Tailor welding device for nuclear fusion large coil AP assembly

Abstract

The invention relates to the technical field of AP assembly tailor-welding, and discloses a nuclear fusion large coil AP assembly tailor-welding device which comprises a base and two assembly tools, a portal frame is fixed to the top of the base through bolts, and an overturning module is arranged at one end of the top of the base and used for overturning the assembled assembly tools. A position adjusting module for adjusting the left-right positions of the assembly tools is arranged on the rear side of the overturning module, an anti-collision module for eliminating inertia when the assembly tools stop is arranged on the rear side of the position adjusting module, and a supporting module for conducting auxiliary fixing on one assembly tool is arranged at the bottom of the assembly tool. Through cooperative use of the overturning module, the position adjusting module, the anti-collision module and the welding module, collision during butt joint of the two assembly tools can be avoided, single-piece plates on the two assembly tools can be spliced, dependence on an external object during overturning of the assembly tools can be reduced, and overturning of the assembly tools is more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of AP component welding, and specifically to a welding device for large-scale coils of nuclear fusion AP components. Background Art

[0002] The large-scale coil AP components in a nuclear fusion device are the core components of magnetic confinement devices such as tokamaks, mainly involving key parts such as toroidal field coils, vacuum chamber structures, and blanket systems.

[0003] Some AP components are formed by welding two plates. Each single plate is divided into a straight section and an arc section. The straight sections of the two plates are welded to form an AP component. The total length of the AP component is 15535.3 mm, the width is 2668.4 mm, and the height is 1165.3 mm; the thinnest plate thickness is 50.2 mm, the thickest is 98.3 mm, the total weight is 13071 kg, the single weight is about 6535.5 kg, and adding the tooling for fixing the AP component, the single-piece tooling weight is about 22000 kg, and the total weight of a single workpiece is about 30 tons.

[0004] Currently, when welding AP components, the following problems exist: 1. Since the single-piece tooling is relatively heavy, when using a gantry crane to lift and move the single-piece tooling for assembly, the inertia of the single-piece tooling is very large. When the gantry crane stops moving, the single-piece tooling often collides with another tooling due to inertia, resulting in deformation of the single plate of the AP component, making it difficult to align the straight sections of the two single plates, and thus affecting the welding efficiency; 2. When aligning the straight sections of the two single plates, the distance between the two single plates is very short, but the single-piece tooling is relatively heavy. During the process of using a gantry crane to adjust the position of the single plate, multiple adjustments are required to make the straight sections of the two single plates fit together, resulting in low splicing efficiency of the AP component; 3. Since the single plate is composed of a straight section and an arc section, when fixing the single plate into the tooling, it is usually in a side-lying position. After lying on its side, the tooling needs to be flipped to facilitate welding of the single plate. However, the flipping of the tooling is usually achieved by the cooperation of a gantry crane and a crane to flip the tooling, and it is not easy for a single gantry crane to flip the tooling, resulting in inconvenient flipping of the tooling. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a welding device for assembling large-scale coils of nuclear fusion AP components, mainly to solve the problems that the weight of a single-piece tooling is relatively heavy. When using a gantry crane to lift and move a single-piece tooling for assembly, the single-piece plate is deformed due to collision, making it difficult to align the straight sections of the two single-piece plates, thus affecting the welding efficiency; when aligning the straight sections of the two single-piece plates, the distance between the two single-piece plates is very short, and multiple adjustments are required to make the straight sections of the two single-piece plates fit together, resulting in low splicing efficiency of the AP components; and the flipping of the tooling is usually achieved by the cooperation of a gantry crane and a crane to flip the tooling, and a single gantry crane is not easy to flip the tooling, resulting in inconvenient flipping of the tooling.

[0006] To achieve the above object, the present invention provides the following technical solutions: A welding device for assembling large-scale coils of nuclear fusion AP components includes a base and two component toolings. A gantry crane is fixed to the top of the base by bolts. One end of the top of the base is provided with a flipping module for flipping the assembled component tooling. The rear side of the flipping module is provided with an alignment module for adjusting the left and right positions of the component tooling. The rear side of the alignment module is provided with an anti-collision module for eliminating inertia when the component tooling stops. The bottom of one of the component toolings is provided with a support module for auxiliary fixing, and the support module can be fixed to the anti-collision module. One side of the splicing part of the two single-piece plates is provided with a welding module fixed to the top of the base for welding the assembled single-piece plates.

[0007] Further, the flipping module includes a first installation box fixed to the bottom of the base. The inner wall of one side of the first installation box is rotatably connected with a plurality of first hydraulic cylinders through bearings. Between the inner walls on both sides of the base, an L-shaped frame rotatable with the first hydraulic cylinders is rotatably connected through bearings. The top of the base is provided with a resistance-increasing component for reversely jacking up the flipping of the L-shaped frame.

[0008] Based on the foregoing solution, the resistance-increasing component includes an avoidance groove opened on the top of the base. A vertical plate is welded to one side of the avoidance groove. One side of the L-shaped frame is rotatably connected with a plurality of force arms through bearings. One ends of the plurality of force arms are rotatably connected with a connecting plate sliding in the avoidance groove through bearings. A plurality of springs are fixed between the connecting plate and the vertical plate by bolts. A limiting plate in contact with the L-shaped frame is welded between the inner walls on both sides of the first installation box.

