Gas shielded automatic welding process and system for consumable electrode of nuclear power machinery penetration piece

Abstract

The invention discloses a gas shielded automatic welding process and system for a consumable electrode of a nuclear power mechanical penetration piece. The process comprises the following steps: inputting parameters of the mechanical penetration piece into an automatic welding system; selecting a welding groove type based on the parameters of the mechanical penetration piece, and determining an initial welding process parameter range; identifying a welding seam and actual welding groove information; based on actual welding groove information, an initial welding process parameter range is automatically matched and adjusted through an automatic welding system, and actual welding process parameters are determined; according to the welding process, the welding operation is carried out by automatically matching the parameters required by welding, the whole process is automatically operated, the operation is simple, and the conditions that the welding efficiency of the mechanical penetration piece is low and the welding quality is unstable can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic welding, and particularly relates to a gas metal arc welding process and system for nuclear power mechanical penetrations. Background Art

[0002] Nuclear island mechanical penetrations are characterized by large pipe diameters and large wall thicknesses, with a large amount of welding. During on-site installation, manual tungsten inert gas (TIG) welding is used for backing and shielded metal arc welding is used for filling and surfacing. During the welding process, an angle grinder must be used to clean the oxide scale and remove defective parts between passes, and the grinding time greatly affects the welding efficiency. The mechanical penetrations of the HPR1000 unit adopt a double-layer structure, resulting in limited non-destructive inspection of the inner-layer welds after welding. The welds of the mechanical penetrations are located between the double containments, with a narrow space and a short distance from the wall. When welders perform manual welding operations, it is easy to be affected by the space limitation and affect the observation of the molten pool. For existing mature automatic welding equipment on the market, such as automatic TIG welding machines, no suitable-sized welding heads have been found, and their welding efficiency is not significantly superior to that of manual arc welding. The welding quality of manual welding is limited by the welder's skill level. Once welding quality problems occur, it will seriously affect the construction period. Therefore, the existing manual welding can no longer meet the installation requirements of mechanical penetrations.

[0003] The existing patent CN115995090A discloses a method and device for processing welding process drawings. The method includes: identifying welding process drawings to obtain welding image feature data; determining welding process specification data; correlating the welding image feature data and the welding process specification data to obtain the associated data of the process specification and the image; and storing the associated data in a database. This solution is used to achieve the automatic associated entry of welding process drawings and welding process specifications, and does not solve the technical problem of low welding efficiency during the installation of nuclear power penetrations in the prior art. Moreover, the size of its welding device is not suitable for the installation space of the mechanical penetrations between the double shells.

[0004] The existing patent CN116174848A discloses a welding process management method and system. The method includes: establishing an engineering module to store data according to enterprise description information - product description information - component description information - weld description information, with each weld description information associated with a welding process. The weld description information includes weld basic information, welding setting information, joint setting information, and process library selection information. The weld basic information includes weld name and weld number, and the weld number is unique; establishing a database module for storing welding processes; and establishing an extension module, where the extension module communicates with the sensors of the robot and the database module respectively.

[0005] To sum up, the above two existing patents do not solve the technical problem of low welding efficiency during the installation of nuclear power penetrations at present. Summary of the Invention

[0006] Based on the above technical problems, the present invention proposes to solve the technical problem of low welding efficiency during the installation of nuclear power penetrators in the prior art.

[0007] A gas metal arc welding process for automatic welding of nuclear power mechanical penetrators, comprising:

[0008] Inputting the parameters of the mechanical penetrator into an automatic welding system;

[0009] Selecting the type of welding groove based on the parameters of the mechanical penetrator and determining the range of initial welding process parameters;

[0010] Identifying the weld seam and the actual welding groove information;

[0011] Based on the actual welding groove information, automatically matching and adjusting the range of initial welding process parameters through the automatic welding system to determine the actual welding process parameters;

[0012] Welding the weld seam based on the actual welding process parameters.

[0013] Further, the types of welding grooves include U-shaped narrow-gap grooves, composite U-shaped grooves, and composite V-shaped grooves, and the initial welding process parameters include root welding process parameters and fill pass process parameters.

[0014] Further, the parameter range corresponding to the U-shaped narrow-gap groove is: the narrow-gap groove angle is 9° ± 2.5°, the inflection point fillet radius is 5 - 6 mm, and the groove root face thickness is 0.8 - 1.6 mm.

