Welding system and welding method for nuclear power steel lining and steel lining producing and machining system

Abstract

The invention provides a welding system and a welding method for a nuclear power steel lining and a steel lining production and processing system, and belongs to the technical field of nuclear power plant facility construction.The welding system comprises a welding trolley reciprocating on a plate edge pressing device and a laser arranged on one side of the plate edge pressing device, and a welding power source is arranged on the welding trolley; the welding power source supplies power to the laser-arc hybrid welding gun, the wire feeding system and the welding system control cabinet. The laser-arc hybrid welding gun comprises a laser-arc hybrid welding module unit, a welding gun adjusting module and an anti-collision sensor. During working, the welding gun adjusting module adjusts the laser-arc hybrid welding module unit to be aligned with a welding seam for welding, and meanwhile, an anti-collision sensor is used for optimizing a welding path; the welding trolley is in linkage with the plate edge pressing device, seamless connection of plate fixing, groove machining and welding is achieved, dependence on high-skill welders can be reduced through automatic welding, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant facility construction, and particularly to a welding system and a welding method for a nuclear power steel lining, and a steel lining production and processing system. Background Art

[0002] The steel lining of the nuclear island containment is the last barrier in the multiple barriers set up by the nuclear power plant to prevent the release of fission products into the environment. Ensuring the integrity of the containment steel lining is directly related to the safety of the external environment of the nuclear power plant. Therefore, it is very important in nuclear power construction and belongs to nuclear class 2 equipment and nuclear class 1 welds. Large shell structures such as the steel lining of the nuclear power containment are processed and manufactured using butt welding technology. Welding quality is one of the important factors affecting the safe operation of the nuclear power containment. Therefore, its welding technology has received extensive attention. The steel lining of the containment is formed by butt welding multiple steel plates, and the number, distribution, and total length of its welds are extremely large and complex. Traditional welding uses arc welding processes such as manual shielded metal arc welding, submerged arc welding, and gas shielded MAG welding. The welding heat input is large, and it is difficult to break through the bottleneck of arc welding efficiency. The residual stress and deformation generated during the welding process are distributed complexly. Welding deformation makes it difficult to assemble the shell structures, increasing the subsequent straightening cost. The relatively high welding residual tensile stress directly affects the service safety of the load-bearing shell structure. For the shell structure of the nuclear power containment steel lining in a special working environment, corrosion cracking is likely to occur in the weld tensile stress area, which has a certain impact on the service life. Currently, manual shielded metal arc welding, submerged arc welding, MAG welding, etc. used for the factory production of the steel lining of the nuclear power containment are limited by the limitations of the arc welding process itself and it is difficult to achieve more efficient and high-quality welding production.

[0003] In nuclear industry construction, there has been no report on the engineering application of laser-arc hybrid welding so far. In 2016, China Nuclear Industry 23 Construction Company applied for a scientific research project of China National Nuclear Corporation to conduct research on pure laser welding in pipeline welding. China Nuclear Industry 23 Construction Company and Harbin Institute of Technology carried out joint research. This project has not been completed yet. It is understood that mainly because the pure laser welding process has extremely high requirements for assembly accuracy and the process stability is still being continuously optimized during the research process, the engineering application has not been realized yet. Since the laser-arc hybrid heat source welding technology has only been gradually taken seriously in recent years, the gap between China and foreign countries in the research and application of laser-arc hybrid heat source welding technology is not very large at present. The domestic institutions researching laser-arc hybrid heat source welding technology are mainly universities and research institutes. For example, Huazhong University of Science and Technology, Tianjin University, Harbin Institute of Technology, Dalian University of Technology, etc. have all carried out research on laser-arc hybrid heat source welding technology. The lasers used mainly include two types: CO2 gas lasers and lamp-pumped Nd:YAG solid lasers. The hybrid methods mainly include laser+GTAW (gas tungsten arc welding) and laser+GMAW (gas metal arc welding). Harbin Welding Institute is the first domestic unit to carry out research on high-power solid laser-GMAW hybrid heat source welding technology and its application, and has achieved connection and coordination with robots, realizing the robotization of high-power solid laser-GMAW hybrid heat source welding, and successfully applying the Nd:YAG laser+GMAW hybrid heat source welding technology to the manufacturing of military products.

[0004] In the traditional prefabrication process of steel lining plates in the steel lining plate workshop, submerged arc welding + shielded metal arc welding double-sided welding (turning over for welding) is adopted, which reduces the production efficiency during the process. For traditional arc welding, the welding efficiency is low, the heat input is large, and the deformation and residual stress distribution during welding are relatively complex. How to achieve single-sided welding with double-sided formation and ensure the internal quality is the key point and difficulty in the welding process; at the same time, the laser-MAG hybrid welding method is applied for the first time in the field of nuclear power construction. The laser heat source and the arc heat source act together in the same molten pool for welding, and the welding variables are complex, and the process debugging is difficult. Therefore, there is an urgent need for a device and welding method that can simultaneously meet laser-arc hybrid welding, especially a welding machine and method suitable for the steel lining of nuclear island containment. Summary of the Invention

[0005] Object of the Invention: The object of the present invention is to provide a welding system, a welding method and a steel lining production and processing system for nuclear power steel lining, adopting laser-MAG hybrid welding for the first time in the field of nuclear power construction. The present invention integrates sheet material transmission, pressing, groove processing and welding into one, reduces the intermediate links of multiple handling and positioning in the traditional process, realizes continuous operation from sheet material input to finished product output, and the entire processing process realizes full closed-loop control, solving the core problems such as low efficiency, large deformation and poor quality stability in the manufacturing of nuclear power steel lining.

[0006] Technical solution: The welding system for nuclear power steel lining of the present invention includes a welding trolley that reciprocates on a plate edge pressing device and a laser device arranged on one side of the plate edge pressing device. A welding power source is provided on the welding trolley, and the welding power source supplies power to a laser-arc hybrid welding torch, a wire feeding system, and a welding system control cabinet. The welding trolley is linked with the plate edge pressing device to achieve seamless connection of plate fixing, groove machining, and welding. Automated welding can reduce the dependence on highly skilled welders and lower labor costs.

[0007] Further, the laser-arc hybrid welding torch includes a laser-arc hybrid welding module unit, a torch adjustment module, and an anti-collision sensor; when working, the torch adjustment module adjusts the laser-arc hybrid welding module unit to align with the weld seam for welding, and at the same time, uses the anti-collision sensor to optimize the welding path;

[0008] The laser-arc hybrid welding module unit includes a torch support, on which a laser gun head, a first arc welding torch, and a second arc welding torch are fixed. The first arc welding torch and the second arc welding torch are respectively arranged on both sides of the laser gun head; the torch adjustment module includes a first arc welding torch adjustment module, a second arc welding torch adjustment module, and a laser gun head adjuster. The first arc welding torch adjustment module adjusts the angle of the first arc welding torch through an adjustment arm, the second arc welding torch adjustment module adjusts the angle of the second arc welding torch through an adjustment arm, the laser gun head adjuster adjusts the angle of the laser gun head through an adjustment arm, and a laser tracker is also arranged near the first arc welding torch adjustment module. The first and second arc welding torches are symmetrically arranged on both sides of the laser gun head. By dynamically controlling the wire feeding speed through the adjustment module, the aspect ratio of the molten pool is optimized; the arc preheats the base material and dilutes the plasma to improve the laser absorption rate. At the same time, the double arcs cooperate to fill the wire to reduce the weld depression; in addition, the torch adjustment module (the first and second arc welding torch adjustment modules + the laser gun head adjuster) supports multi-degree-of-freedom coordinated movement.

