A welding device for large nuclear fusion coil AP components

Abstract

The present invention relates to the technical field of AP component welding, and discloses a nuclear fusion large coil AP component welding device, comprising a base and two component toolings, wherein a gantry is fixed to the top of the base by bolts, and a flip module is provided at one end of the top of the base for flipping the assembled component tooling, and a positioning module is provided on the rear side of the flip module for adjusting the left and right positions of the component tooling, and an anti-collision module is provided on the rear side of the positioning module for eliminating the inertia of the component tooling when it stops. The bottom of one of the component toolings is provided with a supporting module for auxiliary fixation thereof. The present invention can avoid collision between two component toolings when docking, splice single-piece plates on two component toolings, reduce dependence on external objects when the component tooling is flipped, and make flipping of the component tooling more convenient through the coordinated use of the flip module, the positioning module, the anti-collision module and the welding module.

Description

Technical Field

[0001] The present invention relates to the technical field of AP assembly welding, and in particular to a large-scale nuclear fusion coil AP assembly welding device. Background Art

[0002] The large coil AP assembly in the nuclear fusion device is the core component 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 made of two welded plates. The single plate is divided into a straight section and an arc. The straight sections of the two plates are welded to form an AP component. The total length of the AP component is 15535.3mm, the width is 2668.4mm and the height is 1165.3mm. The thinnest plate is 50.2mm and the thickest is 98.3mm. The total weight is 13071kg, and the single piece weight is about 6535.5kg. Together with the tooling for fixing the AP component, the weight of a single piece of tooling is about 22,000kg, and the total weight of the single workpiece is about 30 tons.

[0004] Currently, there are several problems when welding AP components:

[0005] 1. Due to the heavy weight of a single piece of tooling, when a gantry is used to lift a single piece of tooling for mobile assembly, the inertia of the single piece of tooling is very large. When the gantry stops moving, the single piece of tooling often collides with another piece of tooling due to inertia, causing deformation of the AP component single plate, making it difficult to align the straight sections of the two single plates, thereby affecting the welding efficiency;

[0006] 2. When aligning the straight sections of two monolithic panels, the distance between them is very short, but the weight of a single piece of tooling is heavy. Using a gantry crane to adjust the position of the monolithic panels requires multiple adjustments to align the straight sections of the two monolithic panels, resulting in low splicing efficiency of the AP assembly.

[0007] 3. Since the single-piece plate is composed of a straight section and an arc, when the single-piece plate is fixed to the tooling, it is usually laid on its side. After laying on its side, the tooling needs to be turned over to facilitate welding of the single-piece plate. However, the tooling is usually turned over by the cooperation of a gantry and a crane. A single gantry is not easy to turn over the tooling, which makes it inconvenient to turn over the tooling. Summary of the Invention

[0008] In response to the shortcomings of the prior art, the present invention provides a large-scale nuclear fusion coil AP assembly welding device, which is mainly used to solve the problem that the weight of a single tooling is heavy. When a gantry is used to lift a single tooling for mobile assembly, the single plate is deformed due to collision, making it difficult to align the straight sections of the two single plates, thereby affecting the welding efficiency; when the straight sections of the two single plates are aligned, the distance between the two single plates is very short, and multiple adjustments are required to splice the straight sections of the two single plates, resulting in low splicing efficiency of the AP assembly; and the flipping of the tooling is usually performed by the cooperation of the gantry and the crane. The gantry alone is not easy to flip the tooling, resulting in inconvenience in flipping the tooling.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A large nuclear fusion coil AP assembly welding device includes a base and two assembly toolings. A gantry is fixed to the top of the base by bolts. A flip module is provided at one end of the top of the base for flipping the assembled assembly tooling. A positioning module for adjusting the left and right positions of the assembly tooling is provided on the rear side of the flip module. An anti-collision module for eliminating inertia when the assembly tooling stops is provided on the rear side of the positioning module. A support module for auxiliary fixation of one of the assembly toolings is provided at the bottom, and the support module and the anti-collision module can be fixed. A welding module fixed to the top of the base is provided on one side of the joint of the two single-piece plates for welding the assembled single-piece plates.

[0011] Furthermore, the flipping module includes a first mounting box fixed to the bottom of the base, an inner wall on one side of the first mounting box is rotatably connected to a plurality of first hydraulic cylinders through bearings, an L-shaped frame that rotates with the first hydraulic cylinder is rotatably connected between the inner walls on both sides of the base through bearings, and a resistance-increasing component for reversely lifting the L-shaped frame is provided on the top of the base.

[0012] On the basis of the above-mentioned scheme, the resistance-increasing component includes a avoidance groove opened on the top of the base, a vertical plate is welded on one side of the avoidance groove, one side of the L-shaped frame is rotatably connected to multiple force arms through bearings, one end of the multiple force arms is rotatably connected to a connecting plate sliding in the avoidance groove through bearings, multiple springs are fixed between the connecting plate and the vertical plate by bolts, and a limit plate in contact with the L-shaped frame is welded between the inner walls on both sides of the first installation box.