[0015] Further, the parameter range corresponding to the composite U-shaped groove is: the upper groove angle is 5° ± 2.5°, the lower groove angle is 15° ± 2.5°, the inflection point fillet radius is 2.5 - 3.5 mm, the groove root face thickness is 0.9 - 1.1 mm, and the root face length is 0.9 - 1.1 mm.

[0016] Further, the parameter range corresponding to the composite V-shaped groove is: the upper groove angle is 10° ± 2.5°, the lower groove angle is 20° ± 2.5°, the inflection point fillet radius is 5.5 - 6.5 mm, and the groove root face thickness is 0.5 - 1.5 mm.

[0017] Further, the range of root welding process parameters in the range of initial welding process parameters is: current 157 - 208 A, voltage 15.6 - 20.3 V, welding speed 37.9 - 45.0 cm / min, heat input ≤ 1 KJ / mm; the range of fill pass process parameters is: current: 123 - 226 A, voltage 14.3 - 24.7 V, welding speed 29.9 - 48 cm / min, heat input ≤ 1 KJ / mm.

[0018] Further, before inputting the mechanical penetration parameters into the automatic welding system, it also includes: preheating the automatic welding machine of the automatic welding system, with the preheating temperature being greater than or equal to 120°C and the maximum inter-pass temperature being 300°C.

[0019] Further, the root welding process group alignment gap range is 0 - 1 mm.

[0020] Further, the shielding gas required for welding is a mixed gas of 80% argon and 20% carbon dioxide.

[0021] Based on the above technical solutions, the MIG automatic welding process for nuclear power mechanical penetrations of the present invention has at least the following beneficial effects:

[0022] 1. The MIG automatic welding process for nuclear power mechanical penetrations proposed by the present invention selects the welding groove type based on the mechanical penetration parameters and determines the initial welding process parameter range. By identifying the weld seam and actual welding groove information, finally, the automatic welding system automatically matches and adjusts the initial welding process parameter range to determine the actual welding process parameters to achieve automatic welding. This method can effectively save welding time and improve production efficiency.

[0023] 2. The present invention designs corresponding groove parameters and welding process parameter ranges for different welding groove types. The welding process parameters include current, voltage, welding speed, and heat input. The groove parameters and welding process parameter ranges designed by the present invention can ensure that the droplet transfer mode during welding is spray transfer, ensuring that the average value of the room temperature impact value of the welded joint is not less than 150 J and the impact value at -20°C is not less than 120 J. By controlling the heat input and droplet transfer mode, the mechanical properties of the welded joint can be significantly improved, the stability of the welding process can be optimized, the weld formation quality can be improved, and at the same time, the production cost and energy consumption can be reduced.

[0024] A MIG automatic welding system for nuclear power mechanical penetrations, the welding system is used to implement the above welding process. The welding system includes: an automatic welding machine, a weld seam recognition mechanism, a grinding mechanism, and a control mechanism. The automatic welding machine includes a welding head, and the welding head is connected to the grinding mechanism and moves synchronously with the grinding mechanism; the weld seam recognition mechanism is used to recognize the signal of the area to be welded and transmit the signal to the control mechanism; the control mechanism is respectively connected to the automatic welding machine, the weld seam recognition mechanism, and the grinding mechanism for control.

[0025] Further, the automatic welding machine further includes a driving member, and the driving end of the driving member is drivingly connected to the welding head for controlling the movement track of the welding head.

[0026] Further, the weld seam recognition mechanism scans the information of the area to be welded by laser and converts the information of the area to be welded into a signal and transmits it to the control mechanism.

[0027] Furthermore, the scanning range of the weld identification mechanism is the area to be welded with a size of 10 cm * 10 cm in front of the weld identification mechanism.

[0028] Furthermore, the grinding mechanism includes a driving motor and a grinding brush. The grinding brush is connected to the welding head, and the driving motor is used to drive the grinding brush for grinding.

[0029] Furthermore, it further includes: a track, which is arranged at the groove of the mechanical penetration piece and the pipe, and the welding head, the weld identification mechanism and the grinding mechanism are evenly arranged on the track.

[0030] Furthermore, the track is arranged between 100 - 200 mm away from the groove of the mechanical penetration piece and the pipe.

