Nuclear power steel lining flexible forming mold automatic system and method

Abstract

The present application provides a kind of nuclear power steel lining flexible forming mould automatic system and method, belong to nuclear power plant construction technical field, including support bridge overall base and support bridge, support bridge is set in the radial direction of support bridge overall base, still include transverse adjusting mechanism, longitudinal adjusting mechanism, middle pressing mechanism, long side clamping mechanism, short side clamping mechanism and control system, flexible support bridge is set in the middle of support bridge overall base, fixed support bridge is respectively set in the two sides of support bridge overall base, the height of flexible support bridge is changed by electric elevator, so as to change the arc of flexible forming mould, meet the positioning group of different curvature workpieces, the top surface of flexible support bridge and fixed support bridge is combined, and the flexible jig frame with arc is formed;The present application is not only suitable for the forming jig frame of different size cylinder, but also can complete the bending forming of cylinder steel plate and continue to be clamped after forming to complete the welding of related components on cylinder.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant construction technology, specifically to an automated system and method for flexible forming molds for nuclear power plant steel linings. Background Technology

[0002] A steel liner is a layer of steel plate or metal material added inside a structure to enhance its strength and corrosion resistance. In nuclear power plant construction, the steel liner is an important component of the containment vessel. Furthermore, prefabrication technology for the containment vessel is widely used in nuclear power plant construction. For example, the containment vessel's cylindrical section is typically composed of multiple prefabricated panels. These panels are processed and welded in the workshop and then transported to the site for assembly. In other words, in the construction of the nuclear power plant's steel liner, prefabrication is a crucial step in the prefabrication process. Currently, in the prefabrication process, prefabrication jigs of different sizes are typically used. These jigs are made according to the different requirements of the reactor core and the steel liner dimensions. After the jigs are completed, the cylindrical steel plates are manually clamped onto them. Since the cylindrical steel plates are generally 4-6mm thick, their own weight is sufficient to bend them when placed on the jigs, thus completing the forming of the cylindrical steel plates.

[0003] Because the dimensions of the custom-made molding jigs are fixed, they are generally made by welding steel profiles. They can only meet the needs of prefabricating single-size cylindrical steel plates. When changing to different products, it is necessary to remake the molding jigs. This not only wastes materials to make new molding jigs, but also requires the removal of the original molding jigs, which is time-consuming, labor-intensive, and affects work efficiency.

[0004] Therefore, there is an urgent need for an automated system for flexible forming molds of nuclear power steel linings, which is suitable for forming molds of different sizes of cylinders, and can complete the bending and forming of the cylinder steel plates and continue to clamp them after forming to complete the welding of related components on the cylinder. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to address the shortcomings of existing technologies by providing an automated system and method for flexible forming molds for nuclear power plant steel linings. This system is not only applicable to forming molds for cylinders of different sizes, but also enables the bending and forming of cylinder steel plates and subsequent clamping to complete the welding of related components on the cylinder.

[0006] Technical solution: The automated system for flexible forming molds for nuclear power steel linings described in this invention includes an integral base for a support bridge and a support bridge. The support bridge is located in the radial direction of the integral base for the support bridge. The support bridge includes a set of evenly distributed flexible support bridges and two fixed support bridges. The flexible support bridge is located in the middle of the integral base for the support bridge, and the fixed support bridges are respectively located on both sides of the integral base for the support bridge. The height of the flexible support bridge is changed by an electric lifting mechanism, thereby changing the curvature of the flexible forming mold to meet the positioning and assembly of workpieces with different curvatures. The top surfaces of the flexible support bridge and the fixed support bridge are combined to form a flexible mold frame with curvature.

[0007] The flexible molding die automation system also includes a lateral adjustment mechanism, a longitudinal adjustment mechanism, a central pressing mechanism, a long-side clamping mechanism, a short-side clamping mechanism, and a control system. The lateral adjustment mechanism drives the workpiece to move laterally, the longitudinal adjustment mechanism drives the workpiece to move longitudinally, the central pressing mechanism clamps the middle part of the workpiece, the long-side clamping mechanism clamps the workpiece along its long side, the short-side clamping mechanism clamps the workpiece along its short side, and the control system controls the support bridge to reach the preset position.

[0008] Furthermore, the flexible support bridge includes lifting platforms respectively set on both sides, each lifting platform is fixed with an electric lifting platform, the output ends of the electric lifting platforms on both sides are respectively fixedly connected to the two ends of the main beam, and the electric lifting platforms drive the main beam to move up and down; a set of support wheels are evenly distributed on the top of the main beam.

[0009] Furthermore, the fixed support bridge includes fixed bases respectively set on both sides, with fixed beams fixedly connected to both ends of the fixed bases, and a set of support wheels evenly distributed on the top of the fixed beams.

[0010] Furthermore, the overall base of the support bridge includes two frame bases placed parallel to each other along the axial direction. A set of frame units corresponding one-to-one with the flexible support bridge and the fixed support bridge are evenly distributed on the frame bases. The frame units are fixedly connected to the bottom surfaces of the flexible support bridge and the fixed support bridge, respectively.

[0011] Furthermore, the lateral adjustment mechanism includes a vertical lifting mechanism, a horizontal pushing mechanism, and a positioning mechanism. The vertical lifting mechanism is slidably connected to the support bridge and adjusts the position of the workpiece in the width direction by sliding.

[0012] Furthermore, the horizontal jacking mechanism is slidably mounted on the support bridge, and the position of the workpiece in the horizontal direction is adjusted by sliding.

[0013] Furthermore, the positioning mechanism is fixed at both ends of the support bridge to limit the movement of the workpiece.

[0014] Furthermore, the central clamping mechanism is composed of two double-channel steels welded together. The top surfaces of the two double-channel steels form a clamping beam. The part between the two double-channel steels is hollow. The clamping mechanism is slidably installed along the length of the clamping beam. The clamping mechanism clamps the workpiece with bolts.

[0015] Furthermore, the long-side clamping mechanism is mounted on the support bridge and moves along the length of the support bridge, with the clamping point of the long-side clamping mechanism located directly above the support bridge; the short-side clamping mechanism is a C-type clamp that clamps the workpiece.

[0016] Furthermore, the control system includes an operator console and a system control cabinet.