[0013] As a further solution of the present invention, the positioning module includes a second mounting box fixed to the bottom of the base, a second hydraulic cylinder is fixed to the bottom inner wall of the second mounting box by bolts, a support plate is fixed to the top of the second hydraulic cylinder by bolts, and two telescopic rods fixed to the second mounting box are fixed to the bottom of the support plate by bolts, and a positioning component is provided on the top of the base for changing the position of the component tooling when it moves.

[0014] Furthermore, the positioning assembly includes a car body placed on the top of the base, with multiple Mecanum wheels provided on both sides of the car body, a guide frame fixed to the bottom of the car body by bolts, one end of the guide frame is beveled, and two limit rods located on both sides of the support plate are fixed to the top of the base by bolts, and the two limit rods are respectively contactable with the two guide frames, two connecting blocks are welded on one side of the car body, and multiple positioning frames for positioning the component tooling are fixed to the top of the car body by bolts.

[0015] On the basis of the above-mentioned scheme, the anti-collision module includes a fixed plate fixed on the top of the base, and a monitoring component for real-time monitoring of the splicing of two single-piece plates is provided on the top of the fixed plate. One side of the fixed plate is rotatably connected to multiple first rotating rods through bearings, one end of the first rotating rod is rotatably connected to the second rotating rod, and one end of the multiple second rotating rods is rotatably connected to a connecting frame through bearings. Two arc-shaped elastic plates are fixed between the connecting frame and the fixed plate by bolts, and a pulling component for pulling the connecting frame to move is provided between the connecting frame and the fixed plate, and a sliding groove is provided at both ends of one side of the connecting frame, and a slider is slidably connected in the sliding groove. A rubber pad is bonded to the side of the connecting frame in contact with the component tooling, and fixing ears are welded on both sides of the fixed plate.

[0016] As a further solution of the present invention, the monitoring assembly includes two struts fixed on the top of the fixed plate, a baffle is welded on the top of the struts, a distance sensor that does not exceed the baffle is fixed to the top of the baffle by bolts, and fixing frames are welded on both sides of the baffle, and a visual sensor is fixed to the top of the fixing frame by bolts.

[0017] Furthermore, the pulling assembly includes a first slot and a second slot respectively opened on the top of the fixed plate and the connecting frame, a first bracket that can be fixed by bolts is inserted into the first slot, one side of the first bracket is rotatably connected to a threaded rod through a bearing, one end of the threaded rod is keyed to a worm gear, a second bracket is inserted into the second slot, one side of the second bracket is welded with a threaded tube threadedly connected to the threaded rod, a servo motor is fixed to one side of the fixed plate by bolts, and the output shaft of the servo motor is fixed to a worm meshing with the worm gear through a coupling.

[0018] Based on the above scheme, the support module includes a support frame fixed to 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 fixing ears can be fixed by bolts, and an insert plate that can be inserted into the positioning hole is welded on one side of the fixing plate.

[0019] 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. One side of the two assembled tooling bodies is fixed with a smoothing frame by bolts. The welding module includes a robotic arm fixed to the top of the base by bolts, and one end of the robotic arm is fixed with a welding gun by a thread.

[0020] Compared with the prior art, the present invention provides a tailor-made welding device for large nuclear fusion coil AP components, which has the following beneficial effects:

[0021] 1. The present invention uses a flip module, a positioning module, an anti-collision module and a welding module in combination, which can not only avoid collision when two component toolings are docked, but also splice the single-piece plates on the two component toolings, and can also reduce the dependence of the component tooling on external objects when flipping, making the flipping of the component tooling more convenient.

[0022] 2. The present invention is provided with a flip module, and the L-shaped frame rotates to drive the component tooling placed on the L-shaped frame to flip. The component tooling can be flipped without the help of external objects, thereby improving the convenience of flipping the component tooling.

[0023] 3. The present invention provides a resistance-increasing component to make the L-shaped frame rotate more smoothly, avoiding the displacement of the component tooling due to excessive rotation of the L-shaped frame. At the same time, a gantry is used to assist in pulling the component tooling, thereby improving the safety of the device flipping.

[0024] 4. The present invention provides a positioning module to position the two single-piece boards on the same horizontal plane, thereby eliminating the error between the two component toolings and achieving better contact between the two single-piece boards.

[0025] 5. The present invention is provided with a positioning component, which can adjust the position of the component tooling during its displacement, so that the displacement time and the adjustment time coincide with each other, thereby reducing the total time consumed for component tooling welding and improving the welding efficiency of AP components.

[0026] 6. The present invention is provided with an anti-collision module. The inertia of the component tooling will impact the connecting frame, squeezing the arc-shaped elastic plate to deform and generate elastic force, which offsets the inertial impact force of the component tooling, so that the two component toolings cannot come into contact with each other, thereby avoiding their collision and improving the protection effect of the device.