[0009] Further, the laser gun head adjuster includes two left and right mounting plates. The two mounting plates are fixed through a pin shaft to form a mounting seat of the laser gun head adjuster. A first slide handwheel is installed on the left side of the mounting seat. The middle of the first slide handwheel is connected with a first slide guide rail. A slide connecting block is sleeved on the circumferential direction of the slide guide rail. The slide connecting block is connected with a second slide handwheel. One end of a connecting plate is fixed on the second slide handwheel. The other end of the connecting plate is sleeved on the third slide guide rail of the third slide handwheel. A laser head insulating plate is fixed on the connecting piece of the third slide guide rail. The laser head insulating plate fixes the second arc welding torch and the laser tracker through a gun head seat. A laser head and a camera are arranged on the right side of the mounting seat.

[0010] Through the linkage of the first slide handwheel (X-axis) and the second slide handwheel (Y-axis), combined with the precise transmission of the slide guide rail, micron-level position adjustment of the laser head and the arc welding torch in the horizontal plane is achieved. The vertical adjustment function of the third slide guide rail (Z-axis) can adapt to plates of different thicknesses, ensuring the dynamic matching of the laser focus and the molten pool position, and reducing the deviation of heat input. The combination of the right laser head and the camera forms a visual sensing system to capture the weld appearance features in real time. The laser tracker synchronously monitors the molten pool dynamics, and combines with the fuzzy control algorithm to achieve real-time correction of the torch path. This laser gun head adjuster solves the key problems such as heat source coordination, path deviation and maintenance efficiency in hybrid welding through precise mechanical transmission, multi-sensor fusion and modular design.

[0011] The laser-arc hybrid welding and plate milling integrated machine for nuclear power steel lining includes a plate conveying device, a feeding support platform, a discharging support platform, a plate edge pressing device, a bevel processing device, a PLC control system and a welding system. The plate conveying device transports the plate to be welded to the feeding support platform, and the feeding support platform transports the plate to the plate pressing device. The plate is pressed by the plate edge pressing device. Subsequently, the bevel processing device processes the welding part of the plate to obtain a preset bevel. Then the welding system welds the bevel. After welding, the plate conveying device transports the welded plate to the discharging support platform. The PLC control system controls the start and stop of the plate conveying device, the feeding support platform, the discharging support platform, the plate edge pressing device, the bevel processing device and the welding system. The equipment integrates plate transmission, pressing, bevel processing and welding, reduces the intermediate links of multiple handling and positioning in the traditional process, and realizes continuous operation from plate input to finished product output. Moreover, laser-arc hybrid welding combines the high energy density of the laser and the wire filling ability of the arc, has a relatively deep single-pass penetration depth, and a uniform fusion zone width, which can effectively avoid defects such as pores and lack of fusion.

[0012] Furthermore, the plate edge pressing device includes a fixed side pressure frame and a movable side pressure frame. The fixed side pressure frame is arranged on one side of the whole integrated machine, and the movable side pressure frame is arranged on the opposite side of the fixed side pressure frame. The movable side pressure frame reciprocates on the track to change the distance from the fixed side pressure frame.

[0013] The fixed side pressure frame includes a fixed seat base. A bevel processing device is arranged on the side surface of the fixed seat base. The bevel processing device slides on the side surface of the fixed seat base. The top surface of the fixed seat of the fixed seat base is the supporting surface for the plate. Two fixed seat connection supports are symmetrically arranged in the axial direction of the top surface of the fixed seat. A fixed seat upper cross beam is arranged above the two fixed seat connection supports. A set of fixed seat steel plate positioning devices and fixed seat piano key type hydraulic pressing devices are evenly arranged on the side of the fixed seat upper cross beam facing the plate. A linear slide rail is arranged on the upper surface of the fixed seat upper cross beam. A welding trolley is slidably arranged on the linear slide rail, and the welding trolley makes a reciprocating motion on the linear slide rail.

[0014] Further, the movable side pressure frame includes a movable base. The top surface of the movable seat of the movable base is the supporting surface for another plate. Two movable seat connection supports are symmetrically arranged in the axial direction of the top surface of the movable seat. A movable seat upper cross beam is arranged above the two movable seat connection supports. A set of movable seat steel plate positioning devices and movable seat piano key type hydraulic pressing devices are evenly arranged on the side of the movable seat upper cross beam facing the plate; the piano key type hydraulic pressing device is a multi-point hydraulic pressing system, evenly distributing the pressing force to ensure the accuracy of the butt gap of the plate and suppress welding deformation. Two walking support seats are symmetrically arranged below the movable base, and the two walking support seats make a reciprocating motion on the stretching guide rail.

[0015] The piano key type hydraulic pressing devices of the fixed seat and the movable seat adopt a multi-point synchronous pressing mode, and cooperate with the fine-tuning function of the steel plate positioning device to achieve uniform pressing on the four sides of the plate. The plate edge pressing device solves the problems of low positioning accuracy, low efficiency and large quality fluctuation in the traditional process through a dynamic adjustment framework, process integrated control and intelligent sensing technology. The structures of the fixed seat piano key type hydraulic pressing device and the movable seat piano key type hydraulic pressing device are the same. Taking the fixed side pressure frame as an example, the piano key type hydraulic pressing device includes a set of pressing units arranged on the upper cross beam. Each pressing unit is arranged like a piano key and can work independently or coordinately. The pressing unit is composed of a pressing block, a pressing arm, a fixed seat and a hydraulic cylinder, etc. The fixed seat is fixed on the upper cross beam, a hydraulic cylinder and a pressing arm are fixed on the fixed seat, and a pressing block is fixed at the end of the pressing arm. When working, the hydraulic cylinder generates pressure, and the action of the hydraulic cylinder is controlled by the hydraulic system. After the steel plate is positioned, the hydraulic cylinder starts to work, pushing the pressing arm, and the pressing arm drives the pressing block to press the steel plate on the platform. In this embodiment, 27 groups of pressing units are symmetrically distributed on the bottom surfaces of the cross beams on both sides of the pressure frame, that is, there are 27 groups of pressing units corresponding to the fixed side pressure frame and the movable side pressure frame one by one. After the steel plate is positioned, the steel plate is pressed on the platform through the piano key type hydraulic pressing system. The lifting stroke of the piano key type pressure system: 90mm; the pressure of a single hydraulic pressing foot: 20KN / each; the adjustment distance of the pressing foot spacing (bilateral, perpendicular to the weld direction): 30mm.