[0009] As a further solution of the present invention, the alignment module includes a second installation box fixed to the bottom of the base. The inner wall of the bottom of the second installation box is fixed with a second hydraulic cylinder by bolts. The top of the second hydraulic cylinder is fixed with a support plate by bolts. The bottom of the support plate is fixed with two telescopic rods fixed to the second installation box by bolts. The top of the base is provided with a positioning component for changing the position when the component tooling moves.

[0010] Further, the positioning component includes a vehicle body placed on the top of the base. A plurality of Mecanum wheels are provided on both sides of the vehicle body. The Mecanum wheels are omnidirectional wheels. The bottom of the vehicle body is fixed with a guide frame by bolts. One end of the guide frame is beveled. Two limit rods are fixed on the top of the base by bolts and are respectively located on both sides of the support plate, and the two limit rods can be in contact with the two guide frames respectively. Two connecting blocks are welded on one side of the vehicle body. A plurality of positioning frames for positioning the component tooling are fixed on the top of the vehicle body by bolts.

[0011] On the basis of the foregoing solution, the anti-collision module includes a fixing plate fixed on the top of the base. A monitoring component for real-time monitoring of the splicing of two single plates is provided on the top of the fixing plate. One side of the fixing plate is rotatably connected with a plurality of first rotating rods through bearings. One end of the first rotating rod is rotatably connected with a second rotating rod. One ends of the plurality of second rotating rods are rotatably connected with a connecting frame through bearings. Two arc-shaped elastic plates are fixed between the connecting frame and the fixing plate by bolts. A pulling component for pulling the connecting frame to move is provided between the connecting frame and the fixing plate. Two chutes are opened at both ends of one side of the connecting frame. Sliders are slidably connected in the chutes. A rubber pad is bonded to the side of the connecting frame in contact with the component tooling. Fixed ears are welded on both sides of the fixing plate.

[0012] As a further solution of the present invention, the monitoring component includes two support rods fixed on the top of the fixing plate. A baffle is welded on the top of the support rod. A distance sensor not exceeding the baffle is fixed on the top of the baffle by bolts. Fixed frames are welded on both sides of the baffle. A vision sensor is fixed on the top of the fixed frame by bolts.

[0013] Further, the pulling component includes a first slot and a second slot respectively opened on the top of the fixing plate and the connecting frame. A first plug-in frame that can be fixed by bolts is inserted into the first slot. One side of the first plug-in frame is rotatably connected with a threaded rod through a bearing. One end of the threaded rod is key-connected with a worm gear. A second plug-in frame is inserted into the second slot. A threaded tube threadedly connected with the threaded rod is welded on one side of the second plug-in frame. A servo motor is fixed on one side of the fixing plate by bolts. The output shaft of the servo motor is fixed with a worm gear meshing with the worm gear through a coupling.

[0014] On the basis of the foregoing solution, the support module includes a support frame fixed at the bottom of one of the component toolings. A positioning hole and two threaded holes are opened on one side of the support frame, and the two threaded holes and the fixed ears can be fixed by bolts. An insertion plate that can be inserted into the positioning hole is welded on one side of the fixing plate.

[0015] As a further solution of the present invention, the component tooling includes a component body and two tooling bodies. The two tooling bodies can be fixed by bolts, and the component body is located between the two tooling bodies. A flattening frame is fixed to one side of the two assembled tooling bodies by bolts. The welding module includes a robotic arm fixed to the top of the base by bolts, and a welding torch is fixed to one end of the robotic arm by threads.

[0016] Compared with the prior art, the present invention provides a large-scale nuclear fusion coil AP component welding device, which has the following beneficial effects: 1. By the combined use of the flipping module, the position adjustment module, the anti-collision module and the welding module, the present invention can not only avoid collisions when the two component toolings are docked, but also splice the single plates on the two component toolings, and can also reduce the dependence on external objects when the component tooling is flipped, making the flipping of the component tooling more convenient.

[0017] 2. By providing a flipping module in the present invention, the L-shaped frame rotates, driving the component tooling placed on the L-shaped frame to flip, and the component tooling can be flipped without relying on external objects, improving the convenience of flipping the component tooling.

[0018] 3. By providing a resistance increasing component in the present invention, the rotation of the L-shaped frame is made more stable, avoiding the displacement of the component tooling caused by the too fast rotation of the L-shaped frame. At the same time, a gantry is used to assist in pulling the component tooling, improving the safety of the device flipping.

[0019] 4. By providing a position adjustment module in the present invention, the two single plates are located on the same horizontal plane, and the error existing between the two component toolings can be eliminated, enabling the two single plates to contact better.

[0020] 5. By providing a positioning component in the present invention, the position of the component tooling can be adjusted during the displacement process of the component tooling, making the displacement time coincide with the position adjustment time, thereby reducing the total welding time of the component tooling and improving the welding efficiency of the AP component.

[0021] 6. By providing an anti-collision module in the present invention, the inertia of the component tooling will impact the connecting frame, squeezing the arc-shaped elastic plate to deform and generate elastic force, offsetting the inertial impact force of the component tooling, so that the two component toolings cannot come into contact, thereby avoiding their collision and improving the protection effect of the device.

