 and an L-shaped bracket are installed at the bottom of the second opening fixed seat, and a group of opposite-beam photoelectric sensors 312 are installed on the L-shaped bracket. A bracket fixing plate 316 is installed at the chuck of the stud welding gun 310, and the induction plate is connected to the bracket fixing plate 316 by bolts. The position of the induction plate is adjusted through the waist hole on the induction plate, so that the ceramic ring clamp 313 is completely close to the surface of the workpiece. The chuck of the stud welding gun 310 is a four-petal copper tube structure. The diameter of the large end of the anchor nail is slightly larger than the inner diameter of the copper tube. After the anchor nail is inserted into the welding gun head, the four-petal copper tube is stretched open to clamp the anchor nail. The four-petal copper tube structure is that three open grooves are opened on the copper tube to form an elastic chuck. The chuck of the stud welding gun 310 is connected to the stud welding gun 310 through an elastic structure, and the chuck of the stud welding gun 310 and the stud welding gun 310 can move relative to each other. The proximity switch at the rear can just sense the sensor plate and conduct, and this signal is used as the welding start signal. The offline programming system of the KuKa robot ensures that the direction of the welding gun head is always aligned with the center of the fetal membrane, perpendicular to the normal surface of the workpiece, and the ceramic ring clamp and the welding gun head are pointed vertically. The robot arm drives the welding gun head to press down to ensure that the ceramic ring clamp and the workpiece surface are completely close. After the ceramic ring and the workpiece surface are in close contact, the robot arm continues to press down, driving the welding gun head to lift up, the induction sheet and the welding gun head are linked, and the induction sheet rises accordingly, reaching the height of the proximity switch, which means that the welding gun can start an arc. At the same time, a group of through-beam photoelectric sensors 312 are arranged on both sides of the fixing seat, and the bracket position is adjusted so that the light emitted by the sensor is just blocked by the anchor nail, which is used to detect the presence or absence of the anchor nail.After the automatic feeding system processes the anchor pins, the anchor pins are sent into the chuck of the stud welding gun 310 by the manipulator.

[0101] In the present invention, the automatic feeding system includes an anchor pin vibrating disk 11 and a porcelain ring vibrating disk 13 located on the mounting plate. Both the anchor pin vibrating disk 11 and the porcelain ring vibrating disk 13 are provided with spiral tracks, and rubber pads with tiny bosses are arranged on the tracks. A first linear vibrating feeder 23 is connected to the outlet of the anchor pin vibrating disk 11. A limiting boss is provided at the end of the first linear vibrating feeder 23. The first linear vibrating feeder 23 is provided with a through groove for accommodating the anchor pin 16. When the anchor pin 16 reaches the limiting boss, the first grasping device grasps the anchor pin 16. A camera 12 is provided below the end of the first linear vibrating feeder 23. When the first grasping device grasps the anchor pin 16, the camera takes a picture of the anchor pin. After the picture is processed by the controller, if it is determined to be qualified, the first grasping device sends the anchor pin into the second grasping device. A rotatable second grasping device is provided on the mounting plate. The second grasping device clamps the anchor pin 16 from the first grasping device. An assembly table is provided below the second grasping device. A second linear vibrating feeder 22 is provided at the outlet of the porcelain ring vibrating disk 13. The second linear vibrating feeder 22 is provided with a groove 230, and the porcelain ring moves along the groove 230. When the porcelain ring moves to the top of the groove 230, it stops moving, and the rotatable third grasping device grasps the porcelain ring. When the third grasping device rotates to a suitable position, the anchor pin 16 grasped by the second grasping device is located directly above the porcelain ring. A liftable pressing block is installed on the mounting plate, and the anchor pin 16 is pressed into the porcelain ring by the movable pressing block.

[0102] In the present invention, the first grasping device includes a first bracket located on the mounting plate. A first lifting mechanism 14 is installed on the first bracket. A horizontally moving first sliding mechanism 15 is installed on the first lifting block of the first lifting mechanism 14. The first sliding mechanism 15 includes a first screw rod and a first slider. A first grasping unit 19 is installed on the first slider.