[0027] 7. The present invention positions the two single-piece plates by providing a pulling component so that the welded surfaces of the two single-piece plates are located on the same horizontal plane. Through secondary deceleration, the torque of the threaded rod rotation can be greatly increased, making the movement of the vehicle body and the component tooling easier.

[0028] 8. The present invention provides a support module to fix the support frame and the component tooling and to position another component tooling, thereby further improving the welding efficiency of the two single-piece plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the upper three-dimensional structure of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed by the present invention;

[0030] Figure 2 This is a schematic diagram of the bottom three-dimensional structure of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed by the present invention;

[0031] Figure 3 This is a schematic diagram of the enlarged structure of the flip module of the tailor-made welding device for large nuclear fusion coil AP components proposed by the present invention;

[0032] Figure 4 This is a schematic diagram of the enlarged structure of the positioning module of the tailor-made welding device for large-scale nuclear fusion coil AP components proposed by the present invention;

[0033] Figure 5 This is a schematic diagram of the exploded structure of the positioning module of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed by the present invention;

[0034] Figure 6 This is a schematic diagram of the enlarged structure of the support module of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed in the present invention;

[0035] Figure 7 This is a schematic diagram of the enlarged structure of the anti-collision module of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed by the present invention;

[0036] Figure 8 This is a partial cross-sectional structural diagram of an anti-collision module of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed by the present invention;

[0037] Figure 9 This is a partially enlarged structural diagram of an anti-collision module of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed by the present invention;

[0038] Figure 10 This is a schematic diagram of the enlarged structure of the pulling component of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed by the present invention;

[0039] Figure 11 This is a schematic diagram of the enlarged structure of the monitoring component of a large-scale nuclear fusion coil AP assembly welding device proposed by the present invention;

[0040] Figure 12 This is a schematic diagram of the enlarged structure of the welding module of a tailor-made welding device for a large nuclear fusion coil AP assembly proposed in the present invention;

[0041] Figure 13 This is a schematic diagram of the enlarged structure of the assembly tooling of a large nuclear fusion coil AP assembly welding device proposed by the present invention;

[0042] Figure 14 This is a schematic diagram of the disassembly structure of the component tooling of a large nuclear fusion coil AP assembly welding device proposed by the present invention;

[0043] Figure 15 This is a schematic diagram of the monitoring system structure of a large-scale nuclear fusion coil AP assembly welding device proposed in the present invention.

[0044] In the figure: 1. base; 2. flip module; 201. first mounting box; 202. limit plate; 203. first hydraulic cylinder; 204. L-shaped frame; 205. force arm; 206. connecting plate; 207. spring; 208. vertical plate; 209. avoidance groove; 3. gantry; 4. adjustment module; 401. second mounting box; 402. vehicle body; 403. second hydraulic cylinder; 404. limit rod; 405. support plate; 406. guide frame; 407. bevel; 408. connecting block; 409. wheat wheel; 410. positioning frame; 411. telescopic rod; 5. anti-collision module; 501. fixing plate; 502. support rod; 503. fixing ear; 504. first rotating rod; 505. second rotating rod; 5 06. Slider; 507. Slide; 508. Connecting frame; 509. Arc-shaped elastic plate; 510. First slot; 511. First inserting frame; 512. Worm gear; 513. Worm; 514. Servo motor; 515. Rubber pad; 516. Second slot; 517. Second inserting frame; 518. Threaded pipe; 519. Threaded rod; 520. Baffle; 521. Fixing frame; 522. Visual sensor; 523. Distance sensor; 6. Welding module; 601. Robotic arm; 602. Welding gun; 7. Support module; 701. Support frame; 702. Threaded hole; 703. Positioning hole; 704. Inserting plate; 8. Component tooling; 801. Tooling body; 802. Smoothing frame; 803. Component body. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, 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 intended to limit the present invention.

[0046] The serial numbers assigned to components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings). In the description of the present invention, it should be understood that terms such as "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" indicate positions or relationships based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the device or component being referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0047] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0048] Reference Figures 1-15, a large-scale nuclear fusion coil AP assembly welding device includes a base 1 and two assembly toolings 8. The top of the base 1 is fixed with a gantry 3 by bolts. A flip module 2 is provided at one end of the top of the base 1 for flipping the assembled assembly tooling 8. The rear side of the flip module 2 is provided with a positioning module 4 for adjusting the left and right positions of the assembly tooling 8. The rear side of the positioning module 4 is provided with an anti-collision module 5 for eliminating the inertia of the assembly tooling 8 when it stops. The bottom of one of the assembly toolings 8 is provided with a supporting module 7 for auxiliary fixation thereof, and the supporting module 7 and the anti-collision module 5 can be fixed. A welding module 6 fixed to the top of the base 1 is provided on one side of the joint of the two single-piece plates for welding the assembled single-piece plates. When in use, the assembly tooling 8 is assembled on the flip module 2, the gantry 3 and the wire rope are used to fix the assembly tooling 8, and the flip module 2 is used to flip the assembly tooling 8. After flipping, the gantry 3 is used to lift the assembly tooling 8, and the support module 7 is fixed to the assembly tooling 8 After the gantry 3 is lifted, the assembly 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 assembly toolings 8 will not contact each other. During the movement, the positioning module 4 will be assisted in alignment. After alignment, the height is adjusted by the positioning module 4 to complete the assembly of the two single-piece plates. Then, the two single-piece plates are welded by the welding module 6 to complete the welding of the AP component. This can avoid collision when the two assembly toolings 8 are docked, and the single-piece plates on the two assembly toolings 8 can be spliced. It can also reduce the dependence of the assembly tooling 8 on external objects when it is flipped, making the flipping of the assembly tooling 8 more convenient.