[0031] Furthermore, the control mechanism includes a controller and a database. The controller is remotely connected to the database, and the database is used to receive the remote control signal from the controller and transmit it to the automatic welding machine, the weld identification mechanism, the grinding mechanism and the driving part.

[0032] Furthermore, the size of the welding system is 380 mm * 240 mm.

[0033] Based on the above technical solutions, a gas metal arc welding automatic welding system for nuclear power mechanical penetration pieces of the present invention has at least the following beneficial effects:

[0034] 1. The welding system proposed by the present invention identifies the characteristics of the area to be welded through the weld identification mechanism, and converts them into signals and transmits them to the control mechanism. The control structure controls the automatic welding machine to determine the parameters required for the welding process, and specifies the walking paths of the welding head and the grinding mechanism and issues them to the automatic welding machine. The welding head and the grinding mechanism enter the designated positions to start welding, and the grinding mechanism synchronously grinds to clean the oxide skin, realizing uninterrupted welding of the entire weld, effectively saving welding time, and greatly improving production efficiency.

[0035] 2. The weld identification mechanism of the present invention identifies the welding information of the area to be welded by means of laser scanning, generates signals and transmits them to the controller. The controller controls the database to transmit its signals to the automatic welding machine, the weld identification mechanism, the grinding mechanism and the driving part, so as to automatically match the parameters required for welding, generate the travel path of the welding head and control the welding operation. The whole process is automated, the operation is simple, the efficiency of the fully automated welding operation is high, and the quality qualification rate of the weld is also guaranteed, effectively avoiding the situation of low welding efficiency and unstable welding quality of the mechanical penetration piece. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The attached drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0037] Figure 1 Schematic flow diagram of a gas metal arc welding automatic welding process for nuclear power mechanical penetrations according to an embodiment of the present invention;

[0038] Figure 2 Detailed process flow diagram of a gas metal arc welding automatic welding process for nuclear power mechanical penetrations according to an embodiment of the present invention;

[0039] Figure 3 Schematic diagram of parameter positions corresponding to a U-shaped narrow-gap groove in a specific embodiment of the present invention;

[0040] Figure 4 Schematic diagram of parameter positions corresponding to a composite U-shaped groove in a specific embodiment of the present invention;

[0041] Figure 5 Schematic diagram of parameter positions corresponding to a composite V-shaped groove in a specific embodiment of the present invention;

[0042] Figure 6 Schematic structural diagram of a gas metal arc welding automatic welding system for nuclear power mechanical penetrations provided by an embodiment of the present invention.

[0043] Among them, the above-mentioned drawings include the following reference numerals:

[0044] 1. Automatic welding machine; 101. Welding head; 2. Weld seam recognition mechanism; 3. Grinding mechanism; 4. Control mechanism; 401. Controller; 402. Database; 5. Track; 6. Mechanical penetration; 7. Pipeline. Detailed implementation manners

[0045] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0046] The following further describes the present invention in detail with reference to specific embodiments, and these embodiments should not be construed as limiting the scope claimed by the present invention.

[0047] Embodiment

[0048] To solve the technical problem of low welding efficiency during the installation of nuclear power penetrations in the prior art, the present invention proposes a gas metal arc welding automatic welding process and system for nuclear power mechanical penetrations.

[0049] According to one aspect of the embodiments of the present application, a gas metal arc welding automatic welding process for nuclear power mechanical penetrations is proposed.

[0050] As Figure 1The process flow of a GMAW (Gas Metal Arc Welding) automatic welding process for nuclear power mechanical penetrations in an embodiment of the present invention is shown as follows. Specifically, it includes:

[0051] S1. Input the parameters of the mechanical penetration into the automatic welding system.

[0052] Before welding, clean the mechanical penetration and the pipeline. Select a matching welding wire according to the welding process requirements, and polish and clean the groove surface and the area 20 mm around it in advance to ensure the welding quality. Prepare the shielding gas required for welding. Further, in this embodiment, the shielding gas required for welding is a mixed gas of 80% argon and 20% carbon dioxide. It should be understood that the type and proportion of the shielding gas selected in other embodiments of the present invention may be different.