[0017] Furthermore, it also includes a channel assembly, which consists of several welded stiffeners disposed between the support bridges, forming a channel for manual passage.

[0018] Furthermore, it also includes safety components, including anti-fall treads and guardrails. The anti-fall treads are installed on the sides of each support bridge and rise and fall with the support bridge; the guardrails are installed on the lift base.

[0019] A workpiece installation method for an automated system for flexible forming molds of nuclear power plant steel linings includes the following steps:

[0020] Step 1: Set the position parameters of the flexible support bridge according to the drawings to be processed;

[0021] Step 2: The operator gently lifts the workpiece and places it onto the flexible jig.

[0022] Step 3: Adjust the workpiece base plate to the appropriate lateral position using the lateral adjustment mechanism;

[0023] Step 4: Adjust the workpiece base plate to the appropriate longitudinal position using the longitudinal adjustment mechanism;

[0024] Step 5: The long-side clamping mechanism of the operating part presses the workpiece base plate along the long side.

[0025] Step Six: The operator hoists the angle steel reinforcing ribs to the position designed in the drawings;

[0026] Step 7: Hoist the middle clamping mechanism; the operator installs the middle clamping mechanism.

[0027] Step 8: Operate all long-side clamping mechanisms to press the workpiece base plate along its long side;

[0028] Step 9: Operate the short-side clamping mechanism to press the workpiece base plate along the short side.

[0029] Step 10: Start welding;

[0030] Step 11: After welding is completed, the operator opens and removes the central clamping mechanism;

[0031] Step 12: Open the long side clamping mechanism and the short side clamping mechanism;

[0032] Step 13: The operator lifts and removes the workpiece to proceed to the next process.

[0033] A steel lining forming apparatus for nuclear power plants includes, for example, an automated system for flexible steel lining forming molds and an anchor welding device.

[0034] Beneficial effects: Compared with the prior art, the advantages of the present invention are as follows:

[0035] (1) The flexible forming mold designed in this invention can be applied to forming molds for cylinders of different sizes, and can complete the bending and forming of the cylinder steel plate and continue to clamp after forming to complete the welding of related parts on the cylinder.

[0036] (2) The flexible support bridge designed in this 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 arc of the design requirements. By controlling the height of each flexible support bridge from the ground, the construction accuracy can be ensured and abrupt gaps can be avoided.

[0037] (3) The lateral adjustment mechanism designed in this invention can adjust the position of the workpiece in the lateral direction of the whole system through the vertical lifting mechanism, the horizontal pushing mechanism and the positioning mechanism. The vertical lifting mechanism mainly relies on the rotation of the electric roller in the lateral direction to adjust the position of the workpiece. 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 that the position of the workpiece in the width direction is accurate. The positioning mechanism mainly relies on the rotating part of the positioning wheel to realize the positioning and guidance of the workpiece. When the workpiece enters the processing or assembly position, the positioning wheel can tightly fit the workpiece. Through the rotation of the rotating part, the workpiece is guided to the predetermined position.

[0038] (4) The longitudinal adjustment mechanism designed in this invention allows the workpiece to move along the longitudinal direction as the longitudinal electric roller rolls in the longitudinal direction of the workpiece, thereby realizing the position adjustment of the workpiece in the longitudinal direction. It can adapt to workpieces of various shapes and sizes. Whether it is a long strip, a rectangle or an irregular shape, as long as the workpiece is laid flat on the beam of the flexible support bridge, the longitudinal electric roller 920 can adjust its longitudinal position by rolling.

[0039] (5) The middle clamping mechanism designed in this invention can effectively prevent the workpiece from deforming by making close contact between the clamping block and the workpiece and by applying sufficient pressure by tightening the clamping screw, thus ensuring the stability of the workpiece during the processing and preventing problems such as tearing or bulging of the workpiece during the processing.

[0040] (6) The long-side clamping mechanism and the short-side clamping mechanism designed in this invention can press the workpiece into place and lock it in place. It is automatically controlled by the control system and does not affect loading and unloading. The pressing point is directly above the support bridge, which can flexibly and effectively press the workpiece. The short-side clamping mechanism is clamped by manual C-type clamps. Through the cooperation of the two, the workpiece can be well fixed in both the long and short sides. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of the present invention;

[0042] Figure 2 This is a schematic diagram of the flexible support bridge in this invention;

[0043] Figure 3 This is a schematic diagram of the structure of the lifting platform base in this invention;

[0044] Figure 4 This is a schematic diagram of the electric lift in this invention;

[0045] Figure 5 This is a schematic diagram of the fixed support bridge in this invention;

[0046] Figure 6 This is a schematic diagram of the vertical lifting mechanism in this invention;

[0047] Figure 7 This is a structural schematic diagram of the horizontal jacking mechanism 820;

[0048] Figure 8 This is a schematic diagram of the longitudinal adjustment mechanism;

[0049] Figure 9 This is a schematic diagram of the central pressing mechanism in this invention;

[0050] Figure 10 This is a schematic diagram of the long-side clamping mechanism in this invention;

[0051] Figure 11 This is a schematic diagram of the anchor nail welding device in Example 2.

[0052] Figure 12 This is a magnified view of a portion of Example 2.

[0053] Figure 13 This is a schematic diagram of the laser cleaning structure in Example 2.

[0054] Figure 14 for Figure 13 Front view diagram.

[0055] Figure 15 for Figure 13 A schematic diagram of the detachable device.

[0056] Figure 16 This is a schematic diagram of the main structure of the welding head in Example 2.

[0057] Figure 17 for Figure 16 The right view.

[0058] Figure 18 for Figure 16 The left view.

[0059] Figure 19 This is a schematic diagram of an automatic feeding system.

[0060] Figure 20 for Figure 19 This is a schematic diagram of the feeding tray in this invention.

[0061] Figure 21 This is a schematic diagram of the cross-sectional structure of the feeding tray in Example 2.