[0016] Further, the bevel processing device includes a bevel fixing plate slidably disposed on the side of the base of the fixed seat. A rotary motor seat plate, a main shaft housing bottom plate, a bearing seat, and a reducer seat plate are fixedly connected to the bevel fixing plate. A rotary motor is fixedly connected to the rotary motor seat plate, and a main shaft housing is fixedly connected to the main shaft housing bottom plate. The output shaft of the rotary motor is connected to a belt pulley, the output end of the belt pulley is connected to the main shaft housing, and a cutter head is disposed at the top of the main shaft housing. The bevel processing device of the fixed side pressure frame is integrated on the side of the base, and slides axially along the plate through a linear slide rail to complete the V / U-shaped bevel processing. Compared with the traditional step-by-step process, the bevel processing time is shortened and coordinated with the pressing action, avoiding secondary positioning errors.

[0017] A welding method for a laser-arc hybrid welding and panel milling integrated machine for nuclear power steel liners includes the following steps:

[0018] Step 1: Lift two plate materials to the plate conveying device, and convey them to the fixed side pressure frame and the moving side pressure frame respectively through the plate conveying device and the feeding support platform, and correct and adjust the plate materials.

[0019] Step 2: Adjust the key-type hydraulic pressing devices of the fixed seat and the moving seat to press the plate materials placed on the fixed side pressure frame and the moving side pressure frame respectively.

[0020] Step 3: Move according to the preset parameters, and use the bevel processing device to automatically mill the bevels of the plate materials on both sides of the bevel processing device.

[0021] Step 4: After the bevel processing is completed, move the moving side pressure frame to make the fixed side pressure frame and the moving side pressure frame close to each other, so that the two plate materials are automatically closed and assembled.

[0022] Step 5: After the assembly is completed, according to the base material bevel data, call the corresponding welding process parameters in the process database of the PLC control system, and perform an automated welding process through the welding system.

[0023] Step 6: After the welding is completed, loosen the key-type hydraulic pressing devices of the fixed seat and the moving seat, and the plate conveying device conveys the welded plate material to the discharging support platform to complete the process.

[0024] Further, the automated welding process adopts two welding processes. First, laser welding is used for backing welding, and then laser-MAG hybrid welding is used for forming welding.

[0025] A nuclear power steel lining production and processing system of a nuclear power steel lining laser-arc composite welding plate milling integrated machine also includes a flexible molding mold automation system and anchor nail automatic welding equipment; after the steel lining splicing plate is milled and spliced ​​composite welded by the laser-arc composite welding plate milling integrated machine, it is hoisted to the flexible molding mold automation system for flexible molding, and finally the anchor nail automatic welding equipment is used to perform anchor nail welding on the steel lining after flexible molding.

[0026] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0027] (1) The present invention can obtain different grooves, such as I-shaped grooves, V-shaped grooves, Y-shaped grooves, etc., by adjusting the lifting height of the cutter head and replacing milling cutters with different angles;

[0028] (2) The present invention integrates a laser arc hybrid welding gun through dual heat source synergy, multi-degree-of-freedom dynamic adjustment and intelligent sensor closed-loop control, which can meet the laser-arc hybrid welding of carbon steel plates with different thicknesses of 6-20mm and 10mm laser wire welding;

[0029] (3) The present invention adopts a composite configuration of a laser gun head and a double-sided arc welding gun. The laser beam deep penetration welding and the arc filling welding work together to achieve both high penetration depth and high deposition efficiency, and is particularly suitable for welding thick steel plates for nuclear power plants. The anti-collision sensor and the laser tracker are used to monitor the weld position in real time, and the welding path is dynamically corrected in combination with the welding gun adjustment module (slide handwheel, guide rail) to improve the adaptability to complex grooves. The double-sided arc welding guns are symmetrically distributed on both sides of the laser gun, which effectively balances the heat input, reduces welding deformation, and improves the mechanical properties of the weld.

[0030] (4) The present invention realizes the automation of the entire process of steel lining plate from loading, centering, conveying, laser cleaning, groove processing, assembly, and welding. By integrating the plate conveying, pressing, groove processing, welding and unloading processes, fully automated continuous operation is achieved, significantly reducing manual intervention and process switching time;

[0031] (5) The present invention can meet the requirements of laser-arc hybrid welding of carbon steel plates with different thicknesses of 6-20 mm and laser wire welding with filler wire of 10 mm, and achieves efficient and high-quality welding by optimizing heat source coupling, process parameters and metallurgical control;

[0032] (6) The present invention uses an offline technology to automatically identify the solder joints and output programs, eliminating the manual wire laying process, improving efficiency, precision, and accuracy. The present invention realizes the automatic feeding and sleeving of anchor studs and porcelain rings through the vibrating feeding technology and the automatic control technology. The whole process is automatically controlled, and the sleeving station can meet the requirements of sleeving anchor studs and porcelain rings with different extended lengths. The modular design enables the sleeving of anchor studs and porcelain rings with different diameters by simply replacing the corresponding material channels and jaws, with a high degree of flexibility. The present invention uses 2D vision detection technology to detect the arc starting points at the ends of the anchor studs, replacing the traditional manual visual inspection, with high efficiency and accuracy, and can avoid the possible misdetection and missed detection phenomena caused by long-term high-intensity work of workers. The present invention uses laser rust removal technology to clean the surface to be welded of the workpiece, replacing the traditional manual grinding with an 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 labor and construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of the all-in-one machine in the present invention;

[0034] Figure 2 is a schematic structural diagram of the fixed side pressure frame in the present invention;

[0035] Figure 3 is a schematic structural diagram of the moving side pressure frame in the present invention;

[0036] Figure 4 is a schematic structural diagram of the piano key type hydraulic pressing device in the present invention;

[0037] Figure 5 is a schematic structural diagram of the groove processing device in the present invention;

[0038] Figure 6 is a schematic structural diagram of the welding system in the present invention;

[0039] Figure 7 is a schematic structural diagram of the laser-arc hybrid welding module unit in the present invention;

[0040] Figure 8 is a schematic structural diagram of the laser gun head adjuster in the present invention;

[0041] Figure 9 is a schematic structural diagram of the servo tracking system in the present invention;

[0042] Figure 10 is a welding schematic diagram in Embodiment 3;

[0043] Figure 11 is a schematic diagram of the groove form in Embodiment 3;

[0044] Figure 12 It is the backing schematic diagram in Embodiment 4;

[0045] Figure 13 It is the capping schematic diagram in Embodiment 4;

[0046] Figure 14 It is the groove form schematic diagram in Embodiment 4;

[0047] Figure 15 It is the groove form schematic diagram of oscillating laser wire filling welding in Embodiment 4;

[0048] Figure 16 It is the backing schematic diagram in Embodiment 5;

[0049] Figure 17 It is the capping schematic diagram in Embodiment 5;

[0050] Figure 18 It is the groove form schematic diagram in Embodiment 5;

[0051] Figure 19 It is the welding form schematic diagram in Embodiment 6;

[0052] Figure 20 It is the welding form schematic diagram in Embodiment 7;

[0053] Figure 21 It is the groove form schematic diagram in Embodiment 7;

[0054] Figure 22 It is the structural schematic diagram of the flexible forming die automation system in Embodiment 8;

[0055] Figure 23 It is the structural schematic diagram of the flexible support bridge in Embodiment 8;

[0056] Figure 24 It is the structural schematic diagram of the fixed support bridge in Embodiment 8;

[0057] Figure 25 It is the structural schematic diagram of the vertical lifting mechanism in Embodiment 8;

[0058] Figure 26 It is the structural schematic diagram of the horizontal pushing mechanism in Embodiment 8;

[0059] Figure 27 It is the structural schematic diagram of the longitudinal adjustment mechanism in Embodiment 8;

[0060] Figure 28 It is the structural schematic diagram of the anchor nail automatic welding equipment in Embodiment 8.