[0022] 7. By providing a pulling component in the present invention, the two single plates are positioned, so that the welding surfaces of the two single plates are located on the same horizontal plane. Through secondary deceleration, the torque of the rotation of the threaded rod can be greatly increased, making the movement of the vehicle body and the component tooling easier.

[0023] 8. The present invention is provided with a support module to fix the support frame and the component tooling, and position another component tooling, further improving the welding efficiency of the butt welding of two single plates. Description of the Drawings

[0024] Figure 1 It is a schematic upper three-dimensional structure diagram of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 2 It is a schematic lower three-dimensional structure diagram of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 3 It is a schematic enlarged structure diagram of a flipping module of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 4 It is a schematic enlarged structure diagram of an alignment module of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 5 It is a schematic exploded structure diagram of an alignment module of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 6 It is a schematic enlarged structure diagram of a support module of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 7 It is a schematic enlarged structure diagram of an anti-collision module of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 8 It is a schematic partial sectional structure diagram of an anti-collision module of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 9 It is a schematic partial enlarged structure diagram of an anti-collision module of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 10 It is a schematic enlarged structure diagram of a pulling component of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 11 It is a schematic enlarged structure diagram of a monitoring component of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 12 It is a schematic enlarged structure diagram of a welding module of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 13 It is a schematic enlarged structure diagram of a component tooling of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 14 It is a schematic disassembled structure diagram of a component tooling of a butt welding device for a large-scale fusion coil AP component proposed by the present invention; Figure 15Schematic structural diagram of the monitoring system for a large-scale coil AP component welding and assembly device proposed by the present invention.

[0025] In the figure: 1. Base; 2. Flipping module; 201. First mounting box; 202. Limiting plate; 203. First hydraulic cylinder; 204. L-shaped frame; 205. Lever arm; 206. Connecting plate; 207. Spring; 208. Vertical plate; 209. Avoidance groove; 3. Gantry; 4. Position adjustment module; 401. Second mounting box; 402. Vehicle body; 403. Second hydraulic cylinder; 404. Limiting rod; 405. Support plate; 406. Guide frame; 407. Oblique angle; 408. Connecting block; 409. Mecanum wheel; 410. Positioning frame; 411. Telescopic rod; 5. Anti-collision module; 501. Fixed plate; 502. Support rod; 503. Fixed ear; 504. First rotating rod; 505. Second rotating rod; 506. Slide block; 507. Slide groove; 508. Connecting frame; 509. Arc-shaped elastic plate; 510. First slot; 511. First plug; 512. Worm gear; 513. Worm; 514. Servo motor; 515. Rubber pad; 516. Second slot; 517. Second plug; 518. Threaded tube; 519. Threaded rod; 520. Baffle; 521. Fixed frame; 522. Vision sensor; 523. Distance sensor; 6. Welding module; 601. Robot arm; 602. Welding torch; 7. Support module; 701. Support frame; 702. Threaded hole; 703. Positioning hole; 704. Plug board; 8. Component tooling; 801. Tooling body; 802. Smoothing frame; 803. Component body. Detailed implementation manners

[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] The serial numbers assigned to the components in this article, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. The "connection" and "coupling" mentioned in the present invention, unless otherwise specified, both include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention.

[0028] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0029] Referring to Figures 1 - 15 , a welding device for assembling large-scale coils of a nuclear fusion AP component, comprising a base 1 and two component toolings 8. A gantry 3 is fixed to the top of the base 1 by bolts. A flipping module 2 is provided at one end of the top of the base 1 for flipping the assembled component tooling 8. A position adjustment module 4 for adjusting the left and right positions of the component tooling 8 is provided at the rear of the flipping module 2. An anti-collision module 5 for eliminating inertia when the component tooling 8 stops is provided at the rear of the position adjustment module 4. A support module 7 for assisting in fixing one of the component toolings 8 is provided at the bottom of the component tooling 8, and the support module 7 can be fixed to the anti-collision module 5. A welding module 6 fixed to the top of the base 1 is provided on one side of the joint of the two single plates for welding the assembled single plates. During use, the component tooling 8 is assembled on the flipping module 2, the component tooling 8 is fixed by using the gantry 3 and a steel wire rope, the component tooling 8 is flipped by using the flipping module 2. After flipping, the component tooling 8 is lifted by using the gantry 3, the support module 7 is fixed to the bottom of the component tooling 8. After fixing, the component tooling 8 is driven by the gantry 3 to move to the rear of the anti-collision module 5. After placement, the fixing of the component tooling 8 by the steel wire rope is released, the gantry 3 is reset, and at the same time the flipping module 2 is reset. Then, the component tooling 8 is continuously assembled on the flipping module 2, and the above steps are repeated again until the component tooling 8 is lifted by the gantry 3, the component tooling 8 is driven by the gantry 3 to move to the other side of the anti-collision module 5, and the inertia is eliminated by the anti-collision module 5 so that the two component toolings 8 do not come into contact. During the movement, the component toolings 8 are assisted in alignment by the position adjustment module 4. After alignment, the height is adjusted by the position adjustment module 4, thus completing the assembly of the two single plates. Then, the two single plates are welded by the welding module 6 to complete the welding of the AP component, which can not only avoid collision when the two component toolings 8 are butted, but also splice the single plates on the two component toolings 8, and can also reduce the dependence on external objects when the component tooling 8 is flipped, making the flipping of the component tooling 8 more convenient.