[0062] In the diagram: 11. Anchor nail vibratory feeder; 12. Camera; 13. Ceramic ring vibratory feeder; 14. First lifting mechanism; 15. First sliding mechanism; 16. Anchor nail; 17. Support frame; 19. First gripping unit; 20. Second gripping unit; 21. Third gripping unit; 22. Second linear vibratory feeder; 23. First linear vibratory feeder; 201. Fixed shaft; 203. First motor; 204. First planetary reducer; 206. Connecting block; 207. Laser rangefinder sensor; 208. Sensor mounting plate; 209. Air knife; 210. Air knife support; 211. Laser head; 214. Fourth bracket; 215. Third bracket; 216. Cable chain; 217. First side plate; 218. Back plate; 219. 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 bearing; 301. Mounting flange; 302. Welding torch bracket; 303. SK shaft support; 304. Proximity switch; 305. Sensing plate; 306. Sliding seat; 307. Welding torch transition plate; 308. Guide seat; 309. Compression fitting; 310. YF-DH-16 stud welding torch; 311. First guide rod; 312. Through-beam photoelectric sensor; 313. Ceramic ring clamp; 314. Diffuse reflection photoelectric sensor; 315. Second guide rod; 316. Bracket fixing plate; 317. 318. Sliding seat; 401. Third guide rod; 402. Main slide rail; 403. Buffer pad; 404. Embedded part; 405. Locking mechanism; 406. Helical rack; 407. Gantry support leg; 408. Gantry crossbeam; 409. Foundation embedded part; 410. Servo motor; 411. Reducer; 412. Travel gear; 413. Clamping wheel; 414. Moving plate; 415. First guide rail; 416. Moving rack; 5. Flexible support bridge; 510. Main beam; 520. Support wheel; 530. Electric lift; 5301. Screw lift; 540. Lift base; 5401. Lift base base plate; 5402. Square tube bracket; 5403. Support plate; 5404. Lifting guide rail; 6. Fixed support bridge; 610. 7. Fixed base; 8. Support bridge integral base; 9. Lateral adjustment mechanism; 10. Straight lifting mechanism; 11. Adjustment frame; 12. Adjustment cylinder; 13. Electric roller; 14. Guide column and guide sleeve; 15. Horizontal jacking mechanism; 16. Jacking frame; 17. Jacking cylinder; 18. Positioning mechanism; 19. Longitudinal adjustment mechanism; 10. Hydraulic lifting pressure roller; 10. Longitudinal electric roller; 11. Second guide rail; 22. Middle clamping mechanism; 23. Clamping beam; 24. Clamping seat; 25. Clamping screw; 26. Long side clamping mechanism; 27. Support block; 28. Mounting seat; 29. ​​Clamping hydraulic cylinder; 20. Clamping block; 20. Short side clamping mechanism;26. Welded stiffening plates; 27. Fall-prevention stair treads; 28. Guardrails. Detailed Implementation

[0063] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0064] like Figure 1 As shown, the automated system for flexible forming molds of nuclear power plant steel linings has an overall footprint of 7000mm x 17000mm (width x length). It includes a support bridge base 7 and support bridges. The support bridges are positioned radially on the support bridge base 7 and consist of 19 flexible support bridges 5 and 2 fixed support bridges 6. The 19 flexible support bridges are located in the center of the support bridge base 7, while the 2 fixed support bridges 6 are located on either side of the support bridge base 7. The support bridge base 7 includes two parallel frame bases 710 along the axial direction. Each frame base 710 has a set of frame units evenly distributed, corresponding one-to-one with the flexible support bridges 5 and the fixed support bridges 6. These frame units are fixedly connected to the bottom surfaces of the flexible support bridges 5 and the fixed support bridges 6, serving to support and fix the support bridges.

[0065] like Figure 2 As shown, each flexible support bridge 5 includes a lifting platform 540 respectively disposed on both sides, and an electric lifting platform 530 is fixed on each lifting platform 540. The output ends of the electric lifting platforms 530 on both sides are fixedly connected to both ends of the main beam 510, and the electric lifting platforms 530 drive the main beam 510 to lift and lower; a set of support wheels 520 are evenly distributed on the top of the main beam 510. Figure 3 As shown, the lifting platform base 540 includes a lifting platform base plate 5401. Two square tube supports 5402 are arranged above the lifting platform base plate 5401. An electric lifting mechanism 530 is fixedly connected to the front of the two square tube supports 5402, and a support plate 5403 is fixedly connected to the back of the two square tube supports 5402. A lifting guide rail 5404 is fixedly connected to the support plate 5403. Figure 4 As shown, the electric lifting platform 530 includes a screw jack 5301. The output shaft of the screw jack 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 lifting platform 530 and moves up and down along the lifting guide rail 5404. The flexible support bridge 5 changes its height from the overall base 7 of the support bridge by the electric lifting platform 530, thereby changing the curvature of the flexible forming mold to meet 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 frame with curvature.

[0066] like Figure 5As shown, the fixed support bridge 6 includes fixed bases 610 respectively disposed on both sides, and fixed bases 610 are fixedly connected to both ends of a fixed beam 620. A set of fixed support wheels 630 are evenly distributed on the top of the fixed beam 620.

[0067] like Figure 6 As shown, the lateral adjustment mechanism 8 includes a vertical lifting mechanism 810, a horizontal pushing mechanism 820, and a positioning mechanism 830. The vertical lifting mechanism 810 is mounted 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 mounted on the frame of the adjustment frame 8101. The electric roller 8103 is mounted on 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 workpiece in the width direction, i.e., the lateral position, the adjustment cylinder 8102 is driven, thereby driving the electric roller 8103 to rotate. Due to the friction between the electric roller and the workpiece, the electric roller 8103 drives the workpiece to move in the lateral direction. In addition, the lateral adjustment mechanism 8 also includes guide posts and guide sleeves 8104 disposed on both sides of the adjustment frame 8101. The guide posts serve as supporting and positioning elements, while the guide sleeves are hollow tubular elements fitted onto the guide posts that provide wear resistance or lubrication. When the adjustment frame slides in the tool width direction, the guide posts can withstand radial and axial loads from the adjustment frame, ensuring a smooth movement trajectory for the adjustment frame, while the guide sleeves reduce friction and wear. Figure 7 As shown, the horizontal jacking mechanism 820 includes a jacking frame 8201 and a jacking cylinder 8202. The jacking frame 8201 is equipped with the jacking cylinder 8202, which can adjust the relative position of the workpiece and the support wheel in the width direction. The positioning mechanism is a positioning roller 830, which is set at both ends of the jacking frame 8201. When the workpiece contacts the rotating part on the positioning roller 830, the rotating part rotates through the outer ring of the rolling bearing, thereby realizing the positioning and guidance of the workpiece.