[0049] In order to flip the component tooling 8, the flipping module 2 in the present invention includes a first installation box 201 fixed to the bottom of the base 1, and a plurality of first hydraulic cylinders 203 are rotatably connected to the inner wall of one side of the first installation box 201 through a bearing. An L-shaped frame 204 that rotates with the first hydraulic cylinder 203 is rotatably connected between the inner walls of the two sides of the base 1 through a bearing. 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 lifting the L-shaped frame 204 is provided on the top of the base 1. Multiple first hydraulic cylinders 203 are started at the same time, thereby pushing the L-shaped frame 204 to rotate, and then driving the component tooling 8 placed on the L-shaped frame 204 to flip. The flipping of the L-shaped frame 204 is reversed by the resistance-increasing component, so that the rotation of the L-shaped frame 204 is smoother, thereby improving the convenience of flipping the component tooling 8.

[0050] In order to make the rotation of the L-shaped frame 204 more stable, the resistance-increasing component of the present invention includes a avoidance groove 209 opened on the top of the base 1, and a vertical plate 208 is welded on one side of the avoidance groove 209. One side of the L-shaped frame 204 is rotatably connected to multiple force arms 205 through bearings, and one end of the multiple force arms 205 is rotatably connected to a connecting plate 206 that slides in the avoidance groove 209 through bearings. Multiple springs 207 are fixed between the connecting plate 206 and the vertical plate 208 by bolts. A limit plate 202 in contact with the L-shaped frame 204 is welded between the inner walls of both sides of the first installation box 201. When the L-shaped frame 204 rotates more than 45 degrees, under the action of gravity, the component tooling 8 will drive the L-shaped frame 204 to continue Rotation, the thrust of the first hydraulic cylinder 203 at this time 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, so that the other end of the force arm 205 pushes the connecting plate 206 to slide in the avoidance groove 209, thereby squeezing the spring 207 to contract and generate elastic force, giving a reverse thrust to the rotation of the L-shaped frame 204, so that when the L-shaped frame 204 rotates more than 45°, the gravity of the assembly tooling 8 is offset, thereby making the rotation of the L-shaped frame 204 more stable, avoiding the L-shaped frame 204 rotating too fast and causing the assembly tooling 8 to be displaced, and at the same time using the gantry 3 to assist in pulling the assembly tooling 8, thereby improving the safety of the device flipping.

[0051] In order to make the heights of the two single-piece boards flush, the positioning module 4 in the present invention includes a second mounting box 401 fixed to the bottom of the base 1, and the bottom inner wall of the second mounting box 401 is fixed with a second hydraulic cylinder 403 by bolts, and the top of the second hydraulic cylinder 403 is fixed with a support plate 405 by bolts, and the bottom of the support plate 405 is fixed with two telescopic rods 411 fixed to the second mounting box 401 by bolts. A positioning component is provided on the top of the base 1 for changing the position of the component tooling 8 when it moves, and the horizontal position of the component tooling 8 moved and transported is adjusted by the positioning component. When the component tooling 8 moves to the same side as the other component tooling 8, the second hydraulic cylinder 403 is started, and the second hydraulic cylinder 403 drives the support plate 405 to move upward, thereby supporting the current component tooling 8 to move upward, and then making the two single-piece boards in the same horizontal plane, which can eliminate the error between the two component toolings 8 and make the two single-piece boards better contact.