[0030] In order to flip the component tooling 8, in the present invention, the flipping module 2 includes a first mounting box 201 fixed to the bottom of the base 1. A plurality of first hydraulic cylinders 203 are rotatably connected to one inner wall of the first mounting box 201 through bearings. An L-shaped frame 204 that rotates with the first hydraulic cylinders 203 is rotatably connected between the two inner walls of the base 1 through bearings. After flipping, the bottom inner wall of the L-shaped frame 204 is flush with the top of the base 1. A resistance increasing component for reversely jacking up the flipping of the L-shaped frame 204 is provided on the top of the base 1. When the plurality of first hydraulic cylinders 203 are started simultaneously, the L-shaped frame 204 is pushed to rotate, thereby driving the component tooling 8 placed on the L-shaped frame 204 to flip. By using the resistance increasing component to push against the flipping of the L-shaped frame 204, the rotation of the L-shaped frame 204 becomes more stable, and the convenience of flipping the component tooling 8 is improved.

[0031] In order to make the rotation of the L-shaped frame 204 more stable, in the present invention, the resistance increasing component includes an avoidance groove 209 opened on the top of the base 1. A vertical plate 208 is welded to one side of the avoidance groove 209. A plurality of force arms 205 are rotatably connected to one side of the L-shaped frame 204 through bearings. One ends of the plurality of force arms 205 are rotatably connected to a connecting plate 206 that slides in the avoidance groove 209 through bearings. A plurality of springs 207 are fixed between the connecting plate 206 and the vertical plate 208 by bolts. A limiting plate 202 that contacts the L-shaped frame 204 is welded between the two inner walls of the first mounting box 201. When the L-shaped frame 204 rotates more than 45°, under the action of gravity, the component tooling 8 will drive the L-shaped frame 204 to continue rotating. At this time, the thrust of the first hydraulic cylinder 203 will accelerate the rotation of the L-shaped frame 204. During the rotation of the L-shaped frame 204, the L-shaped frame 204 will push one end of the force arm 205, causing the other end of the force arm 205 to push the connecting plate 206 to slide in the avoidance groove 209, thereby squeezing the springs 207 to contract and generate elastic force, applying a reverse thrust to the rotation of the L-shaped frame 204. Thus, when the L-shaped frame 204 rotates more than 45°, it cancels out the gravity of the component tooling 8, making the rotation of the L-shaped frame 204 more stable, avoiding the displacement of the component tooling 8 caused by the too fast rotation of the L-shaped frame 204. At the same time, a gantry 3 is used to assist in pulling the component tooling 8 to improve the safety of the device flipping.

[0032] In order to make the heights of two single boards flush, in the present invention, the position adjustment module 4 includes a second mounting box 401 fixed to the bottom of the base 1. A second hydraulic cylinder 403 is fixed to the inner wall of the bottom of the second mounting box 401 by bolts. The top of the second hydraulic cylinder 403 is fixed to a support plate 405 by bolts. Two telescopic rods 411 fixed to the second mounting box 401 are fixed to the bottom of the support plate 405 by bolts. A positioning component for changing the position when the component tooling 8 moves is provided on the top of the base 1. The horizontal position of the component tooling 8 transported by moving is adjusted through the positioning component. When the component tooling 8 moves to the same side as another component tooling 8, the second hydraulic cylinder 403 is started. The second hydraulic cylinder 403 drives the support plate 405 to move upward, thereby lifting the current component tooling 8 upward, and further making the two single boards located on the same horizontal plane, capable of eliminating the error existing between the two component toolings 8, and enabling the two single boards to contact better.

[0033] In order to position the component tooling 8 in the left and right positions during the moving process, in the present invention, the positioning component includes a vehicle body 402 placed on the top of the base 1. A plurality of Mecanum wheels 409 are provided on both sides of the vehicle body 402. The Mecanum wheels 409 are Mecanum wheels. A guide frame 406 is fixed to the bottom of the vehicle body 402 by bolts. One end of the guide frame 406 is an oblique angle 407. Two limit rods 404 are fixed to the top of the base 1 and are respectively located on both sides of the support plate 405, and the two limit rods 404 can respectively contact the two guide frames 406. Two connecting blocks 408 are welded to one side of the vehicle body 402. A plurality of positioning frames 410 for positioning the component tooling 8 are fixed to the top of the vehicle body 402 by bolts. When the component tooling 8 is lifted by the gantry 3, the vehicle body 402 is placed on the component tooling 8. The gantry 3 lowers the height of the component tooling 8. Under the action of the positioning frame 410, the position of the component tooling 8 on the vehicle body 402 is fixed. The component tooling 8 is fixed to the vehicle body 402 by bolts. After fixing, the height of the component tooling 8 is continuously lowered so that the pressure exerted by the component tooling 8 on the vehicle body 402 is the same as the pulling force of the gantry 3 pulling the component tooling 8. The DATA-52 series diffused silicon piezoresistive sensors can be used to determine the pressure. Furthermore, the vehicle body 402 can move easily. The gantry 3 drives the vehicle body 402 and the component tooling 8 to move together. The position of the vehicle body 402 is assisted and adjusted through the oblique angle 407 until the limit rods 404 are in full contact with the guide frames 406, thereby positioning the left and right positions of the vehicle body 402, aligning the left and right positions of the two single boards, being able to adjust the position of the component tooling 8 during its displacement, making the displacement time coincide with the position adjustment time, and further reducing the total time-consuming of the component tooling 8 for butt welding and improving the welding efficiency of the AP component.