[0061] Figure 29 It is the partial enlarged view of the anchor nail automatic welding equipment in Embodiment 8.

[0062] Figure 30 It is a schematic structural diagram of laser cleaning in Example 8.

[0063] Figure 31 It is Figure 30 the front view schematic diagram of.

[0064] Figure 32 It is Figure 30 the schematic structural diagram of the detachable device in.

[0065] Figure 33 It is the front view structural schematic diagram of the welding head.

[0066] Figure 34 It is Figure 33 the right view of.

[0067] Figure 35 It is Figure 33 the left view of.

[0068] Figure 36 It is the schematic structural diagram of automatic feeding;

[0069] In the figure: 32 - Plate edge pressing device, 321 - Fixed side pressure frame, 321-01 - Fixed seat base, 321-02 - Fixed seat connection support, 321-03 - Fixed seat upper crossbeam, 321-04 - Fixed seat steel plate positioning device, 321-05 - Linear slide rail, 32106 - Fixed side pressure frame hydraulic pressing device, 32106-1 - Fixed seat, 32106-2 - Hydraulic cylinder, 32106-3 - Pressing arm, 32106-4 - Pressing block, 322 - Moving side pressure frame, 322-01 - Moving base, 322-02 - Moving seat connection support, 322-03 - Moving seat upper crossbeam, 322-04 - Moving seat steel plate positioning device, 322-05 - Moving seat piano key type hydraulic pressing device, 322-06 - Two walking support seats, 322-07 - Tensile guide rail, 33 - Welding system, 331 - Welding trolley, 333-1 - Laser gun head, 333-2 - First arc welding gun, 333-3 - Second arc welding gun, 333-4 - First arc welding gun adjustment module, 333-5 - Second arc welding gun adjustment module, 333-6 - Laser gun head adjuster, 333-601 - Mounting plate, 333-603 - First slide handwheel, 333-604 - First slide guide rail, 333-605 - Slide connection block, 333-606 - Second slide handwheel, 333-607 - Connecting plate, 333-608 - Third slide handwheel, 333-609 - Third slide guide rail, 333-610 - Laser head insulating plate, 333-611 - Gun head seat, 333-612 - Laser tracker, 333-613 - Laser head, 333-614 - Camera, 333-7 - Laser tracker, 333 - Laser-arc hybrid welding torch, 334 - Wire feeding system, 335 - Welding system control cabinet, 34 - Groove processing device, 3401 - Groove fixing plate, 3402 - Rotary motor seat plate, 3403 - Spindle housing bottom plate, 3404 - Bearing seat, 3405 - Reducer seat plate, 3406 - Rotary motor, 3407 - Spindle housing, 3408 - Belt pulley, 3409 - Cutter head, 3410 - Ball screw, 3411 - Reducer, 35 - Servo tracking system, 351 - Servo motor, 352 - Servo reducer, 353 - Base, 355 - Servo fixed seat, 356 - Welding arm. Detailed implementation mode

[0070] 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.

[0071] Embodiment 1

[0072] As Figure 1A laser-arc hybrid welding and plate milling integrated machine for nuclear power steel lining shown in the figure includes a plate conveying device, a feeding support platform, a discharging support platform, a plate edge pressing device 32, a bevel processing device 34, a PLC control system, and a welding system 33. The plate conveying device transports the plates to be welded to the feeding support platform. The feeding support platform transports the plates to the plate pressing device 32. The plate edge pressing device 32 presses the plates. Subsequently, the bevel processing device processes the welding parts of the plates to obtain a preset bevel. Then, the welding system welds the beveled parts. After welding is completed, the plate conveying device transports the welded plates to the discharging support platform. The PLC control system controls the start and stop of the plate conveying device, the feeding support platform, the discharging support platform, the plate edge pressing device 32, the bevel processing device, and the welding system 33.

[0073] The plate conveying device consists of two longitudinal conveying tracks. To ensure the assembly accuracy of the steel plates and facilitate pulling out the test plates after welding, each longitudinal conveying track is equipped with 1 servo-driven trolley at the feeding and discharging gantries, respectively, to clamp and transport the steel plates.

[0074] The feeding support platform and the discharging support platform are composed of brackets, panels, universal balls, positioning rods, push rods, and oil cylinders. The gantry surface height is 750 mm, the length is 15.85 m, the width at the feeding end is 3.3 m, and the width at the discharging end is 6.3 m. There are adjustable steel plate positioning devices in the length and width directions. The feeding support platform 30 and the discharging support platform 31 are respectively arranged at the feeding and discharging positions of the entire welding device.

[0075] The plate edge pressing device 32 includes a fixed-side pressure frame 321 and a movable-side pressure frame 322, both of which are welded by steel plates and consist of an upper crossbeam, a lower platform, and a walking platform. The upper crossbeam is mainly used to fix the steel plate positioning system and the piano-key type hydraulic pressing system. The fixed-side pressure frame is arranged on one side of the entire integrated machine, and the movable-side pressure frame 322 is arranged on the opposite side of the fixed-side pressure frame 321. The movable-side pressure frame 322 moves reciprocally on the track to change the distance from the fixed-side pressure frame 321; as Figure 2As shown in the figure, the fixed-side pressure frame 321 includes a fixed base 321-01. A bevel processing device 34 is provided on the side surface of the fixed base 321-01. The bevel processing device 34 slides on the side surface of the fixed base 321-01. The top surface of the fixed base of the fixed base 321-01 is the support surface for the plate. Two fixed base connection supports 321-02 are symmetrically arranged in the axial direction of the top surface of the fixed base. A fixed base upper cross beam 321-03 is provided above the two fixed base connection supports 321-02. A set of fixed base steel plate positioning devices 321-04 and fixed base piano-key type hydraulic pressing devices 321-06 are evenly arranged on the side of the fixed base upper cross beam 321-03 facing the plate. A linear slide rail 321-05 is provided on the upper surface of the fixed base upper cross beam 321-03. A welding trolley 331 is slidably arranged on the linear slide rail 321-05. The welding trolley 331 reciprocates on the linear slide rail 321-05. As Figure 3 shown in the figure, the movable-side pressure frame 322 includes a movable base 322-01. The top surface of the movable base of the movable base 322-01 is the support surface for another plate. Two movable base connection supports 322-02 are symmetrically arranged in the axial direction of the top surface of the movable base. A movable base upper cross beam 322-03 is provided above the two movable base connection supports 322-02. A set of movable base steel plate positioning devices 322-04 and movable base piano-key type hydraulic pressing devices 322-05 are evenly arranged on the side of the movable base upper cross beam 322-03 facing the plate; Two walking support seats 322-06 are symmetrically arranged below the movable base 322-01. The two walking support seats 322-06 reciprocate on the stretching guide rail 321-07.