[0068] like Figure 8As shown, the longitudinal adjustment mechanism 9 includes two sets of hydraulic lifting rollers 910 at both ends of the main beam 510 of the flexible support bridge, a longitudinal electric roller 920, and a second guide rail 930. The second guide rail 930 is set on the side of the main beam 510 of the flexible support bridge. A guide rail 930 is set at both ends of the main beam 510 of the flexible support bridge. A set of hydraulic lifting rollers 910 is slidably set on each second guide rail 930. When the workpiece is laid flat on the main beam 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 roller 910 slides on the guide rail. When the hydraulic lifting roller 910 slides to an appropriate position, the hydraulic lifting roller 910 presses down to press the workpiece in the vertical direction. Meanwhile, since the workpiece uses its own weight to complete its own bending, the material is driven to slide on the support bridge beam by the longitudinal electric roller 920. Since the deformation of the workpiece is related to its own weight, when the center of gravity of the workpiece deviates from the highest point, the bending moment of the workpiece about the highest point is greater, which is conducive to the bending deformation at both ends of the workpiece and reduces the degree of warping on both sides of the subsequent cylindrical steel plate in the length direction.

[0069] like Figure 9 As shown, the central clamping mechanism 10 is located above the flexible support bridge and includes two clamping beams 1010 welded together from two double-channel steels. The middle part of the clamping beam 1010 is hollow. A clamping seat 1020 is fixed on the clamping beam 1010. The clamping seat 1020 can be slidably installed on the clamping beam 1010 and placed in a suitable position according to actual needs. A clamping screw 1030 is threadedly connected to the clamping seat 1020 in the vertical direction. A clamping block is fixed to the end of the clamping screw 1030 facing the workpiece. When the workpiece is adjusted to the appropriate position by the transverse adjustment mechanism 8 and the longitudinal adjustment mechanism 9, the operator can fix the clamping beam 1010 above the flexible support bridge, then slide the clamping seat 1020 to the appropriate position, and then insert the clamping screw 1030 into the threaded hole of the clamping seat 1020. When the clamping block contacts the workpiece, tighten the clamping screw 1030. Generally, the middle clamping mechanism 10 is set above the flexible support bridge in the middle part of the whole device. By installing the clamping beam, the middle position of the workpiece is clamped to prevent workpiece deformation, steel plate tearing or bulging and other problems that may affect subsequent processing.

[0070] like Figure 10As shown, the long-side clamping mechanism 24 includes a mounting base 2420, a support block 2410 mounted on a support beam, a clamping hydraulic cylinder 2430 mounted on the mounting base 2420, and a pressing block 2440 mounted on the output end of the clamping hydraulic cylinder. The mounting base 2420 is slidably connected to the support beam along 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, it is manually slid so that the long-side clamping mechanism 24 is directly opposite the edge of the steel plate. Then, the clamping hydraulic cylinder 2430 drives the pressing block 2440 to complete the clamping of 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 welding deformation at the edge of the workpiece. Generally, the long-side hydraulic clamping mechanism can provide 3 to 5 tons of pressure, clamping the workpiece in place and locking it. It is automatically controlled by the control system, without affecting loading and unloading. The clamping point is directly above the support bridge, enabling flexible and effective clamping of the workpiece. Two sets are installed on each beam, for a total of 42 sets. During clamping, dual-point synchronous clamping is used. The clamping block 2440 uses contour-following clamping claws to increase the contact area. The short-side clamping mechanism uses manual C-type clamps to clamp the workpiece.

[0071] The automated system for flexible steel-lined molding molds also includes a control system. The control system comprises an operator console and a system control cabinet. The operator console is used for parameter input for the entire system and manual operation of each actuator. It uses a Chinese operating system and features an HMI with a touchscreen. The HMI is installed on the PLC control cabinet and can realize analog, manual, and automatic control operations. It has program reading, fault alarm, and emergency stop functions. The system is also equipped with a 65-inch display screen to display relevant equipment status and information. The system control cabinet includes the hardware and software components of the control system. The hardware includes a power cabinet, servo cabinet, PLC cabinet, audible and visual alarm system, and wireless control module. Communication uses industrial Ethernet. Standard cable trays are used to connect the control cabinet to the welding power supplies and transmission lines of each workstation. The software component is already developed and features automatic programming and point-and-click adjustment control functions. The control system has automatic programming control and point-and-click adjustment control functions, which can be selected via function keys on the HMI operating interface. The program software is written using TIA Portal software. Individual program numbers can be created and stored according to the specifications and models of the steel lining wall panels. Stored programs can be recalled at any time. Up to 30 program numbers can be stored. Control functions include: programming of the lifting speed and lifting distance of the support bridge lifting servo, point-and-click adjustment control, and display on the HMI interface; implementation of single-action point-and-click and synchronous linkage functions for the support bridge; hydraulic control of the long side holding, enabling linkage or single-action point-and-click control; longitudinal and lateral translation and centering control functions; programmable setting and adjustment of electric roller motor speed and longitudinal and lateral translation adjustment speed; use of hydraulic solenoid valve group branch control to achieve automatic and point-and-click control of hydraulic cylinder holding, tightening, and loosening functions; on / off control of pneumatic centering; logic signal interaction function to achieve automatic or point-and-click adjustment of longitudinal and lateral movement; the human-machine interface (HMI) is installed on the control panel and operates using a Chinese menu. The menu adopts a hierarchical expansion mode, facilitating intuitive and quick function setting and operation. All servo motor models and PLC / HMI interfaces utilize the PN bus, ensuring signal strength and interference resistance. It features fast response speed and low failure rate. Functions requiring adjustment can be adjusted via physical buttons on the wireless remote control. Real-time alarm prompts are provided for safety positions and safety protection signals to safeguard equipment operating accuracy and personnel safety.

[0072] The automated system for flexible forming molds for nuclear power steel linings also includes a channel assembly, which consists of several welded stiffeners 26 arranged between support bridges, forming a channel for manual passage.

[0073] The automated system for flexible forming molds of nuclear power steel linings also includes safety components, including anti-fall treads 27 and guardrails 28. The anti-fall treads 27 are installed on the side of each support bridge. The anti-fall treads 27 rise and fall with the support bridge. The surface of the anti-fall treads is made of patterned plate to increase friction and play a role in anti-slip. The guardrails 28 are installed on the lifting base 540 and are fixed and do not move with the support bridge.