[0103] In the present invention, a second bracket is installed on the mounting plate. The second grasping device is located on the second bracket. The second grasping device includes a second base installed on the second bracket. A motor is installed inside the second base. The motor is connected to a rotating shaft. A second grasping unit 20 is installed on the rotating shaft. The rotating shaft is driven by the motor to rotate, thereby driving the second grasping unit 20 to rotate. A support frame 17 is installed on the second bracket. A notch is provided at the top of the support frame 17. The porcelain ring is located on the notch. The anchor pin 16 passes through the porcelain ring and the notch.

[0104] In the present invention, the third grasping device is located on the second bracket. The third grasping device includes a third base, on which a third motor is installed. The third motor is connected to a third rotating shaft, and a third grasping unit 21 is installed on the third rotating shaft. The third grasping unit 21 is driven to rotate by the third rotating shaft.

[0105] In the present invention, a feeding tray is installed between the outlet of the anchor nail vibrating disk 11 and the first linear vibrating feeder 23. The cross-section of the feeding tray is trapezoidal. A chute is provided at the bottom of the feeding tray. A number of baffles for blocking the movement of excess anchor nails 16 are installed on the feeding tray. A gap is provided between the baffles and the bottom of the feeding tray. The chute of the feeding tray is connected to a through groove.

[0106] A welding method for a welding device for welding anchor nails 16 includes the following steps:

[0107] Step 1: Hoist the arc-shaped steel lining workpiece onto the die fixture, and correct and adjust the workpiece.

[0108] Step 2: Weld the pre-shift nails, and conduct a 45° bending test after welding.

[0109] Step 3: Import the 3D model of the workpiece into the equipment offline programming system, set the relevant software parameters according to the size of the workpiece, generate a program, and then import it into the robot control system.

[0110] Step 4: Only perform laser cleaning operations, and conduct laser cleaning on the welding positions of the first 3 rows of anchor nails 16 one by one.

[0111] Step 5: Starting from the fourth row to the third row from the bottom, execute the collaborative working mode. While laser cleaning the surface of the welding area of the fourth row, the robot welds the first row of anchor nails 16, and proceed row by row in sequence.

[0112] Step 6: Only perform welding operations. For the last three rows, only execute the robot welding operation. After all welding is completed, the gantry moves to the negative limit position of the ground rail.

[0113] Step 7: Weld the post-shift nails and conduct a bending test.

[0114] The welding quantity and inspection requirements are the same as those in Step 2. If the post-shift bending is unqualified and still unqualified after re-welding, all the anchor nails 16 welded by this welder during the shift shall be bent by 15° to 30°, and no damage or cracking is allowed.

[0115] Step 8: Clean the ceramic ring and conduct self-inspection of the weld seam.

[0116] After welding, manually break the ceramic ring for self-inspection and cleaning. Workers conduct visual self-inspection on all welds, and there shall be no defects such as spatter, lack of fusion along the circumference, porosity, etc. The cleaning of the ceramic ring shall be carried out carefully and cautiously, without violent operation, and without damaging the weld and the base metal. Welds with defects shall be marked for QC review and to facilitate quickly finding unqualified welds during repair welding.

[0117] Step 9: Weld position accuracy detection.

[0118] QC personnel use a tape measure to measure the weld position. For the first row and the first column of each separate area separated by horizontal and vertical angle steels, its positioning accuracy is detected, and for the other anchor studs 16 within the area, their relative position accuracy with adjacent anchor studs 16 is detected. The measurement reference for positioning accuracy is the right-angle side of the angle steel, and the measurement reference for relative position accuracy is the center line of adjacent anchor studs 16. Whether it is positioning accuracy or relative position accuracy, it is required that the measured value has an error of ≤±5mm from the theoretical dimension on the drawing, otherwise it is considered that the accuracy does not meet the standard.

[0119] Step 10: VT inspection and repair welding of welds.

[0120] QC personnel conduct VT inspection on all welds. If unqualified welds are detected, the welder needs to weld an additional anchor stud 16 near the unqualified weld, and then conduct VT inspection on the repaired anchor stud 16 again.