[0034] To avoid collisions between two component toolings 8 during splicing, in the present invention, the anti-collision module 5 includes a fixing plate 501 fixed to the top of the base 1. At the top of the fixing plate 501, there is a monitoring component for real-time monitoring of the splicing of two single plates. One side of the fixing plate 501 is rotatably connected to a plurality of first rotating rods 504 through bearings. One end of the first rotating rod 504 is rotatably connected to a second rotating rod 505. One ends of a plurality of second rotating rods 505 are rotatably connected to a connecting frame 508 through bearings. The first rotating rod 504 and the second rotating rod 505 can assist in supporting the movement of the connecting frame 508. Between the connecting frame 508 and the fixing plate 501, two arc-shaped elastic plates 509 are fixed by bolts. The arc-shaped elastic plates 509 are made of elastic metal materials, preferably carbon steel, such as 65 steel and 75 steel. On the side of the connecting frame 508 in contact with the component tooling 8, a rubber pad 515 is bonded to protect the connecting frame 508. Between the connecting frame 508 and the fixing plate 501, there is a pulling component for pulling the connecting frame 508 to move. When the component tooling 8 and the vehicle body 402 are moved by the gantry 3 to contact the rubber pad 515 on the connecting frame 508, the movement of the gantry 3 is stopped. Due to inertia, the component tooling 8 will impact the connecting frame 508, causing the connecting frame 508 to move, and then squeezing the arc-shaped elastic plate 509 to deform and generate elastic force, canceling the inertial impact force of the component tooling 8, so that the two component toolings 8 cannot come into contact, thereby avoiding their collision and improving the protection effect of the device. A damper can be provided between the connecting frame 508 and the fixing plate 501 to consume the elastic potential energy, so that the reset elastic force of the arc-shaped elastic plate 509 on the component tooling 8 becomes smaller, enabling the component tooling 8 to quickly stabilize.

[0035] Wherein, at both ends of one side of the connecting frame 508, sliding grooves 507 are provided. Sliders 506 are slidably connected in the sliding grooves 507. After the component tooling 8 is stabilized, bolts can be used to fix the sliders 506 and the connecting blocks 408, so that the vehicle body 402 will not shift during the height adjustment process.

[0036] In order to monitor the splicing of two single boards in real time, in the present invention, the monitoring component includes two support rods 502 fixed to the top of the fixing plate 501. A baffle 520 is welded to the top of the support rod 502. The side surface of the baffle 520 and the welding surface of the single board in the component tooling 8 on the support module 7 are located on the same horizontal plane. A distance sensor 523 not exceeding the baffle 520 is fixed to the top of the baffle 520 by bolts. The model of the distance sensor 523 is Baumer optoNCDT5500. Fixed frames 521 are welded to both sides of the baffle 520. A vision sensor 522 is fixed to the top of the fixed frame 521 by bolts. The model of the vision sensor 522 is MV-SC1008M-05S-WBN-SR. By processing the data of the vision sensor 522 and the distance sensor 523 through the monitoring system, the monitoring of the single board during assembly is completed, so that the distance between the two single boards meets the welding standard.

[0037] In order to make the two component toolings 8 on the same side, in the present invention, the pulling component includes a first slot 510 and a second slot 516 respectively opened on the top of the fixing plate 501 and the connecting frame 508. A first plug-in frame 511 that can be fixed by bolts is inserted into the first slot 510. One side of the first plug-in frame 511 is rotatably connected to a threaded rod 519 through a bearing. One end of the threaded rod 519 is key-connected to a worm gear 512. A second plug-in frame 517 is inserted into the second slot 516. A threaded pipe 518 threadedly connected to the threaded rod 519 is welded to one side of the second plug-in frame 517. A servo motor 514 is fixed to one side of the fixing plate 501 by bolts. The output shaft of the servo motor 514 is fixed to a worm 513 meshing with the worm gear 512 through a coupling. After the slider 506 and the connecting block 408 are fixed, the first plug-in frame 511 and the second plug-in frame 517 are respectively inserted into the first slot 510 and the second slot 516, and at the same time, the worm gear 512 and the worm 513 are meshed. The first plug-in frame 511 is fixed in the first slot 510 with bolts. The servo motor 514 is started. The servo motor 514 drives the worm 513 to rotate, thereby driving the worm gear 512 to rotate, and further driving the threaded rod 519 to rotate, so that the threaded pipe 518 and the connecting frame 508 move together, and further driving the vehicle body 402 and the component tooling 8 to move, so that the welding surface of the single board contacts the baffle 520, thereby positioning the two single boards, making the welding surfaces of the two single boards on the same horizontal plane. Through secondary deceleration, the torque of the rotation of the threaded rod 519 can be greatly increased, making the movement of the vehicle body 402 and the component tooling 8 easier.