[0052] In order to position the component tooling 8 left and right during the movement, the positioning component in the present invention includes a vehicle body 402 placed on the top of the base 1, and multiple Mecanum wheels 409 are provided on both sides of the vehicle body 402. The Mecanum wheels 409 are Mecanum wheels. The bottom of the vehicle body 402 is fixed with a guide frame 406 by bolts, and one end of the guide frame 406 is an angled angle 407. The top of the base 1 is fixed with two limit rods 404 respectively located on both sides of the support plate 405 by bolts, and the two limit rods 404 are respectively contactable with the two guide frames 406. Two connecting blocks 408 are welded on one side of the vehicle body 402, and multiple positioning frames 410 for positioning the component tooling 8 are fixed with bolts on the top of the vehicle body 402. When the component tooling 8 is lifted by the gantry 3, the vehicle body 402 is placed 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 component tooling 8 is located at a fixed position on the car body 402, and the assembly tooling 8 is fixed to the car body 402 by bolts. After fixing, the height of the assembly tooling 8 is continued to be lowered so that the pressure applied by the assembly tooling 8 to the car body 402 is the same as the pulling force of the gantry 3 pulling the assembly tooling 8. The DATA-52 series diffused silicon piezoresistive sensor can be used to determine the pressure, so that the car body 402 can be easily moved, and the car body 402 and the assembly tooling 8 are driven to move together by the gantry 3. The position of the car body 402 is auxiliary adjusted by the bevel 407 until the limit rod 404 is in full contact with the guide frame 406, thereby positioning the left and right positions of the car body 402, and aligning the left and right positions of the two single-piece plates. The position of the assembly tooling 8 can be adjusted during its shift, so that the shift time and the adjustment time coincide, thereby reducing the total time consumed for welding the assembly tooling 8 and improving the welding efficiency of the AP components.

[0053] In order to avoid collision between the two component toolings 8 during splicing, the anti-collision module 5 in the present invention includes a fixed plate 501 fixed on the top of the base 1, and a monitoring component for real-time monitoring of the splicing of the two single-piece plates is provided on the top of the fixed plate 501. One side of the fixed plate 501 is rotatably connected to a plurality of first rotating rods 504 through bearings, and one end of the first rotating rod 504 is rotatably connected to the second rotating rod 505. One end of the plurality of second rotating rods 505 is 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. Two arc-shaped elastic plates 509 are fixed between the connecting frame 508 and the fixed plate 501 by bolts. The arc-shaped elastic plates 509 are made of elastic metal material, preferably carbon steel, such as 65 steel and 75 steel. The contact between the connecting frame 508 and the component tooling 8 is A rubber pad 515 is bonded to one side to protect the connecting frame 508. A pulling component for pulling the connecting frame 508 to move is provided between the connecting frame 508 and the fixed plate 501. 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 the existence of inertia, the component tooling 8 will impact the connecting frame 508, causing the connecting frame 508 to move, and then squeeze the arc-shaped elastic plate 509 to deform and generate elastic force, which offsets the inertial impact force of the component tooling 8, so that the two component toolings 8 cannot contact each other, thereby avoiding their collision, thereby improving the protection effect of the device, and a damper can be set between the connecting frame 508 and the fixed plate 501 to consume the elastic potential energy, thereby reducing the reset elastic force of the arc-shaped elastic plate 509 on the component tooling 8, so that the component tooling 8 can be quickly stabilized.

[0054] Among them, both ends of one side of the connecting frame 508 are provided with a sliding groove 507, and a slider 506 is slidably connected in the sliding groove 507. After the component tooling 8 is stabilized, the slider 506 and the connecting block 408 can be fixed with bolts to prevent the vehicle body 402 from shifting during the height adjustment process.

[0055] In order to monitor the splicing of two single-piece panels in real time, the monitoring component in the present invention includes two struts 502 fixed on the top of the fixed plate 501, and a baffle 520 is welded to the top of the strut 502. The side of the baffle 520 is located at the same horizontal plane as the welding surface of the single-piece panel in the component tooling 8 on the support module 7. The top of the baffle 520 is fixed with a distance sensor 523 that does not exceed the baffle 520 by bolts. The model of the distance sensor 523 is Baumer optoNCDT5500. Fixed frames 521 are welded on both sides of the baffle 520. The top of the fixed frame 521 is fixed with a visual sensor 522 by bolts. The model of the visual sensor 522 is MV-SC1008M-05S-WBN-SR. The monitoring system processes the data of the visual sensor 522 and the distance sensor 523 to complete the monitoring of the single-piece panel assembly, so that the distance between the two single-piece panels meets the welding standard.

[0056] In order to make the two component fixtures 8 be located on the same side, the pulling component of the present invention 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 which can be fixed by bolts is inserted into the first slot 510. A threaded rod 519 is rotatably connected to one side of the first plug-in frame 511 through a bearing. One end of the threaded rod 519 is keyed to a worm gear 512. A second plug-in frame 517 is inserted into the second slot 516. A threaded tube 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 is fixed to the connecting block 408, Insert the first bracket 511 and the second bracket 517 into the first slot 510 and the second slot 516 respectively, and at the same time engage the worm wheel 512 with the worm 513, and use bolts to fix the first bracket 511 in the first slot 510, start the servo motor 514, and the servo motor 514 drives the worm 513 to rotate, thereby driving the worm wheel 512 to rotate, and then driving the threaded rod 519 to rotate, so that the threaded tube 518 and the connecting frame 508 move together, and then drive the car body 402 and the component tooling 8 to move, so that the welded surface of the single-piece plate contacts the baffle 520, thereby positioning the two single-piece plates so that the welded surfaces of the two single-piece plates are in the same horizontal plane. Through secondary deceleration, the torque of the threaded rod 519 can be greatly increased, making the movement of the car body 402 and the component tooling 8 easier.