[0076] The structures of the fixed base piano-key type hydraulic pressing device and the movable base piano-key type hydraulic pressing device are the same. Taking the fixed-side pressure frame 321 as an example, as Figure 4As shown in the figure, the key-type hydraulic pressing device includes a set of pressing units arranged on the upper crossbeam. Each pressing unit is arranged like a key and can work independently or coordinately. The pressing unit consists of a pressing block 32106-4, a pressing arm 32106-3, a fixed seat 32106-1, a hydraulic cylinder 32106-2, etc. The fixed seat 32106-1 is fixed on the upper crossbeam. The hydraulic cylinder 32106-2 and the pressing arm 32106-3 are fixed on the fixed seat 32106-1. The pressing block 32106-4 is fixed at the end of the pressing arm 32106-3. When working, the hydraulic cylinder 32106-2 generates pressure, and the action of the hydraulic cylinder 32106-2 is controlled by the hydraulic system. After the steel plate is positioned, the hydraulic cylinder 32106-2 starts to work, pushing the pressing arm 32106-3, and the pressing arm 32106-3 drives the pressing block 32106-4 to press the steel plate on the platform. In this embodiment, 27 groups of pressing units are symmetrically distributed on the bottom surfaces of the crossbeams on both sides of the pressure frame, that is, there are 27 groups of pressing units corresponding to the fixed-side pressure frame 321 and the moving-side pressure frame 322 one by one. After the steel plate is positioned, the steel plate is pressed on the platform through the key-type hydraulic pressing system. In this embodiment, the lifting stroke of the key-type pressure system is 90 mm; the pressure of a single hydraulic pressing foot is 20 kN / foot; the adjustment distance of the pressing foot spacing (bilateral, perpendicular to the weld direction) is 30 mm.

[0077] As Figure 5As shown in the figure, the bevel processing device 34 includes a bevel fixing plate 3401 slidably arranged on the side of the fixed seat base 321-01. A rotary motor seat plate 3402, a main shaft housing bottom plate 3403, a bearing seat 3404, and a reducer seat plate 3405 are fixedly connected to the bevel fixing plate 3401. A rotary motor 3406 is fixedly connected to the rotary motor seat plate 3402. A main shaft housing 3407 is fixedly connected to the main shaft housing bottom plate 3403. The output shaft of the rotary motor 3406 is connected to a belt pulley 3408, and the output end of the belt pulley 3408 is connected to the main shaft housing 3407. A cutter head 3409 is arranged at the top of the main shaft housing 3407, forming an integrally movable frame. The rotary motor 3406 is fixed on the rotary motor seat plate 3402, and its output shaft is connected to the main shaft inside the main shaft housing 3407 through the belt pulley 3408. The main shaft housing 3407 is fixed on the main shaft housing bottom plate 3403, and the cutter head 3409 is installed at the top to achieve cutting power transmission. The ball screw 3410 is connected to the reducer 3411, and the reducer is fixed on the reducer seat plate 3405. The nut part of the ball screw is linked with the bevel fixing plate 3401 through a mechanical interface, and the rotation of the screw is converted into the linear movement of the bevel fixing plate. The reducer 3411 drives the ball screw 3410 to rotate, driving the bevel fixing plate 3401 to slide along the fixed seat base, changing the lateral position of the cutter head 3409 relative to the workpiece. This movement realizes precise displacement by controlling the rotation angle of the ball screw, thereby adjusting the inclination angle of the cutting path. The rotary motor 3406 drives the main shaft and the cutter head to rotate at high speed through the belt pulley. Combining with the lateral movement of the bevel fixing plate, the cutter head cuts the workpiece at different positions along a preset trajectory to form the required bevel angle. For example, when the bevel fixing plate moves to the right, the cutting trajectory of the cutter head inclines to the right, and vice versa to the left.

[0078] The bevel processing system is placed inside the inner side of the lower platform of the fixed side pressure frame and processes the bevel along the longitudinal movement of the lower platform. When the steel plates on both sides are positioned and clamped on the lower platform, the bevel processing system simultaneously processes the straight edges and bevels of the plate edges on both sides from the ends. Since the positioning mechanism and the walking guide rails of the bevel processing system are parallel and equidistant, the bevel processing accuracy and quality of the steel plates on both sides are ensured. In this embodiment, the diameter of the bevel milling cutter head: Ф250mm, the rotation speed of the bevel milling cutter head: 100 - 415rpm, the power of the bevel milling cutter head: 11KW, the bevel milling angle range: 30° (other angles require replacing the cutter head), the lifting speed of the bevel milling force head in the Y-axis: 0.1 - 2m / min, the lifting power of the bevel milling power head: 2.0KW, the bevel processing speed range: 300 - 1000mm / min (stepless), the walking speed range: 300 - 5000mm / min (stepless).

[0079] As Figure 6As shown, the welding system 33 includes a welding carriage 331 that reciprocates on the plate edge pressing device 32, and a laser device provided on one side of the plate edge pressing device 32. A welding power source 336 is provided on the welding carriage 331, and the welding power source 336 supplies power to the laser-arc hybrid welding torch 333, the wire feeding system 334, and the welding system control cabinet 335. The laser-arc hybrid welding torch 333 includes a laser-arc hybrid welding module unit, a torch adjustment module, and an anti-collision sensor. When working, the torch adjustment module adjusts the laser-arc hybrid welding module unit to align with the weld seam for welding. At the same time, the anti-collision sensor is used to optimize the welding path. As Figure 7 shown, the laser-arc hybrid welding module unit includes a torch support. A laser gun head 333-1, a first arc welding torch 333-2, and a second arc welding torch 333-3 are fixed on the torch support. The first arc welding torch 333-2 and the second arc welding torch 333-3 are respectively arranged on both sides of the laser gun head 333-1. The torch adjustment module includes a first arc welding torch adjustment module 333-4, a second arc welding torch adjustment module 333-5, and a laser gun head adjuster 333-6. The first arc welding torch adjustment module 333-4 adjusts the angle of the first arc welding torch 333-2 through an adjustment arm. The second arc welding torch adjustment module 333-5 adjusts the angle of the second arc welding torch adjustment module 333-5 through an adjustment arm. The laser gun head adjuster 333-6 adjusts the angle of the laser gun head 333-1 through an adjustment arm. A laser tracker 333-7 is also provided near the first arc welding torch adjustment module 333-4.