[0038] In order to position another component tooling 8, in the present invention, the support module 7 includes a support frame 701 fixed to the bottom of one of the component toolings 8. A positioning hole 703 and two threaded holes 702 are provided on one side of the support frame 701, and the two threaded holes 702 and the fixing ears 503 can be fixed by bolts. One side of the fixing plate 501 is welded with an insertion plate 704 that can be inserted into the positioning hole 703. The inclined surfaces are at both ends on one side of the insertion plate 704. Fixing ears 503 are welded to both sides of the fixing plate 501. When the component tooling 8 is lifted by the gantry 3, the support frame 701 is fixed to the bottom of the component tooling 8 by bolts. When the support frame 701 and the component tooling 8 are moved by the gantry 3 to one side of the fixing plate 501 together, the component tooling 8 is lowered, and the component tooling 8 and the support frame 701 are pulled to move in the opposite direction together, so that the insertion plate 704 is inserted into the positioning hole 703 to assist in positioning the positions of the support frame 701 and the component tooling 8. Bolts are used to fix the fixing ears 503 and the threaded holes 702, so as to fix the support frame 701 and the component tooling 8, position another component tooling 8, and further improve the welding efficiency of the butt welding of two single plates.

[0039] In the present invention, the component tooling 8 includes a component body 803 and two tooling bodies 801. The two tooling bodies 801 can be fixed by bolts, and the component body 803 is located between the two tooling bodies 801. One side of the two assembled tooling bodies 801 is fixed with a flattening frame 802 by bolts. During assembly, first, one tooling body 801 is placed on the L-shaped frame 204, then the component body 803 is placed on the tooling body 801, and the other tooling body 801 is symmetrically placed on the lower tooling body 801. Bolts are used to fix the two tooling bodies 801, so as to clamp and fix the component body 803. Then, the flattening frame 802 is fixed to one side of the assembled tooling body 801 by bolts, so that the component tooling 8 can stand steadily. The welding module 6 includes a robotic arm 601 fixed to the top of the base 1 by bolts. The model of the robotic arm 601 is ABB-IRB-6700. One end of the robotic arm 601 is fixed with a welding torch 602 by threads. The position of the welding torch 602 is adjusted by the robotic arm 601, and the welding torch 602 welds the splicing part of the two single plates.

[0040] The monitoring system includes a data acquisition module, a data transmission module, a data processing module, and an execution module. The data acquisition module acquires the distance data between the single plate and the baffle 520 and the distance data between the two single plates, and transmits the acquired data to the data processing module. The data processing module processes the single plate movement data and the distance data between the two single plates, generates an execution signal according to the processing result, and then transmits the execution signal to the execution module.

[0041] The analysis steps of the data processing module are as follows: Step 1: Process the data from the distance sensor 523 and the vision sensor 522 in the data acquisition module to determine whether the single board is in contact with the baffle 520 and whether the height of the single board completely exceeds that of the baffle 520. If it is determined that the single board is not in contact with the baffle 520 and the height of the single board does not completely exceed that of the baffle 520, generate Signal 1 and transmit the signal to the execution module. If it is determined that the single board is not in contact with the baffle 520 and the height of the single board completely exceeds that of the baffle 520, generate Signal 2 and transmit the signal to the execution module.

[0042] Step 2: Process the height data between the two single boards by the distance sensor 523 and the vision sensor 522 in the data acquisition module. If it is determined that the heights of the two single boards are different, no signal is generated. If it is determined that the heights of the two single boards are the same, generate Signal 3 and transmit the signal to the execution module.

[0043] The execution operations performed by the execution module are as follows: Operation 1: When the execution module receives Signal 1, the execution module controls the servo motor 514 to start.

[0044] Operation 2: When the execution module receives Signal 2, the execution module controls the servo motor 514 to turn off and simultaneously starts the second hydraulic cylinder 403.

[0045] Operation 3: When the execution module receives Signal 3, the execution module controls the second hydraulic cylinder 403 to turn off.

[0046] Furthermore, the first hydraulic cylinder 203, the gantry 3, the second hydraulic cylinder 403, the servo motor 514, the robotic arm 601, and the welding torch 602 are all general standard electrical appliances or electrical appliances known to those skilled in the art. Their structures and principles can all be learned by those skilled in the art through technical manuals or obtained through conventional experimental methods, and will not be elaborated here.