[0057] In order to position another component tooling 8, the support module 7 in the present invention includes a support frame 701 fixed to the bottom of one of the component tooling 8, a positioning hole 703 and two threaded holes 702 are opened on one side of the support frame 701, and the two threaded holes 702 and the fixing ears 503 can be fixed by bolts. An insert plate 704 that can be inserted into the positioning hole 703 is welded on one side of the fixing plate 501, and the inclined surfaces at both ends of one side of the insert plate 704 and the fixing ears 503 are welded on both sides of the fixing plate 501. When the component tooling 8 is lifted by the gantry 3, the support frame 701 is fixed by bolts. Fixed at the bottom of the component tooling 8, when the support frame 701 and the component tooling 8 are moved to one side of the fixed plate 501 by the gantry 3, the component tooling 8 is put down, and the component tooling 8 and the support frame 701 are pulled in the opposite direction, so that the insert plate 704 is inserted into the positioning hole 703, and the positions of the support frame 701 and the component tooling 8 are assisted in positioning. The fixing ear 503 and the threaded hole 702 are fixed with bolts, thereby fixing the support frame 701 and the component tooling 8, and positioning the other component tooling 8, thereby further improving the welding efficiency of the two single-piece plates.

[0058] The assembly tool 8 of the present invention includes an assembly body 803 and two tool bodies 801. The two tool bodies 801 can be fixed by bolts, and the assembly body 803 is located between the two tool bodies 801. One side of the two assembled tool bodies 801 is fixed with a leveling frame 802 by bolts. When assembling, first place one tool body 801 on the L-shaped frame 204, then place the assembly body 803 on the tool body 801, and place the other tool body 801 symmetrically on the tool body 801 below. Use bolts to fix the two tools. The main body 801 is fixed, thereby clamping and fixing the component body 803, and then the smoothing frame 802 is fixed to one side of the assembled tooling body 801 by bolts, so that the component tooling 8 can stand up stably, and the welding module 6 includes a robot arm 601 fixed to the top of the base 1 by bolts. The model of the robot arm 601 is ABB-IRB-6700. A welding gun 602 is fixed to one end of the robot arm 601 by a thread. The position adjustment of the welding gun 602 is completed by the robot arm 601, and the welding gun 602 welds the joints of the two single-piece plates.

[0059] The monitoring system includes a data acquisition module, a data transmission module, a data processing module and an execution module. The data acquisition module collects the distance data between the single-chip board and the baffle 520 and the distance data between the two single-chip boards, and passes the collected data to the data processing module. The data processing module processes the single-chip board movement data and the distance data between the two single-chip boards, and generates an execution signal based on the processing results, and then passes the execution signal to the execution module.

[0060] The analysis steps of the data processing module are as follows:

[0061] Step 1: Process the data of the distance sensor 523 and the visual sensor 522 in the data acquisition module to determine whether the single-chip board is in contact with the baffle 520 and whether the height of the single-chip board completely exceeds the baffle 520. If it is determined that the single-chip board is not in contact with the baffle 520 and the height of the single-chip board does not completely exceed the baffle 520, then generate signal 1 and pass the signal to the execution module. If it is determined that the single-chip board is not in contact with the baffle 520 and the height of the single-chip board completely exceeds the baffle 520, then generate signal 2 and pass the signal to the execution module.

[0062] Step 2: The distance sensor 523 and the visual sensor 522 in the data acquisition module determine the height data between the two single-chip boards and process them. If it is determined that the heights between the two single-chip boards are different, no signal is generated. If it is determined that the heights between the two single-chip boards are the same, signal three is generated and passed to the execution module.

[0063] The execution module performs the following operations:

[0064] Operation 1: When the execution module receives signal 1, the execution module controls the servo motor 514 to start.

[0065] Operation 2: When the execution module receives the second signal, the execution module controls the servo motor 514 to turn off and simultaneously starts the second hydraulic cylinder 403 .

[0066] Operation 2: When the execution module receives the signal 3, the execution module controls the second hydraulic cylinder 403 to close.

[0067] 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 gun 602 are all universal standard electrical appliances or electrical appliances known to those skilled in the art. Their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods, and will not be elaborated on here.

[0068] The present invention is divided into the following steps when used:

[0069] S1: First, place one tool body 801 on the L-shaped frame 204, then place the assembly body 803 on the tool body 801, and symmetrically place the other tool body 801 on the lower tool body 801. Use bolts to fix the two tool bodies 801 to clamp and fix the assembly body 803. Then, fix the leveling frame 802 to one side of the assembled tool body 801 with bolts so that the assembly tool 8 can stand up stably.