[0074] This embodiment also provides a workpiece installation method for an automated system for flexible forming molds of nuclear power plant steel linings, comprising the following steps:

[0075] Step 1: Set the position parameters of the flexible support bridge according to the drawings to be processed;

[0076] Step 2: The operator gently lifts the workpiece and places it onto the flexible jig.

[0077] Step 3: Adjust the workpiece base plate to the appropriate lateral position using the lateral adjustment mechanism;

[0078] Step 4: Adjust the workpiece base plate to the appropriate longitudinal position using the longitudinal adjustment mechanism;

[0079] Step 5: The long-side clamping mechanism of the operating part presses the workpiece base plate along the long side.

[0080] Step Six: The operator hoists the angle steel reinforcing ribs to the position designed in the drawings;

[0081] Step 7: Hoist the middle clamping mechanism; the operator installs the middle clamping mechanism.

[0082] Step 8: Operate all long-side clamping mechanisms to press the workpiece base plate along its long side;

[0083] Step 9: Operate the short-side clamping mechanism to press the workpiece base plate along the short side.

[0084] Step 10: Start welding;

[0085] Step 11: After welding is completed, the operator opens and removes the central clamping mechanism;

[0086] Step 12: Open the long side clamping mechanism and the short side clamping mechanism;

[0087] Step 13: The operator lifts and removes the workpiece to proceed to the next process.

[0088] Specifically as follows:

[0089] During operation, depending on the size of the workpiece, which is typically a cylindrical steel plate, the height of the support beam is adjusted by adjusting the lifting assembly to create an arc on the top surface of the support beam that supports the cylindrical steel plate. The position of the flexible support bridge is then adjusted, and the material is loaded via a gantry crane, positioning the cylindrical steel plate on the support beam. Subsequently, the cylinder 8102 is adjusted to cause the electric roller 8103 to press against the cylindrical steel plate. Driving the electric roller 8103 then moves the cylindrical steel plate, adjusting its position. By reciprocating within a certain range, the cylindrical steel plate, under its own weight, achieves a certain degree of stability on both sides. The bending process improves bending performance and reduces springback of the cylindrical steel plate. After completion, the long-side clamping mechanism 24 is clamped. The mounting base is manually pushed so that the contour clamping claws face the cylindrical steel plate and are located directly above the support block. The hydraulic lifting pressure roller 2410 clamps both sides of the cylindrical steel plate. During clamping, the hydraulic lifting pressure roller 2410 clamps in sequence from the highest support beam to the two side support beams. Since the cylindrical steel plate will deform to a certain extent when clamped, clamping from both sides in sequence makes it difficult for the deformation of the cylindrical steel plate to be concentrated between the two clamping blocks, preventing the cylindrical steel plate from arching and causing excessive deformation, which would affect the performance of the cylindrical steel plate.

[0090] Take out the guide rail 2430 and install it on the corresponding support beam according to the length of the cylindrical steel plate. By sliding the slide block, make the two ends of the cylindrical steel plate exactly between the conformal clamping claw and the support angle iron. Rotate the screw to make the conformal clamping claw and the support angle iron clamp the two ends of the cylindrical steel plate. Finally, complete the installation of the middle pressing mechanism 10. By sliding the position of the pressing seat 1020 and then rotating the pressing screw 1030, make the pressing block clamp the middle area of ​​the cylindrical steel plate to ensure the pressing of the middle area of ​​the cylindrical steel plate and ensure the flatness of the cylindrical steel plate.

[0091] Example 2

[0092] A steel lining forming device for nuclear power plants includes an automated system for flexible steel lining forming molds and an anchor welding device. The automated system for flexible steel lining forming molds is as described in Example 1. The anchor welding device includes a pair of parallel main slide rails 401 installed in the welding area. Movable devices are mounted on the parallel main slide rails 401. A gantry structure is installed between the two movable devices. A first guide rail, consisting of two linear slide rails, is installed on the gantry structure. Two sliding plates are mounted on the first guide rail, and a driving device is installed on each sliding plate. 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. An installation plate is installed on one side of the sliding plates, and a welding robot is installed on the installation plate. An automatic feeding system is installed on the upper surface of the sliding plates. After the automatic feeding system feeds the anchors 16, the laser cleaning device cleans the area to be welded, and the welding robot welds the anchors 16.

[0093] In this invention, the main slide rail 401 is a 50mm steel rail. The entire main slide rail is installed on the foundation embedded part 409. Several pre-embedded parts 403 are set on the foundation embedded part 409. The pre-embedded parts 403 are equipped with no less than three locking mechanisms 404. The locking mechanisms are used to lock the main slide rail 401. The main slide rail 401 is located on the pre-embedded part 403. The top and sides of the slide rail are machined into flat surfaces. A helical 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 beam 408 and are connected by bolts to form a gantry frame 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 reducer 411. On the end face of the inlet flange, the reducer 411 is connected to the gantry support leg 407 via a connecting plate. The travel gear 412 is installed at the input shaft of the reducer. The travel gear and the helical rack 405 are tightly meshed by a tie rod and a disc spring. Buffer pads 402 are installed on both sides of the main slide rail 401. A limit switch is also installed between the travel gear and the guide wheel. Two linear slide rails are arranged on the upper part of the gantry beam. 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 beam. One side of the mounting groove of all slide rails is machined into a single V-shape. The V-shaped groove is locked to the gantry beam by wedges, so that the positioning side of the main slide rail is in close contact with the side of the mounting groove. The slide table mounting plate is locked to the side and top linear rails by bolts.

[0094] In this invention, the driving device includes a servo motor, a moving gear, and a moving rack. The moving rack is located between two linear slide rails. The moving servo motor drives the gear to rotate, thereby driving the moving plate 414 to move along the moving rack.