[0080] As Figure 8As shown in the figure, the laser gun head adjuster 333-6 includes two left and right mounting plates 333-601. A mounting seat of the laser gun head adjuster is formed by fixing between the two mounting plates 333-601 through a pin shaft. A first slide handwheel 333-603 is installed on the left side of the mounting seat. The middle of the first slide handwheel 333-630 is connected to a first slide guide rail 333-604. A slide connection block 333-605 is sleeved on the circumferential direction of the slide guide rail 333-604. A second slide handwheel 333-606 is connected to the slide connection block 333-65. One end of a connecting plate 333-607 is fixed on the second slide handwheel 333-606. The other end of the connecting plate 333-607 is sleeved on the third slide guide rail 333-609 of the third slide handwheel 333-608. A laser head insulating plate 333-610 is fixed on the connecting part of the third slide guide rail 333-609. The laser head insulating plate 333-610 fixes a second arc welding gun 333-3 and a laser tracker 333-612 through a gun head seat 333-611. A laser head 333-613 and a camera 333-614 are arranged on the right side of the mounting seat. Since welding spatter cannot be completely avoided during the welding process, the welding head is equipped with a lens fouling monitoring module. The lens fouling monitoring unit can effectively monitor the fouling condition of the anti-spatter lens of the welding in real time, and can artificially set the threshold value of fouling alarm. Through integrated control with the control system, the machine can stop when the lens fouling reaches the fouling threshold to prevent the burning of the main lens.

[0081] As Figure 9 As shown in the figure, the laser gun head adjuster 333-6 is fixedly connected to the welding trolley 331 through a servo tracking system 35. The servo tracking system 35 includes a servo motor 351. The output end of the servo motor 351 is connected to a servo reducer 352. The servo reducer 352 is fixed on a servo fixing seat 355 through a base 353. One end of the fixing seat 355 far from the servo motor 351 is connected to a welding arm 356. One end of the welding arm 356 far from the fixing seat 355 is connected to a laser head 333-613. At the same time, a wire feeding system 334 is also fixed on the servo fixing seat 355.

[0082] The PLC control system is mainly composed of a control cabinet, an operation box, control lines, etc. The operation box is provided with a human-machine interface and touch operation. The bevel processing system and the moving pressure frame moving system are operated through the touch screen, and the whole production process is visualized and digitized. The control system is developed based on the Siemens PLC platform; in this embodiment, the main equipment and the control system use Profinet bus communication for full digital control; the control system has manual, simulation, and automatic welding modes; the system interface of the welding operation table adopts a Chinese operation interface, with functions such as fault alarm, display content fault, and emergency automatic shutdown; it has the functions of welding parameter setting, storage, and calling.

[0083] When cutting the bevel, a large amount of waste chips will be generated. These waste chips may enter the weld during the welding process, seriously affecting the welding quality. Based on this, an iron chip recovery system is designed. The system mainly consists of a spiral auger, a chain-type chip conveyor, and a waste bin, etc. The spiral auger is laid along the entire length on the lower side of the fixed platform and the moving platform. Guide plates are provided on both sides of the auger wheel. The iron chips from the bevel processing and root cleaning will freely fall into the auger. The auger rotates to send the iron chips into the end chain-type chip conveyor, and then the chip conveyor sends the iron chips into the waste bin. The conveying speed of the auger conveyor: 3m / min, the conveying speed of the chip conveyor: 3m / min, the power of the conveyor: 0.55 (auger wheel conveying) + 1.1 (chip conveyor) kw.

[0084] Example 2

[0085] A welding method for a laser-arc hybrid welding and milling integrated machine for nuclear power steel liners includes the following steps:

[0086] Step 1: Lift two plate materials to the plate conveying device 29, and convey them to the fixed-side pressure frame 321 and the moving-side pressure frame 322 through the plate conveying device 29 and the feeding support platform 30 respectively, and correct and adjust the plates.

[0087] Step 2: Adjust the fixed seat key-type hydraulic pressing device 321-06 and the moving seat key-type hydraulic pressing device 321-05 to press the plates placed on the fixed-side pressure frame 321 and the moving-side pressure frame 322 respectively.

[0088] Step 3: Move the bevel processing device according to the preset parameters to automatically mill the bevels of the plates on both sides of the bevel processing device.

[0089] Step 4: After the bevel processing is completed, move the moving-side pressure frame 322 to make the fixed-side pressure frame 321 and the moving-side pressure frame 322 close to each other, so that the two plates are automatically closed and assembled.

[0090] Step 5: After the assembly is completed, according to the base metal bevel data, call the corresponding welding process parameters in the process database of the PLC control system, and perform an automated welding process through the welding system 33; the automated welding process adopts two welding processes, first perform laser welding for backing welding, and then perform laser-MAG hybrid welding for forming welding.

[0091] Step 6: After the welding is completed, the fixed seat key-type hydraulic pressing device 321-06 and the moving seat key-type hydraulic pressing device are loosened, and the plate conveying device 29 conveys the welded plate to the discharge support platform 31 to complete the process.

[0092] Example 3

[0093] Use the all-in-one machine mentioned in Example 1 to weld carbon steel with a plate thickness of 6 mm. Single-arc and single-laser welding is adopted, and the arc-guided laser method is used for welding. (The general positive deviation of the steel lining plate is +0.3 to +0.7. The arc-guided laser has stronger adaptability to the plate thickness, and the molten pool is relatively stable.) The welding parameters are shown in the following table. Among them, the root pass is laser autogenous welding, and the capping pass is laser-arc hybrid welding. It can be used for welding the steel lining plate of nuclear power plants.

[0094] As Figure 10 - 11 shown, the welding schematic diagram and groove form, and the welding parameters are shown in Table 1.

[0095] Table 1 Welding parameters for 6 mm plate thickness

[0096]

[0097] Example 4

[0098] Use the all-in-one machine mentioned in Example 1 to weld carbon steel with a plate thickness of 10 mm. The material is carbon steel. Single-arc and single-laser welding is adopted, and the laser-guided arc method is used for welding (compared with the arc-guided laser, the laser-guided arc welding method has a greater penetration depth). The welding parameters are as follows. Among them, the root pass is laser-arc hybrid welding, and the capping pass is pure arc welding.

[0099] As Figure 12 - 14 shown, the welding schematic diagram and groove form, and the welding parameters are shown in Table 2.

[0100] Table 2 Welding parameters for 10 mm plate thickness

[0101]

[0102]

[0103] For a 10 mm plate thickness, with a carbon steel material, the laser wire filling welding method is used for welding. The wire feeder is Fronius KD7000, and the laser welding torch uses an IPG Wobble oscillating laser head with a working focal length of 448 mm. The oscillating laser wire filling welding method is adopted, and the laser oscillates in a circular manner. The diameter of the circular light spot is 1 - 2 mm. The welding wire is in front, and a shielding gas drag cover is added behind for weld protection. The groove is as Figure 15 shown, and the parameters are shown in Table 3.

[0104] Table 3 Wire feeding connection parameters for 10 mm plate

[0105]

[0106] Example 5

[0107] Use the all-in-one machine mentioned in Example 1 to weld carbon steel with a plate thickness of 14 mm. The material is carbon steel. For the root pass, single-arc single-laser welding is used, and for the capping pass, arc + laser-arc hybrid welding is used for welding. As Figure 16 - 18 shown, the welding parameters are shown in Table 4.