[0070] S2: Use the gantry 3 and the steel wire rope to fix the assembly tool 8, and simultaneously activate the plurality of first hydraulic cylinders 203 to rotate the L-shaped frame 204, thereby causing the assembly tool 8 placed on the L-shaped frame 204 to flip over;

[0071] S3: During the rotation of the L-shaped frame 204, the L-shaped frame 204 pushes one end of the lever arm 205, causing the other end of the lever arm 205 to push the connecting plate 206 to slide in the avoidance groove 209, thereby compressing the spring 207 to contract and generate elastic force, exerting a reverse thrust on the rotation of the L-shaped frame 204. When the L-shaped frame 204 rotates more than 45 degrees, the force of gravity of the assembly fixture 8 is offset, thereby making the rotation of the L-shaped frame 204 more stable.

[0072] S4: After flipping, the gantry 3 is used to lift the assembly tooling 8, and the support frame 701 is fixed to the bottom of the assembly tooling 8 by bolts. The gantry 3 drives the support frame 701 and the assembly tooling 8 to move to one side of the fixed plate 501, and the assembly tooling 8 is put down. The gantry 3 is used to pull the assembly tooling 8 and the support frame 701 to move in the opposite direction, so that the plug plate 704 is inserted into the positioning hole 703, and the position of the support frame 701 and the assembly tooling 8 is auxiliary positioned. The fixing ear 503 and the threaded hole 702 are fixed with bolts, thereby fixing the support frame 701 and the assembly tooling 8, and positioning the other assembly tooling 8;

[0073] S5: While the gantry 3 drives the assembly tool 8 to move, the first hydraulic cylinder 203 is reset, thereby resetting the L-shaped frame 204, and reassembling another assembly tool 8 on the L-shaped frame 204. After the assembly is completed, the gantry 3 is reset and the new assembly tool 8 is hoisted again;

[0074] S6: Place the car body 402 on the assembly tooling 8, and the gantry 3 lowers the height of the assembly tooling 8. Under the action of the positioning frame 410, the position of the assembly tooling 8 on the car body 402 is fixed, and the assembly tooling 8 is fixed to the car body 402 by bolts. After fixing, the height of the assembly tooling 8 is further lowered so that the pressure exerted by the assembly tooling 8 on the car body 402 is the same as the pulling force of the gantry 3 pulling the assembly tooling 8. The DATA-52 series diffused silicon piezoresistive sensor can be used to determine the pressure, so that the car body 402 can be easily moved. The car body 402 and the assembly tooling 8 are driven to move together by the gantry 3, and the position of the car body 402 is auxiliary adjusted by the bevel 407 until the limit rod 404 is in full contact with the guide frame 406, thereby positioning the left and right positions of the car body 402, so that the left and right positions of the two single-piece plates are aligned;

[0075] S7: When the assembly tooling 8 and the vehicle body 402 are moved by the gantry 3 until they come into contact with the rubber pad 515 on the connecting frame 508, the movement of the gantry 3 is stopped. Due to inertia, the assembly tooling 8 impacts the connecting frame 508, causing the connecting frame 508 to move, thereby squeezing the arc-shaped elastic plate 509 to deform and generate elastic force to offset the inertial impact force of the assembly tooling 8, thereby preventing the two assembly tooling 8 from coming into contact and thus avoiding collision.

[0076] S8: After the assembly fixture 8 is stabilized, the slider 506 and the connecting block 408 are fixed with bolts, the first bracket 511 and the second bracket 517 are respectively inserted into the first slot 510 and the second slot 516, and the worm gear 512 is engaged with the worm 513. The first bracket 511 is fixed in the first slot 510 with bolts, and 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 then driving the threaded rod 519 to rotate, so that the threaded tube 518 and the connecting bracket 508 move together, and then drive the vehicle body 402 and the assembly fixture 8 to move, so that the welded surface of the single-piece plate contacts the baffle 520, thereby positioning the two single-piece plates so that the welded surfaces of the two single-piece plates are located in the same horizontal plane;

[0077] S9: Activate the second hydraulic cylinder 403, which drives the support plate 405 to move upward, thereby supporting the current assembly tool 8 and moving it upward, so that the two single-piece plates are located on the same horizontal plane, which can eliminate the error between the two assembly toolings 8 and make the two single-piece plates contact better;

[0078] S10: The monitoring system processes the data of the visual sensor 522 and the distance sensor 523 to complete the monitoring of the assembly of the single-piece panels, so that the distance between the two single-piece panels meets the welding standard. After meeting the standard, the position of the welding gun 602 is adjusted by the robotic arm 601, and the welding gun 602 welds the joint of the two single-piece panels, thereby completing the welding of the AP component.

[0079] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, 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, they should be considered to be within the scope of this specification.