[0095] In this invention, the laser cleaning device includes a fixed shaft 201 fixed to a sliding plate. A slide rail is provided on the fixed shaft 201. A sliding frame is fitted onto the fixed shaft 201. The sliding frame consists of a first side plate 217, a back plate 218, a front plate 219, and a second side plate 223. A first motor 203 is mounted on the sliding frame and connected to a first planetary reducer 204. A sliding device is mounted on the output shaft of the first planetary reducer 204 and slides along the slide rail. A third bracket 215 is mounted on the sliding frame and connected to a cable chain 216. The cable chain 216 is connected to a transition plate 220 via a fourth bracket 214. The transition plate 220 is connected to a connecting block 206. The connecting block 206 is equipped with an air knife 209, a laser rangefinder 207, and a laser head 211. The laser rangefinder 207 is connected to the connecting block 206 via a sensor mounting plate 208. A wind knife support 210 is mounted on the connecting block 206, and a wind knife 209 is mounted on the wind knife support 210. The wind knife support 210 has an opening slot, on which an insertion guide shaft 222 is mounted. The end of the guide shaft 222 is a rectangular boss, which is inserted into the opening slot. The wind knife 209 is mounted on an opening support 221, and the guide shaft 222 passes through the opening support 221. The guide shaft 222 and the opening support 221 are interference-fitted. A locking bolt is provided in the opening slot, and when the guide shaft 222 moves to the appropriate position, it is locked by the locking bolt. The sliding device is a gear, and a cleaning rack is provided on the slide rail. The gear moves along the cleaning rack. A mounting base 227 is mounted on the connecting block 206, and the laser head 211 is mounted on the mounting base 227 via a detachable device.

[0096] In this invention, the detachable device includes a movable block 229 with a groove 230, a hemispherical groove in the groove 230, a ball bearing 231 in the hemispherical groove, a cavity at one end of the mounting base 227, an arc groove on the lower surface of the cavity that matches the hemispherical groove, a movable plate 228 installed in the cavity, a guide post 224 in the cavity, a through hole in the movable plate 228, the guide post 224 inserted into the through hole, a compression spring 225 on the guide post 224, one end of the compression spring 225 abutting against the movable plate 228, and the other end abutting against the inner wall of the cavity, and a laser head 211 located on the movable block 229.

[0097] In this 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 torch bracket 302 connected to the mounting flange 301, and a stud welding torch 310. The stud welding torch 310 is fixed to the welding torch transition plate 307 by bolts. The welding torch transition plate 307 is locked to the welding torch bracket 302 by bolts. A guide seat 308 is installed on the welding torch transition plate 307. Two first guide rods 311 are installed on the guide seat 308. The first guide rods 311 are fixed by a compression fitting 309. Two SK shaft supports 303 are installed at the bottom of the welding torch bracket 302. A second guide rod 315 passes through the two SK shaft supports 303. The end of the second guide rod is provided with a first open fixing seat. A diffuse reflection photoelectric sensor 314 is installed on the first open fixing seat. The first open fixing seat includes a fixed unit and a movable unit. The movable unit is provided with two vertically designed waist-shaped holes. The angle of the diffuse reflection photoelectric sensor 314 is adjusted through the two waist-shaped holes. The bottoms of the two first guide rods 311 are connected to the third guide rod 318. A sliding seat 317 is fitted onto 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. The sliding seat 317 is connected to the ceramic ring clamp 313. A second open fixing seat is installed between the two SK shaft supports 303. The second open fixing seat is fixed on the welding torch transition plate 307. A proximity switch 304 and an L-shaped bracket are installed at the bottom of the second open fixing seat. A set of through-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 torch 310. The sensing plate is connected to the bracket fixing plate 316 by bolts. The position of the sensing plate is adjusted by the waist hole on the sensing plate so that the ceramic ring clamp 313 is completely in contact with the workpiece surface. The stud welding torch 310's chuck is a four-lobed copper tube structure. The diameter of the anchor pin's large end is slightly larger than the inner diameter of the copper tube. After the anchor pin is inserted into the welding torch head, it spreads the four lobes of the copper tube to clamp the anchor pin. The four-lobed copper tube structure consists of three slots on the copper tube, forming a flexible chuck. The chuck of the stud welding torch 310 is connected to the stud welding torch 310 through an elastic structure, and the chuck and the stud welding torch 310 can move relative to each other. The proximity switch at the rear can sense the sensing element and conduct, and this signal serves as the welding start signal. KuKa's offline programming system ensures that the welding torch head is always aligned with the center of the mold, perpendicular to the normal plane of the workpiece, and that the ceramic ring clamp and the welding torch head are perpendicular. The robotic arm moves the welding torch head downwards, ensuring that the ceramic ring clamp and the workpiece surface are completely adhered. After the ceramic ring and the workpiece surface are firmly attached, the robotic arm continues to press down, causing the welding torch head to rise. The induction plate and the welding torch head are linked, and the induction plate rises accordingly. When it reaches the height of the proximity switch, it is determined that the welding torch can start an arc. At the same time, a set of through-beam photoelectric sensors 312 are arranged on both sides of the fixed base. The position of the bracket is adjusted so that the light emitted by the sensor is exactly blocked by the anchor nail, which is used to detect the presence or absence of the anchor nail.After the automatic feeding system has processed the anchor nails, the robotic arm feeds the anchor nails into the chuck of the stud welding gun 310.

[0098] In this invention, the automatic feeding system includes an anchoring nail vibratory plate 11 and a ceramic ring vibratory plate 13 located on a mounting plate. Both the anchoring nail vibratory plate 11 and the ceramic ring vibratory plate 13 have spiral tracks with rubber pads featuring small protrusions on the tracks. A first linear vibrating feeder 23 is connected to the outlet of the anchoring nail vibratory plate 11. A limiting protrusion is provided at the end of the first linear vibrating feeder 23, which has a through groove for accommodating anchoring nails 16. When the anchoring nail 16 reaches the limiting protrusion, a first gripping device grips the anchoring nail 16. A camera 12 is located below the end of the first linear vibrating feeder 23. When the first gripping device grips the anchoring nail 16, the camera takes a picture of the anchoring nail. After the image is processed by the controller and deemed acceptable, the first gripping device feeds the anchoring nail into a second gripping device. A rotatable second gripping device is provided on the mounting plate. The second gripping device clamps the anchor nail 16 from the first gripping device. An assembly table is provided below the second gripping device. A second linear vibrating feeder 22 is provided at the outlet of the ceramic ring vibrating plate 13. The second linear vibrating feeder 22 has a groove 230. The ceramic ring moves along the groove 230. When the ceramic ring moves to the top of the groove 230, it stops moving. The rotatable third gripping device grips the ceramic ring. When the third gripping device rotates to a suitable position, the anchor nail 16 gripped by the second gripping device is located directly above the ceramic ring. A liftable pressure block is installed on the mounting plate. The anchor nail 16 is pressed into the ceramic ring by the movable pressure block.