[0053] In addition, before inputting the parameters of the mechanical penetration into the automatic welding system, it also includes: preheating the automatic welding machine of the automatic welding system, with the preheating temperature greater than or equal to 120 °C and the maximum interpass temperature being 300 °C.

[0054] Specifically, the automatic welding system in this embodiment includes: an automatic welding machine 1, a weld seam recognition mechanism 2, a grinding mechanism 3, a control mechanism 4, and a track 5. The automatic welding machine 1 includes a welding head 101, and the welding head 101 is connected to the grinding mechanism 3 and moves synchronously with the grinding mechanism 3; the weld seam recognition mechanism 2 is used to identify the signal of the area to be welded and transmit the signal to the control mechanism 4; the control mechanism 4 is respectively connected to the automatic welding machine 1, the weld seam recognition mechanism 2, and the grinding mechanism 3 for control; the track 5 is arranged at the groove of the mechanical penetration 6 and the pipeline 7, and the welding head 101, the weld seam recognition mechanism 2, and the grinding mechanism 3 are evenly arranged on the track 5.

[0055] Under the above automatic welding system, the welding process flow also includes: after the step S1, conduct an installation firmness detection. Start the movement of the installed track 5, the welding head 101, the weld seam recognition mechanism 2, and the grinding mechanism 3 to detect the installation firmness. As Figure 2 This is the detailed process flow of a GMAW automatic welding process for nuclear power mechanical penetrations in this embodiment. It should be understood that for different compositions of the automatic welding system, the corresponding welding process flow may be different.

[0056] S2. Select the type of welding groove based on the parameters of the mechanical penetration and determine the range of initial welding process parameters.

[0057] The parameters of the mechanical penetrator include the thickness and position of the mechanical penetrator. In this embodiment, the type of welding groove is selected based on the thickness and position of the mechanical penetrator. Further, the types of welding grooves include U-shaped narrow-gap grooves suitable for root welding, composite U-shaped grooves and composite V-shaped grooves applicable to both manual welding and automatic welding. The initial welding process parameters include root welding process parameters and filler pass process parameters.

[0058] The selection basis for the type of welding groove includes: for full-automatic welding or when the weld thickness does not exceed 20 mm (and the welding space), the U-shaped narrow-gap groove can be preferentially selected; when the weld thickness exceeds 20 mm, the composite V-shaped groove or the composite U-shaped groove can be selected.

[0059] In the present invention, the parameter range corresponding to the U-shaped narrow-gap groove is: the narrow-gap groove angle is 9° ± 2.5°, the inflection point fillet radius R is 5 - 6 mm, and the groove root face thickness is 0.8 - 1.6 mm. As Figure 3 shown in, the parameter positions corresponding to the U-shaped narrow-gap groove in a specific embodiment of the present invention are shown. The parameter range corresponding to the composite U-shaped groove is: the upper groove angle is 5° ± 2.5°, the lower groove angle is 15° ± 2.5°, the inflection point fillet radius R3 is 2.5 - 3.5 mm, the groove root face thickness is 0.9 - 1.1 mm, and the root face length is 0.9 - 1.1 mm. As Figure 4 shown in, the parameter positions corresponding to the composite U-shaped groove in a specific embodiment of the present invention are shown. The parameter range corresponding to the composite V-shaped groove is: the upper groove angle is 10° ± 2.5°, the lower groove angle is 20° ± 2.5°, the inflection point fillet radius R6 is 5.5 - 6.5 mm, and the groove root face thickness is 0.5 - 1.5 mm. As Figure 5 shown in, the parameter positions corresponding to the composite V-shaped groove in a specific embodiment of the present invention are shown. It should be understood that the above parameter ranges are reference ranges, and the specific welding groove information parameters selected in different embodiments may be different.

[0060] Specifically, the automatic welding machine 1 matches the corresponding welding process according to the input parameters of the mechanical penetrator to determine the parameter range required for welding. In this embodiment, the root welding process parameter range in the initial welding process parameter range is current 157 - 208 A, voltage 15.6 - 20.3 V, welding speed 37.9 - 45.0 cm / min, and heat input ≤ 1 KJ / mm. The filling weld bead process parameter range is current: 123 - 226 A, voltage 14.3 - 24.7 V, welding speed 29.9 - 48 cm / min, and heat input ≤ 1 KJ / mm. These process parameters can ensure that the droplet transfer mode during welding is spray transfer, and the average value of the room temperature impact value of the welded joint is not less than 150 J, and the impact value at -20°C is not less than 120 J. Compared with the current nuclear power engineering projects, the average value of the -20°C impact performance of the welds by shielded metal arc welding is 100 J, and the room temperature impact value is between 85 J and 150 J. The impact performance has been steadily improved, and at the same time, the welding efficiency is 3 times that of shielded metal arc welding, which can significantly improve the construction efficiency.