[0047] The present invention is used in the following steps: S1: First, place a tooling body 801 on the L-shaped frame 204, then place the component body 803 on the tooling body 801, symmetrically place another tooling body 801 on the lower tooling body 801, and use bolts to fix the two tooling bodies 801 to clamp and fix the component body 803. Then, fix the smoothing frame 802 on one side of the assembled tooling body 801 through bolts to make the component tooling 8 stand steadily. S2: Use the gantry 3 and the steel wire rope to fix the component tooling 8, and simultaneously start multiple first hydraulic cylinders 203 to push the L-shaped frame 204 to rotate, thereby driving the component tooling 8 placed on the L-shaped frame 204 to flip. S3: During the rotation of the L-shaped frame 204, one end of the L-shaped frame 204 will push one end of the lever arm 205, causing the other end of the lever arm 205 to push the connecting plate 206 to slide within the avoidance groove 209, thereby squeezing the spring 207 to contract and generate an elastic force, applying a reverse thrust to the rotation of the L-shaped frame 204. Thus, when the L-shaped frame 204 rotates more than 45°, it cancels out the gravity of the component tooling 8, making the rotation of the L-shaped frame 204 smoother; S4: After flipping, use the gantry 3 to lift the component tooling 8, fix the support frame 701 to the bottom of the component tooling 8 with bolts. The gantry 3 drives the support frame 701 and the component tooling 8 to move together to one side of the fixed plate 501, lower the component tooling 8, and pull the component tooling 8 and the support frame 701 to move in the opposite direction together through the gantry 3, so that the insertion plate 704 is inserted into the positioning hole 703 to assist in positioning the positions of the support frame 701 and the component tooling 8. Use bolts to fix the fixed ear 503 and the threaded hole 702 to fix the support frame 701 and the component tooling 8, and position another component tooling 8; S5: While the gantry 3 drives the component tooling 8 to move, the first hydraulic cylinder 203 resets, so that the L-shaped frame 204 resets, and another component tooling 8 is reassembled on the L-shaped frame 204. After assembly, the gantry 3 resets and lifts a new component tooling 8 again; S6: Place the vehicle body 402 on the component tooling 8, and the gantry 3 lowers the height of the component tooling 8. Under the action of the positioning frame 410, the position of the component tooling 8 on the vehicle body 402 is fixed. Fix the component tooling 8 and the vehicle body 402 with bolts. After fixing, continue to lower the height of the component tooling 8 so that the pressure exerted by the component tooling 8 on the vehicle body 402 is the same as the pulling force of the gantry 3 pulling the component tooling 8. The DATA-52 series diffused silicon piezoresistive sensors can be used to determine the pressure, so that the vehicle body 402 can move easily. The gantry 3 drives the vehicle body 402 and the component tooling 8 to move together, and the bevel angle 407 is used to assist in adjusting the position of the vehicle body 402 until the limit rod 404 is in full contact with the guide frame 406, thereby positioning the left and right positions of the vehicle body 402 and aligning the left and right positions of the two single plates; S7: When the component tooling 8 and the vehicle body 402 are moved by the gantry 3 to contact the rubber pad 515 on the connecting frame 508, stop the movement of the gantry 3. Due to inertia, the component tooling 8 will impact the connecting frame 508, causing the connecting frame 508 to move, and then squeezing the arc-shaped elastic plate 509 to deform and generate an elastic force to offset the inertial impact force of the component tooling 8, so that the two component toolings 8 cannot come into contact, thus avoiding their collision; S8: After the component tooling 8 is stabilized, use bolts to fix the slider 506 and the connecting block 408. Insert the first plug-in frame 511 and the second plug-in frame 517 into the first slot 510 and the second slot 516 respectively. At the same time, engage the worm gear 512 with the worm 513. Use bolts to fix the first plug-in frame 511 in the first slot 510. Start the servo motor 514. The servo motor 514 drives the worm 513 to rotate, thereby driving the worm gear 512 to rotate, and further driving the threaded rod 519 to rotate, so that the threaded tube 518 and the connecting frame 508 move together, and then driving the vehicle body 402 and the component tooling 8 to move, making the welding surface of the single plate contact the baffle 520, thereby positioning the two single plates and making the welding surfaces of the two single plates located on the same horizontal plane; S9: Start the second hydraulic cylinder 403. The second hydraulic cylinder 403 drives the support plate 405 to move upward, thereby lifting the current component tooling 8 upward, and then making the two single plates located on the same horizontal plane, which can eliminate the error existing between the two component toolings 8 and make the two single plates contact better; S10: Through the data processing of the vision sensor 522 and the distance sensor 523 by the monitoring system, the monitoring during the assembly of the single plates is completed, making the distance between the two single plates meet the welding standard. After meeting the standard, the position of the welding torch 602 is adjusted by the robotic arm 601, and the welding torch 602 welds the joint of the two single plates, thereby completing the welding of the AP component.

[0048] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0049] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A large-scale coil AP component welding device for nuclear fusion, comprising a base (1) and two component toolings (8), characterized in that, A gantry (3) is fixedly connected to the top of the base (1). One end of the top of the base (1) is provided with a flipping module (2) for flipping the assembled component tooling (8). A position adjusting module (4) for adjusting the left and right positions of the component tooling (8) is arranged at the rear side of the flipping module (2). A collision prevention module (5) for eliminating inertia when the component tooling (8) stops is arranged at the rear side of the position adjusting module (4). A support module (7) for auxiliary fixing is arranged at the bottom of one of the component toolings (8), and the support module (7) can be fixed to the collision prevention module (5). A welding module (6) fixed to the top of the base (1) is arranged at one side of the splicing position of two single plates for welding the assembled single plates.

2. The welding device for assembling and welding the large-scale coil AP component of nuclear fusion according to claim 1, wherein The flipping module (2) includes a first mounting box (201) fixed to the bottom of the base (1). A plurality of first hydraulic cylinders (203) are rotatably connected to the inner wall of one side of the first mounting box (201) through bearings. An L-shaped frame (204) rotatable with the first hydraulic cylinders (203) is rotatably connected between the inner walls on both sides of the base (1) through bearings. A resistance increasing component for reversely jacking up the flipping of the L-shaped frame (204) is arranged at the top of the base (1).