[0099] In this invention, the first gripping device includes a first bracket located on a mounting plate, a first lifting mechanism 14 is mounted on the first bracket, a first sliding mechanism 15 that moves horizontally is mounted on the first lifting block of the first lifting mechanism 14, the first sliding mechanism 15 includes a first screw and a first slider, and a first gripping unit 19 is mounted on the first slider.

[0100] In this invention, a second bracket is mounted on the mounting plate, and a second gripping device is located on the second bracket. The second gripping device includes a second base mounted on the second bracket, and a motor is installed inside the second base. The motor is connected to a rotating shaft, and a second gripping unit 20 is mounted on the rotating shaft. The motor drives the rotating shaft to rotate, thereby driving the second gripping unit 20 to rotate. A support frame 17 is mounted on the second bracket, and a notch is provided at the top of the support frame 17. A ceramic ring is located in the notch, and an anchoring nail 16 passes through the ceramic ring and the notch.

[0101] In this invention, the third gripping device is located on the second support. The third gripping device includes a third base, on which a third motor is installed. The third motor is connected to a third rotating shaft, on which a third gripping unit 21 is installed. The third gripping unit 21 is driven to rotate by the third rotating shaft.

[0102] In this invention, a feeding plate is installed between the outlet of the anchoring nail vibratory plate 11 and the first linear vibratory feeder 23. The feeding plate has a trapezoidal cross-section and a sliding groove at the bottom. Several baffles are installed on the feeding plate to block the movement of excess anchoring nails 16. There is a gap between the baffles and the bottom of the feeding plate. The sliding groove of the feeding plate is connected to the through groove.

[0103] A welding method for a welding device for welding anchor bolts 16 includes the following steps:

[0104] Step 1: The curved steel lining workpiece is hoisted onto the mold clamp, and the workpiece is corrected and adjusted.

[0105] Step 2: Weld the pre-shift nails, and then conduct a 45° bending test after welding.

[0106] Step 3: Import the 3D model of the workpiece into the offline programming system of the equipment, set the relevant software parameters according to the size of the workpiece, generate the program, and then import it into the robot control system;

[0107] Step 4: Laser cleaning only, laser cleaning is carried out on the welding positions of the first 3 rows of anchor nails 16 one by one;

[0108] Step 5: Starting from the fourth row to the third row from the bottom, execute the collaborative working mode. The laser cleans the surface of the area to be welded in the fourth row while the robot welds the first row of anchor nails 16, and so on, row by row.

[0109] Step Six: Welding only. The last three rows will only perform robotic welding. After all welding is completed, the gantry will move to the negative limit of the ground rail.

[0110] Step 7: Post-class nail welding and bending experiment.

[0111] The welding quantity and inspection requirements are the same as in step two. If the bending is not up to standard after the shift and is found to be unqualified again after re-welding, then all 16 anchor bolts welded by the welder during the shift must be bent at 15° to 30°, and no damage or cracking is allowed.

[0112] Step 8: Cleaning of ceramic rings and self-inspection of welds.

[0113] After welding, the ceramic ring is manually broken for self-inspection and cleaning. Workers visually inspect all welds, ensuring there are no defects such as spatter, missing material around the circumference, or porosity. Cleaning the ceramic ring requires careful and meticulous handling; avoid rough handling and damage to the weld or base material. Defective welds must be marked for QC verification and to facilitate quick identification of substandard welds during repair welding.

[0114] Step 9: Weld position accuracy inspection.

[0115] QC personnel use a measuring tape to measure the weld positions. For each individual area separated by transverse and longitudinal angle steel, the positioning accuracy of the first row and first column is checked. The relative positional accuracy of other anchor bolts 16 within the area is checked relative to adjacent anchor bolts 16. The positioning accuracy measurement reference is the right-angle side of the angle steel, and the relative positional accuracy measurement reference is the centerline of adjacent anchor bolts 16. Both positioning accuracy and relative positional accuracy must have a measurement error of ≤±5mm from the theoretical dimensions on the drawing; otherwise, the accuracy is considered substandard.

[0116] Step 10: Weld VT inspection and repair welding.

[0117] QC personnel perform VT testing on all welds. If a non-conforming weld is detected, the welder must weld an anchor bolt 16 near the non-conforming weld and perform VT testing on the re-welded anchor bolt 16 again.

[0118] Step 11: Spot check of destructive testing of weld seams.

[0119] In this invention, in step five, the collaborative mode involves the robot automatically picking up materials for welding and laser cleaning simultaneously and independently. The robot welds the Nth row and Kth column of anchor nails (16 nails), while the laser external axis cleans the N+3th row and Kth column of the area to be welded. After both laser cleaning and welding are completed, the slide moves laterally to the next welding point position. Laser cleaning and the robot operate independently and synchronously. When the area covered by one station is completely welded and cleaned in advance, it needs to stop at the last anchor nail (16 nail) welding point position to wait for the other station to complete its work. The gantry moves to the next row, and at the same time, the two slides move synchronously to the first anchor nail (16 nail) welding point position in their respective covered areas.

[0120] In this invention, sampling is performed at 10% of the total number of anchor bolt welds (16 welds). A certain number of welds should be sampled in each area, and there should be no situation where too many welds are sampled in some areas and too few or even none in others. The destructive test is a hammer test, and the sleeve should not be bent. The hammering angle is 20°, and the hammering should be performed in multiple stages, with each hammering angle being 3° to 5°. After each hammering, the angle should be measured with an angle gauge. It is strictly forbidden to hammer at an excessively large angle and then hammer in the opposite direction to the specified angle.