[0108] Table 4 Welding parameters for 14 mm

[0109]

[0110]

[0111] Example 6

[0112] Use the all-in-one machine mentioned in Example 1 to weld carbon steel with a plate thickness of 20 mm. The material is carbon steel. The heat conduction welding form is used. As Figure 19 shown, the parameters are shown in Table 5.

[0113] Table 5 Welding parameters for 20 mm

[0114]

[0115] Example 7

[0116] Use the all-in-one machine mentioned in Example 1, with a plate thickness of 6 mm and a material of 304. The welding and groove forms are as Figure 20 - 21 shown. The laser-guided arc method is used for welding. Laser autogenous welding is used for the root pass, and laser-arc hybrid welding is used for the capping pass. The welding parameters are shown in Table 6 below.

[0117] Table 6 Welding parameters

[0118]

[0119]

[0120] Example 8

[0121] The production and processing system for nuclear power steel liners, in addition to including the laser-arc hybrid welding and plate milling all-in-one machine for nuclear power steel liners mentioned in Example 1, also includes a flexible forming die automation system and an anchor bolt automatic welding device.

[0122] As Figure 22 shown, the flexible forming die automation system includes an overall support bridge base and a support bridge. The support bridge is arranged in the radial direction of the overall support bridge base. 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 overall support bridge base 7, and the 2 fixed support bridges 6 are respectively arranged on both sides of the overall support bridge base 7. As Figure 23As shown in the figure, 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 main beam 510. The electric lift 530 drives the main beam 510 to lift; a group of support wheels 520 are evenly distributed on the top of the main beam 510. The lift seat 540 includes a lift seat bottom plate 5401. Above the lift seat bottom plate 5401, two square tube brackets 5402 are arranged. The electric lift 530 is fixedly connected to the front of the two square tube brackets 5402. A support plate 5403 is fixedly connected to the back of the two square tube brackets 5402. A lift guide rail 5404 is fixedly connected to the support plate 5403. 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 overall base 7 of the support bridge through the electric lift 530, thereby changing the radian of the flexible forming die and 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. As Figure 24 shown, the fixed support bridge 6 includes fixed bases 610 respectively arranged on both sides. Both ends of a fixed main beam 620 are respectively fixedly connected to the fixed bases 610. A group of fixed support wheels 630 are evenly distributed on the top of the fixed main beam 620. As Figure 25 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 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 elements for support and positioning, 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 26As shown, 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, which can adjust the relative position of the workpiece and the supporting wheel in the width direction. The positioning mechanism is a positioning idler wheel 830, which is arranged at both ends of the pushing frame 8201. When the workpiece contacts the rotating part on the positioning idler wheel 830, the rotating part rotates through the outer ring of the rolling bearing, so as to realize the positioning and guiding of the workpiece.

[0123] As Figure 27 shown, the longitudinal adjustment mechanism 9 includes two groups of hydraulic lifting and pressing 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. There is a guide rail 930 at both ends of the girder 510 of the flexible support bridge, and a group of hydraulic lifting and pressing rollers 910 are 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 and pressing rollers 910 slide on the slide rail. When the hydraulic lifting and pressing rollers 910 slide to an appropriate position, the hydraulic lifting and pressing rollers 910 press down to clamp the workpiece in the vertical direction. At the same time, since the workpiece is bent by its own weight, the material is driven to slide on the support bridge girder 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 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.

[0124] As Figure 28 - Figure 36 shown, the automatic anchor bolt welding equipment 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.

[0125] 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 embedment parts 403 are provided on the foundation embedment 409. There are no less than three locking mechanisms 404 on the embedment parts 403. The locking mechanisms are used to lock the main slide rail 401. The main slide rail 401 is located on the embedment parts 403. The top and side surfaces of the slide rail are machined into flat surfaces. The inclined rack 405 is installed on the side surface. The traveling gear contacts the top of the track. 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 leg 407 through a connecting plate. The traveling gear 412 is installed at the input shaft of the speed reducer. The traveling gear and the inclined rack 405 are tightly engaged 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 surface of the gantry crossbeam. One side of the installation groove of all the slide rails 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 surface of the installation groove. The slide table mounting plate is locked with the side surface and the top linear guide rail through bolts.

[0126] 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, so as to drive the moving plate 414 to move along the moving rack.

[0127] 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 reducer 204. A sliding device is installed on the output shaft of the first planetary 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, and the rectangular boss 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.

[0128] 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.

[0129] 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 through 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 a manipulator.

[0130] 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 minute protrusions 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 protrusion is provided at the end of the first linear vibrating feeder 23. The first linear vibrating feeder 23 is provided with a through groove capable of accommodating the anchor pin 16. When the anchor pin 16 reaches the limiting protrusion, 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 picture controller and judged 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. The porcelain ring moves along the groove 230. When the porcelain ring moves to the top of the groove 230, it stops moving. 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. The anchor pin 16 is pressed into the porcelain ring by the movable pressing block.

[0131] 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 movable 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.

[0132] 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.

[0133] In the present invention, the third grasping device is located on the second bracket. The third grasping device includes a third base, a third motor is installed on the third base, 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.

[0134] 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 baffle and the bottom of the feeding tray. The chute of the feeding tray is connected to a through groove.

[0135] 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 in form and detail may be made without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims

1. A welding system for nuclear power steel linings, characterized in that: The welding system (33) includes a welding carriage (331) reciprocating on the plate edge pressing device (32), and a laser (332) disposed on one side of the plate edge pressing device (32). A welding power source (336) is provided on the welding carriage (331), and the welding power source (336) supplies power to a laser-arc hybrid welding torch (333), a wire feeding system (334), and a welding system control cabinet (335).

2. The welding system for nuclear power steel lining according to claim 1, characterized in that: The laser-arc hybrid welding torch (333) includes a laser-arc hybrid welding module unit, a torch adjustment module, and an anti-collision sensor. When working, the torch adjustment module adjusts the laser-arc hybrid welding module unit to align with the weld seam for welding. At the same time, the anti-collision sensor is used to optimize the welding path; The laser-arc hybrid welding module unit includes a torch support. A laser gun head (333-1), a first arc welding torch (333-2), and a second arc welding torch (333-3) are fixed on the torch support. The first arc welding torch (333-2) and the second arc welding torch (333-3) are respectively disposed on both sides of the laser gun head (333-1). The torch adjustment module includes a first arc welding torch adjustment module (333-4), a second arc welding torch adjustment module (333-5), and a laser gun head adjuster (333-6). The first arc welding torch adjustment module (333-4) adjusts the angle of the first arc welding torch (333-2) through an adjustment arm. The second arc welding torch adjustment module (333-5) adjusts the angle of the second arc welding torch adjustment module (333-5) through an adjustment arm. The laser gun head adjuster (333-6) adjusts the angle of the laser gun head (333-1) through an adjustment arm. A laser tracker (333-7) is also provided near the first arc welding torch adjustment module (333-4).