[0121] Step 11: Sampling inspection of weld destructive tests.

[0122] In the present invention, in step 5, the collaborative mode is that the robot automatically picks and welds while the laser cleaning is carried out simultaneously and independently. The robot welds the anchor stud 16 at the Nth row and the Kth column, and the laser external axis cleans the area to be welded at the (N + 3)th row and the Kth column. After both the laser cleaning and the welding are completed, at this time, the slide table moves horizontally to the next welding point position, and the laser cleaning and the robot operate independently and synchronously. When the coverage area of one station is all welded and cleaned in advance, it is necessary to stop at the welding point position of the last anchor stud 16 and wait for the operation of the other station to be completed. The gantry moves to the next row while the two slide tables move synchronously to the welding point positions of the first anchor studs 16 in their respective coverage areas.

[0123] In the present invention, sampling is carried out at 10% of the total amount of anchor stud 16 welding. A certain number of welds should be selected in each area, and there shall be no phenomenon that too many welds are selected in some areas, too few or even zero welds are selected in some areas. The destructive test is a hammering test, and the sleeve shall not be used to bend it. The hammering angle is 20°. When hammering, it should be carried out in multiple times, 3° - 5° each time, and after each hammering, it is measured with an angle gauge. It is strictly prohibited to hammer at too large an angle and then hammer back to the specified angle in the reverse direction.

[0124] In this embodiment, through the offline technology, the welding spot is automatically recognized and the program is output, eliminating the manual wire laying process, and improving the efficiency, precision and accuracy. Through the vibrating feeding technology and the automatic control technology, the automatic feeding and sleeving of the anchor bolts and porcelain rings are realized. The whole process is automatically controlled, and the sleeving station can meet the requirements of sleeving anchor bolts and porcelain rings with different protruding lengths. The modular design is adopted. For anchor bolts and porcelain rings with different diameters, only the corresponding material channels and jaws need to be replaced to realize the sleeving of anchor bolts and porcelain rings with different diameters, with high flexibility. The 2D vision detection technology is used to detect the arc starting point at the end of the anchor bolt, replacing the traditional manual visual inspection, with high efficiency and accuracy, and avoiding the possible missed inspection and false inspection phenomena caused by the long-term high-intensity work of workers. The laser rust removal technology is used to clean the surface to be welded of the workpiece, replacing the traditional manual grinding with a hand-held angle grinder. Different cleaning parameters can be set according to the steel plates with different rust degrees, with high efficiency, safety and flexibility, reducing the labor demand and saving the labor and construction costs. The numerical control and robot technology are used to realize the unmanned operation of the anchor bolt welding and the surface cleaning of the base material, which can greatly save nuclear-grade welders and auxiliary workers and save the labor and construction costs.

[0125] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation of the present invention itself. Various changes can be made in its form and details without departing from the spirit and scope of the present invention defined by the appended claims.

Claims

1. The clamping mechanism of the flexible forming mold of nuclear power steel lining is characterized by: The clamping mechanism is arranged on the support bridge of the automation system, and includes a long side clamping mechanism (24) and a short side clamping mechanism (25). The long side clamping mechanism (24) includes a mounting seat (2420), a support block (2410) arranged on the support beam, a clamping hydraulic cylinder (2430) arranged on the mounting seat (2420), and a clamping block (2440) arranged on the output end of the clamping hydraulic cylinder. The mounting seat (2420) is slidably connected to the support beam along the width direction of the workpiece, and the clamping block (2440) is rotatably connected to the output end of the clamping hydraulic cylinder (2430). When the workpiece is placed on the beam of the support bridge, the long side clamping mechanism 24 is manually slid so that it faces the edge of the steel plate, and then the clamping hydraulic cylinder (2430) drives the clamping block (2440) to complete the clamping of both sides of the workpiece.

2. The clamping mechanism of the flexible forming mold for nuclear power steel lining according to claim 1 is characterized by: The short side clamping mechanism (25) is a manual C-type clamp.

3. The clamping mechanism of the flexible forming mold for nuclear power steel lining according to claim 1 is characterized by: The contact surface of the clamping block (2440) and the workpiece is in the shape of a contoured clamping claw, thereby increasing the contact area.