[0121] This embodiment utilizes offline technology to automatically identify weld point output programs, eliminating the need for manual wire laying and improving efficiency, precision, and accuracy. Vibration feeding and automatic control technologies enable automatic feeding and fitting of anchor nails and ceramic rings. The entire process is automated, with the fitting station capable of fitting anchor nails and ceramic rings of varying extension lengths. A modular design allows for fitting anchor nails and ceramic rings of different diameters simply by changing the corresponding feed channels and grippers, offering high flexibility. 2D vision inspection technology is used to detect the arc-starting point at the anchor nail end, replacing traditional manual visual inspection, resulting in high efficiency and accuracy, and avoiding errors and omissions that may occur during prolonged high-intensity work by workers. Laser rust removal technology is used to clean the workpiece surface to be welded, replacing traditional manual handheld angle grinder grinding. Different cleaning parameters can be set for steel plates with different degrees of rust, offering high efficiency, safety, and flexibility, reducing labor requirements and saving labor and construction costs. By employing CNC and robotics technologies to achieve unmanned operation of anchor welding and base material surface cleaning, nuclear-grade welders and auxiliary workers can be significantly saved, reducing labor and construction costs.

[0122] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An automated system for flexible forming molds for nuclear power plant steel linings, comprising an integral base (7) for a support bridge and a support bridge, wherein the support bridge is disposed in the radial direction of the integral base (7), characterized in that: The support bridge includes a set of evenly distributed flexible support bridges (5) and two fixed support bridges (6). The flexible support bridges are located in the middle of the overall base (7) of the support bridge, and the fixed support bridges (6) are respectively located on both sides of the overall base (7) of the support bridge. The height of the flexible support bridge (5) is changed by an electric lift (530), thereby changing the curvature of the flexible forming mold and satisfying the positioning and pairing 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 mold frame with curvature. The flexible molding die automation system also includes a lateral adjustment mechanism (8), a longitudinal adjustment mechanism (9), a central pressing mechanism (10), a long-side clamping mechanism (24), a short-side clamping mechanism, and a control system (26). The lateral adjustment mechanism (8) drives the workpiece to move laterally, the longitudinal adjustment mechanism (9) drives the workpiece to move longitudinally, the central pressing mechanism (10) clamps the middle part of the workpiece, the long-side clamping mechanism (24) clamps the workpiece along its long side, and the short-side clamping mechanism clamps the workpiece along its short side. The short side is pressed together, and the control system (26) controls the support bridge to reach the preset position; the flexible support bridge (5) includes lifting bases (540) respectively set on both sides, each lifting base (540) is fixed with an electric lifting machine (530), the output ends of the electric lifting machines (530) on both sides are fixedly connected to the two ends of the main beam (510), and the electric lifting machine (530) drives the main beam (510) to rise and fall; a set of support wheels (520) are evenly distributed on the top of the main beam (510). The lateral adjustment mechanism (8) includes a vertical lifting mechanism (810), a horizontal pushing mechanism (820), and a positioning mechanism (830). The vertical lifting mechanism (810) includes an adjustment frame (8101), an adjustment cylinder (8102), and an electric roller (8103). The adjustment cylinder (8102) is mounted on the frame of the adjustment frame (8101), and the electric roller (8103) is mounted on the top of the adjustment frame (8101). The horizontal jacking mechanism (820) includes a jacking frame (8201) and a jacking cylinder (8202). The jacking frame (8201) is equipped with the jacking cylinder (8202), and the positioning mechanism is a positioning wheel, which is set at both ends of the jacking frame (8201). The longitudinal adjustment mechanism (9) includes two sets of hydraulic lifting rollers (910) at both ends of the main beam (510) of the flexible support bridge, a longitudinal electric roller (920), and a second guide rail (930). The second guide rail (930) is set on the side of the main beam (510) of the flexible support bridge. A second guide rail (930) is set at both ends of the main beam (510) of the flexible support bridge. A set of hydraulic lifting rollers (910) is slidably set on each second guide rail (930).

2. The automated system for flexible forming molds of nuclear power plant steel linings according to claim 1, characterized in that: The fixed support bridge (6) includes fixed bases (610) respectively set on both sides, and fixed bases (610) are fixedly connected to both ends of a fixed beam (620). A set of support wheels (520) are evenly distributed on the top of the fixed beam (620).

3. The automated system for flexible forming molds of nuclear power plant steel linings according to claim 1, characterized in that: The overall base (7) of the support bridge includes two frame bases placed parallel to each other along the axial direction. A set of frame units corresponding one-to-one with the flexible support bridge (5) and the fixed support bridge (6) are evenly distributed on the frame bases. The frame units are fixedly connected to the bottom surfaces of the flexible support bridge (5) and the fixed support bridge (6).

4. The automated system for flexible forming molds of nuclear power plant steel linings according to claim 1, characterized in that: The central pressing mechanism (10) is composed of two double channel steels welded together. The top surfaces of the two double channel steels form a pressing beam. The part between the two double channel steels is hollow. A pressing mechanism (110) is slidably installed on the pressing beam along its length. The pressing mechanism (110) presses the workpiece with bolts.

5. The automated system for flexible forming molds of nuclear power plant steel linings according to claim 1, characterized in that: The long-side clamping mechanism (24) is disposed on the support bridge and moves along the length of the support bridge. The pressing point of the long-side clamping mechanism (24) is located directly above the support bridge. The short-side clamping mechanism is a C-type clamp for clamping the workpiece.

6. A workpiece installation method, using the automated system for flexible forming molds of nuclear power plant steel linings as described in any one of claims 1 to 5, characterized in that... Includes the following steps: Step 1: Set the position parameters of the flexible support bridge according to the drawings to be processed; Step 2: The operator gently lifts the workpiece and places it onto the flexible jig. Step 3: Adjust the workpiece base plate to the appropriate lateral position using the lateral adjustment mechanism; Step 4: Adjust the workpiece base plate to the appropriate longitudinal position using the longitudinal adjustment mechanism; Step 5: The long-side clamping mechanism of the operating part presses the workpiece base plate along the long side. Step Six: The operator hoists the angle steel reinforcing ribs to the position designed in the drawings; Step 7: Hoist the middle clamping mechanism; the operator installs the middle clamping mechanism. Step 8: Operate all long-side clamping mechanisms to press the workpiece base plate along its long side; Step 9: Operate the short-side clamping mechanism to press the workpiece base plate along the short side. Step 10: Start welding; Step 11: After welding is completed, the operator opens and removes the central clamping mechanism; Step 12: Open the long side clamping mechanism and the short side clamping mechanism; Step 13: The operator lifts and removes the workpiece to proceed to the next process.

7. A steel lining forming device for nuclear power plants, characterized in that: It includes the steel-lined flexible forming mold automation system and the anchor welding device as described in claims 1 to 5.

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