[0080] The above-described embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A nuclear fusion large coil AP assembly welding device, comprising a base (1) and two assembly fixtures (8), characterized in that: The top of the base (1) is fixedly connected to a gantry (3), one end of the top of the base (1) is provided with a flip module (2) for flipping the assembled component tooling (8), the rear side of the flip module (2) is provided with a positioning module (4) for adjusting the left and right positions of the component tooling (8), the rear side of the positioning module (4) is provided with an anti-collision module (5) for eliminating the inertia of the component tooling (8) when it stops, the bottom of one of the component toolings (8) is provided with a supporting module (7) for auxiliary fixing thereof, and the supporting module (7) is fixed to the anti-collision module (5), and a welding module (6) fixed to the top of the base (1) is provided on one side of the joint of the two single-piece plates for welding the assembled single-piece plates; The positioning 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 bottom inner wall of the second mounting box (401), a support plate (405) is fixedly connected to the top of the second hydraulic cylinder (403), and two telescopic rods (411) fixed to the bottom of the support plate (405) are fixedly connected, and a positioning component for changing the position of the component tooling (8) when it moves is provided on the top of the base (1); The positioning assembly includes a vehicle body (402) placed on top of a 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 fixedly connected to the bottom of the vehicle body (402), one end of the guide frame (406) is an oblique angle (407), the top of the base (1) is fixedly connected to two limit rods (404) respectively located on both sides of the support plate (405), and the two limit rods (404) are in contact with the two guide frames (406) respectively, one side of the vehicle body (402) is fixedly connected to two connecting blocks (408), and the top of the vehicle body (402) is fixedly connected to a plurality of positioning frames (410) for positioning the component tooling (8); The anti-collision module (5) comprises a fixed plate (501) fixed on the top of the base (1), a monitoring component for real-time monitoring of the splicing of two single-piece 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) via a bearing, a second rotating rod (505) is rotatably connected to one end of the first rotating rod (504), a connecting frame (508) is rotatably connected to one end of the plurality of second rotating rods (505) via a bearing, and the connecting frame (508) is connected to the fixed plate (501). 1) There are two arc-shaped elastic plates (509) 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), both ends of one side of the connecting frame (508) are provided with a sliding groove (507), a slider (506) is slidably connected in the sliding groove (507), a rubber pad (515) is bonded to the side of the connecting frame (508) in contact with the component tooling (8), and fixing ears (503) are fixedly connected to both sides of the fixed plate (501); The pulling assembly comprises a first slot (510) and a second slot (516) respectively provided on the top of the fixed plate (501) and the connecting frame (508); a first fixedly connected plug-in frame (511) is inserted into the first slot (510); a threaded rod (519) is rotatably connected to one side of the first plug-in frame (511) via 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 tube (518) threadedly connected to the threaded rod (519) is fixedly connected to one side of the second plug-in frame (517); a servo motor (514) is fixedly connected to one side of the fixed plate (501); an output shaft of the servo motor (514) is fixedly connected to a worm gear (513) meshing with the worm gear (512) via a coupling; The support module (7) includes a support frame (701) fixed to the bottom of one of the component fixtures (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) are fixed to the fixing ears (503) by bolts, and an inserting plate (704) inserted into the positioning hole (703) is fixedly connected to one side of the fixing plate (501).

2. A nuclear fusion large coil AP assembly welding device according to claim 1, characterized in that: The flip module (2) comprises a first installation box (201) fixed to the bottom of the base (1); a plurality of first hydraulic cylinders (203) are rotatably connected to an inner wall of one side of the first installation box (201) via bearings; an L-shaped frame (204) rotatably connected to the first hydraulic cylinders (203) is rotatably connected between the inner walls of both sides of the base (1) via bearings; and a resistance-increasing component for reversely lifting the L-shaped frame (204) is provided on the top of the base (1).

3. A nuclear fusion large coil AP assembly welding device according to claim 2, characterized in that: The resistance-increasing component comprises a position-avoiding groove (209) provided on the top of the base (1), a vertical plate (208) being fixedly connected to one side of the position-avoiding groove (209), a plurality of force arms (205) being rotatably connected to one side of the L-shaped frame (204) via a bearing, one end of the plurality of force arms (205) being rotatably connected to a connecting plate (206) sliding in the position-avoiding groove (209) via a bearing, a plurality of springs (207) being fixedly connected between the connecting plate (206) and the vertical plate (208), and a limiting plate (202) in contact with the L-shaped frame (204) being fixedly connected between the inner walls on both sides of the first installation box (201).

4. The large-scale nuclear fusion coil AP assembly welding device according to claim 1, characterized in that: The monitoring assembly comprises two support rods (502) fixed on the top of a fixed plate (501); a baffle (520) is fixedly connected to the top of the support rods (502); a distance sensor (523) that does not exceed the baffle (520) is fixedly connected to the top of the baffle (520); both sides of the baffle (520) are fixedly connected to a fixing frame (521); and a visual sensor (522) is fixedly connected to the top of the fixing frame (521).

5. The large-scale nuclear fusion coil AP assembly welding device according to claim 1, characterized in that: The assembly tool (8) includes an assembly body (803) and two tool bodies (801), the two tool bodies (801) are fixed by bolts, and the assembly body (803) is located between the two tool bodies (801), and one side of the two assembled tool bodies (801) is fixedly connected to a smoothing frame (802), and the welding module (6) includes a robotic arm (601) fixedly connected to the top of the base (1), and one end of the robotic arm (601) is fixed with a welding gun (602) by a thread.

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