3. The welding device for assembling the large-scale coil AP component of nuclear fusion according to claim 2, characterized in that, The resistance increasing component includes an avoidance groove (209) opened at the top of the base (1). A vertical plate (208) is fixedly connected to one side of the avoidance groove (209). A plurality of force arms (205) are rotatably connected to one side of the L-shaped frame (204) through bearings. One ends of the plurality of force arms (205) are rotatably connected to a connecting plate (206) sliding in the avoidance groove (209) through bearings. A plurality of springs (207) are fixedly connected between the connecting plate (206) and the vertical plate (208). A limiting plate (202) in contact with the L-shaped frame (204) is fixedly connected between the inner walls on both sides of the first mounting box (201).

4. A welding device for assembling and welding a large-scale coil AP component of nuclear fusion according to claim 1, characterized in that, The position adjusting module (4) includes a second mounting box (401) fixed to the bottom of the base (1). A second hydraulic cylinder (403) is fixedly connected to the inner wall of the bottom of the second mounting box (401). A support plate (405) is fixedly connected to the top of the second hydraulic cylinder (403). Two telescopic rods (411) fixed to the second mounting box (401) are fixedly connected to the bottom of the support plate (405). A positioning component for changing the position when the component tooling (8) moves is arranged at the top of the base (1).

5. The welding device for assembling and welding the large-scale coil AP component of nuclear fusion according to claim 4, characterized in that, The positioning component includes a vehicle body (402) placed on the top of the base (1). A plurality of Mecanum wheels (409) are provided on both sides of the vehicle body (402). The Mecanum wheels (409) are McNamara wheels. A guide frame (406) is fixedly connected to the bottom of the vehicle body (402). One end of the guide frame (406) is an inclined angle (407). Two limit rods (404) are fixedly connected to the top of the base (1) and are respectively located on both sides of the support plate (405). The two limit rods (404) are respectively in contact with the two guide frames (406). Two connecting blocks (408) are fixedly connected to one side of the vehicle body (402). A plurality of positioning frames (410) for positioning the component tooling (8) are fixedly connected to the top of the vehicle body (402).

6. The welding device for assembling and welding large coils AP components of nuclear fusion according to claim 1, characterized in that, The anti-collision module (5) includes a fixed plate (501) fixed to the top of the base (1). A monitoring component for real-time monitoring of the splicing of two single plates is provided on the top of the fixed plate (501). A plurality of first rotating rods (504) are rotatably connected to one side of the fixed plate (501) through bearings. One end of the first rotating rod (504) is rotatably connected to a second rotating rod (505). One end of the plurality of second rotating rods (505) is rotatably connected to a connecting frame (508) through bearings. Two arc-shaped elastic plates (509) are fixedly connected between the connecting frame (508) and the fixed plate (501). A pulling component for pulling the connecting frame (508) to move is provided between the connecting frame (508) and the fixed plate (501). Chutes (507) are formed at both ends of one side of the connecting frame (508). Sliders (506) are slidably connected in the chutes (507). A rubber pad (515) is adhered to the side of the connecting frame (508) in contact with the component tooling (8). Fixed ears (503) are fixedly connected to both sides of the fixed plate (501).

7. A welding device for assembling and welding a large coil AP component of nuclear fusion according to claim 6, characterized in that, The monitoring component includes two support rods (502) fixed to the top of the fixed plate (501). A baffle (520) is fixedly connected to the top of the support rod (502). A distance sensor (523) not exceeding the baffle (520) is fixedly connected to the top of the baffle (520). Fixed frames (521) are fixedly connected to both sides of the baffle (520). A vision sensor (522) is fixedly connected to the top of the fixed frame (521).

8. The welding device for assembling and welding the large-scale coil AP components of nuclear fusion according to claim 6, wherein, The pulling assembly includes a first slot (510) and a second slot (516) respectively opened at the tops of the fixing plate (501) and the connecting frame (508). A first plug (511) that can be fixedly connected is inserted into the first slot (510). One side of the first plug (511) is rotatably connected to a threaded rod (519) through a bearing. One end of the threaded rod (519) is key-connected to a worm gear (512). A second plug (517) is inserted into the second slot (516). One side of the second plug (517) is fixedly connected to a threaded pipe (518) that is threadedly connected to the threaded rod (519). One side of the fixing plate (501) is fixedly connected to a servo motor (514). The output shaft of the servo motor (514) is fixed with a worm (513) that meshes with the worm gear (512) through a coupling.

9. A welding device for assembling and welding a large coil AP component of nuclear fusion according to claim 6, characterized in that, The support module (7) includes a support frame (701) fixed to the bottom of one of the component toolings (8). One side of the support frame (701) is provided with a positioning hole (703) and two threaded holes (702). The two threaded holes (702) and the fixing ear (503) can be fixed by bolts. One side of the fixing plate (501) is fixedly connected to a plug plate (704) that can be inserted into the positioning hole (703).

10. A welding device for assembling and welding large coils of a nuclear fusion AP component according to claim 1, characterized in that, The component tooling (8) includes a component body (803) and two tooling bodies (801). The two tooling bodies (801) can be fixed by bolts, and the component body (803) is located between the two tooling bodies (801). One side of the two assembled tooling bodies (801) is fixedly connected to a flattening frame (802). The welding module (6) includes a robotic arm (601) fixed to the top of the base (1). One end of the robotic arm (601) is fixed with a welding torch (602) by threading.

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