4. Nuclear power steel lining flexible molding tire mold automation system, characterized by: The invention comprises the clamping mechanism as claimed in claims 1 to 3, and further comprises a support bridge, an integral support bridge base (7), a lateral adjustment mechanism (8), a longitudinal adjustment mechanism (9), a middle clamping mechanism (10), and a control system (26), wherein the support bridge is arranged in the radial direction of the integral support bridge base (7), the support bridge comprises a group of uniformly distributed flexible support bridges (5) and two fixed support bridges (6), the flexible support bridge is arranged in the middle of the integral support bridge base (7), and the fixed support bridges (6) are respectively arranged on both sides of the integral support bridge base (7). The height of the flexible support bridge (5) is changed by an electric lift (530), thereby changing the curvature of the flexible molding mold to meet the positioning and pairing requirements of workpieces with different curvatures. The top surfaces of the flexible support bridge (5) and the fixed support bridge (6) are combined to form a flexible tire frame with a curvature; the lateral adjustment mechanism (8) drives the workpiece to move lateraly, the longitudinal adjustment mechanism (9) drives the workpiece to move longitudinally, and the middle clamping mechanism (10) clamps the middle part of the workpiece. The control system (26) controls the support bridge to reach a preset position.

5. The clamping mechanism of the flexible forming mold for nuclear power steel lining according to claim 4 is characterized in that: The flexible support bridge (5) comprises lift seats (540) respectively arranged on both sides, an electric lift (530) is fixed on each lift seat (540), the output ends of the electric lifts (530) on both sides are respectively fixedly connected to the two ends of the beam (510), and the electric lifts (530) drive the beam (510) to move up and down; a group of support wheels (520) are evenly distributed on the top of the beam (510).

6. A nuclear power plant steel lining forming device, characterized in that: The invention comprises the steel lining flexible forming mold automation system and the anchor nail welding device as described in claims 1 to 5.

7. A nuclear power plant steel lining forming device according to claim 6, characterized in that: The anchor nail welding device includes a pair of parallel main slide rails installed in the welding area, a movable device is installed on the parallel main slide rails, a gantry structure is installed between the two movable devices, a first guide rail is installed on the gantry structure, two slide plates are installed on the first guide rail, a driving device is installed on the slide plate, and the driving device drives the slide plate to move along the first guide rail; a laser cleaning device is installed on the lower surface of the slide plate, a mounting plate is installed on one side of the slide plate, a welding robot is installed on the mounting plate, and an automatic feeding system is installed on the upper surface of the slide plate. After the automatic feeding system completes feeding the anchor nails, the laser cleaning device cleans the area to be welded, and the welding robot welds the anchor nails.

8. A nuclear power plant steel lining forming device according to claim 7, characterized in that: The automatic feeding system comprises an anchoring nail vibrating plate and a ceramic ring vibrating plate located on a mounting plate, wherein the anchoring nail vibrating plate and the ceramic ring vibrating plate are both provided with spiral tracks, a first linear vibrating feeder is connected to the outlet of the anchoring nail vibrating plate, a limiting boss is provided at the end of the first linear vibrating feeder, the first linear vibrating feeder is provided with a through slot for accommodating the anchoring nail, when the anchoring nail reaches the limiting boss, a first grasping device grasps the anchoring nail, a rotatable second grasping device is provided on the mounting plate, and the second grasping device moves from the first grasping device An anchor nail is clamped in the picking device, and an assembly table is provided under the second grabbing device; a second linear vibration feeder is provided at the outlet of the ceramic ring vibration disk, and the second linear vibration feeder is provided with a groove, and the ceramic ring moves along the groove. When the ceramic ring moves to the top of the groove, the movement is stopped, and the rotatable third grabbing device grabs the ceramic ring. When the third grabbing device is rotated to a suitable position, the anchor nail grabbed by the second grabbing device is located directly above the ceramic ring, and a liftable pressure block is installed on the mounting plate, and the anchor nail is pressed into the ceramic ring by the movable pressure block.

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