3. The welding system for nuclear power steel lining according to claim 2, characterized in that: The laser gun head adjuster (333-6) includes two left and right mounting plates (333-601). A mounting seat of the laser gun head adjuster is formed by fixing the two mounting plates (333-601) through a pin shaft. A first slide handwheel (333-603) is mounted on the left side of the mounting seat. A first slide guide rail (333-604) is connected to the middle of the first slide handwheel (333-630). A slide connection block (333-605) is sleeved on the circumferential direction of the slide guide rail (333-604). A second slide handwheel (333-606) is connected to the slide connection block (333-65). One end of a connecting plate (333-607) is fixed to the second slide handwheel (333-66). The other end of the connecting plate (333-607) is sleeved on a third slide guide rail (333-609) of a third slide handwheel (333-608). A laser head insulating plate (333-610) is fixed to a connecting member of the third slide guide rail (333-609). A second arc welding gun (333-3) and a laser tracker (333-612) are fixed to the laser head insulating plate (333-610) through a gun head seat (333-611). A laser head (333-613) and a camera (333-614) are arranged on the right side of the mounting seat.

4. Laser-arc hybrid welding and panel milling integrated machine for nuclear power steel lining, characterized in that: It includes the welding system (33) as described in any one of claims 1 to 3, and further includes a sheet conveying device, a feeding support platform, a discharging support platform, a plate edge pressing device (32), a bevel processing device (34), a PLC control system, and the welding system (33). The sheet conveying device transports the sheet to be welded to the feeding support platform. The feeding support platform transports the sheet to the plate pressing device (32). The plate edge pressing device (32) presses the sheet. Subsequently, the bevel processing device processes the welding portion of the sheet to obtain a preset bevel. Then the welding system welds the bevel portion. After welding is completed, the sheet conveying device transports the welded sheet to the discharging support platform. The PLC control system controls the start and stop of the sheet conveying device, the feeding support platform, the discharging support platform, the plate edge pressing device (32), the bevel processing device, and the welding system (33).

5. The laser-arc hybrid welding and panel milling integrated machine for nuclear power steel lining according to claim 4, wherein: The plate edge pressing device (32) includes a fixed side pressure frame (321) and a movable side pressure frame (322). The fixed side pressure frame is arranged on one side of the whole integrated machine. The movable side pressure frame (322) is arranged on the opposite side of the fixed side pressure frame (321). The movable side pressure frame (322) reciprocates on the track to change the distance from the fixed side pressure frame (321). The fixed-side pressure frame (321) includes a fixed base (321-01). A bevel processing device (34) is provided on the side surface of the fixed base (321-01). The bevel processing device (34) slides on the side surface of the fixed base (321-01). The top surface of the fixed base of the fixed base (321-01) is the support surface for the plate. Two fixed base connection supports (321-02) are symmetrically arranged in the axial direction of the top surface of the fixed base. A fixed base upper cross beam (321-03) is provided on the upper parts of the two fixed base connection supports (321-02). A set of fixed base steel plate positioning devices (321-04) and fixed base piano-key type hydraulic pressing devices (321-06) are evenly arranged on the side of the fixed base upper cross beam (321-03) facing the plate. A linear slide rail (321-05) is provided on the upper surface of the fixed base upper cross beam (321-03). A welding trolley (331) is slidably arranged on the linear slide rail (321-05). The welding trolley (331) reciprocates on the linear slide rail (321-05).

6. The laser-arc hybrid welding and panel milling integrated machine for nuclear power steel lining according to claim 5, characterized in that: The moving-side pressure frame (322) includes a moving base (322-01). The top surface of the moving base of the moving base (322-01) is the support surface for another plate. Two moving base connection supports (322-02) are symmetrically arranged in the axial direction of the top surface of the moving base. A moving base upper cross beam (322-03) is provided on the upper parts of the two moving base connection supports (322-02). A set of moving base steel plate positioning devices (322-04) and moving base piano-key type hydraulic pressing devices (321-05) are evenly arranged on the side of the moving base upper cross beam (322-03) facing the plate; Two walking support seats (321-06) are symmetrically arranged below the moving base (322-01). The two walking support seats (321-06) reciprocate on the stretching guide rail (321-07).

7. The laser-arc hybrid welding and panel milling integrated machine for nuclear power steel liners according to claim 4, characterized in that: The bevel processing device (34) includes a bevel fixing plate (3401) slidably arranged on the side surface of the fixed base (321-01). A rotary motor seat plate (3402), a main shaft housing bottom plate (3403), a bearing seat (3404), and a reducer seat plate (3405) are fixedly connected to the bevel fixing plate (3401). A rotary motor (3406) is fixedly connected to the rotary motor seat plate (3402). A main shaft housing (3407) is fixedly connected to the main shaft housing bottom plate (3403). The output shaft of the rotary motor (3406) is connected to a belt pulley (3408). The output end of the belt pulley (3408) is connected to the main shaft housing (3407). A cutter head (3409) is provided at the top of the main shaft housing (3407).

8. A welding method for the laser-arc hybrid welding and milling integrated machine of nuclear power steel lining as described in any one of claims 4 to 7, characterized in that, It includes the following steps: Step 1: Hoist two plate sheets onto the plate conveying device (29), and respectively convey them to the fixed-side pressure frame (321) and the moving-side pressure frame (322) through the plate conveying device (29) and the feeding support platform (30), and correct and adjust the plates; Step 2: Adjust the fixed seat key-type hydraulic pressing device (321-06) and the moving seat key-type hydraulic pressing device (321-05) to press the plates placed on the fixed side pressure frame (321) and the moving side pressure frame (322) respectively; Step 3: Move the groove machining device to automatically mill the grooves on both sides of the plates according to the preset parameters; Step 4: After the groove machining is completed, move the moving side pressure frame (322) to make the fixed side pressure frame (321) and the moving side pressure frame (322) approach each other, so that the two plates are automatically closed and assembled; Step 5: After the assembly is completed, according to the base metal groove data, call the corresponding welding process parameters in the process database of the PLC control system, and perform an automated welding process through the welding system (33); Step 6: After the welding is completed, the fixed seat key-type hydraulic pressing device (321-06) and the moving seat key-type hydraulic pressing device are loosened, and the plate conveying device (29) conveys the welded plates to the discharge support platform (31) to complete the process.

9. A welding method for the laser-arc hybrid welding and panel milling integrated machine of nuclear power steel lining as described in claim 8, characterized in that: The automated welding process adopts two welding processes. First, laser welding is used for backing welding, and then laser-MAG hybrid welding is used for forming welding.

10. A production and processing system for nuclear power steel liners, comprising a laser-arc hybrid welding and panel milling integrated machine for nuclear power steel liners according to any one of claims 4 to 7, characterized in that: It also includes a flexible forming die automation system and an anchor stud automatic welding device; after the steel lining splicing plate is milled and spliced and compound welded on the laser-arc hybrid welding and plate milling integrated machine, it is hoisted to the flexible forming die automation system for flexible forming, and finally the anchor stud automatic welding device is used to weld the anchor studs on the flexibly formed steel lining.

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