[0061] This process can significantly improve the mechanical properties of the welded joint, optimize the stability of the welding process, improve the weld formation quality, and at the same time reduce production costs and energy consumption by controlling the heat input and droplet transfer mode. For example, first determine the welding type according to the groove type, such as root welding or filling welding, and then automatically match and adjust the initial welding process parameter range according to the actual groove size to determine the actual welding process parameters, that is, different groove sizes of the welding machine correspond to different welding process parameters. Further, the selection of the above current, voltage, and welding speed should satisfy the heat input ≤ 1 KJ / mm.

[0062] S3. Identify the weld and the actual welding groove information.

[0063] S4. Based on the actual welding groove information, automatically match and adjust the initial welding process parameter range through the automatic welding system to determine the actual welding process parameters.

[0064] In this embodiment, when the automatic welding machine 1 is turned on, the driving member drives the welding head 101 to the area to be welded. The weld recognition device recognizes the area to be welded and transmits the signal to the controller 401. After receiving the signal, the controller 401 feeds back to the database 402 to control the automatic welding machine 1 to automatically match the parameter range required for welding, determine the actual welding process parameters, and formulate the movement trajectory of the welding head 101.

[0065] S5. Weld the weld based on the actual welding process parameters.

[0066] After the actual welding process parameters are determined, the welding head 101 enters the specified position to start welding, and the grinding mechanism 3 with the same movement trajectory as the welding head 101 performs post-welding grinding simultaneously. Further, the root welding process group pair gap range is 0-1 mm, and the welding positions include 1G, 2G, and 5G positions.

[0067] In summary, as can be seen from the above description, the following technical effects are achieved in the above embodiments of an automatic gas metal arc welding process for nuclear power mechanical penetrations of the present invention:

[0068] 1. An automatic gas metal arc welding process for nuclear power mechanical penetrations proposed by the present invention selects the welding groove type based on the mechanical penetration parameters and determines the initial welding process parameter range. By identifying the weld seam and actual welding groove information, the automatic welding system finally automatically matches and adjusts the initial welding process parameter range to determine the actual welding process parameters to achieve automatic welding. This method can effectively save welding time and improve production efficiency.

[0069] 2. The present invention designs corresponding groove parameters and welding process parameter ranges for different welding groove types. The welding process parameters include current, voltage, welding speed, and heat input. The groove parameters and welding process parameter ranges designed by the present invention can ensure that the droplet transfer mode during welding is spray transfer, ensure that the average value of the room temperature impact value of the welded joint is not less than 150 J, and the impact value at -20 °C is not less than 120 J. By controlling the heat input and droplet transfer mode, the mechanical properties of the welded joint can be significantly improved, the stability of the welding process can be optimized, the weld forming quality can be improved, and at the same time, the production cost and energy consumption can be reduced.

[0070] According to another aspect of the embodiments of the present application, an automatic gas metal arc welding system for nuclear power mechanical penetrations is proposed, and the welding system is used to implement the above welding process.

[0071] As Figure 6 shown, the welding system includes: an automatic welding machine 1, a weld seam recognition mechanism 2, a grinding mechanism 3, a control mechanism 4, and a track 5. The automatic welding machine 1 includes a welding head 101, and the welding head 101 is connected to the grinding mechanism 3, and the welding head 101 and the grinding mechanism 3 move synchronously. The weld seam recognition mechanism 2 is used to identify the signal of the area to be welded and transmit the signal to the control mechanism 4. The control mechanism 4 is respectively connected to the automatic welding machine 1, the weld seam recognition mechanism 2, and the grinding mechanism 3 for control.

[0072] Among them, the automatic welding machine 1 further includes a driving member, and the driving end of the driving member is drivingly connected to the welding head 101 for controlling the movement trajectory of the welding head 101. Optionally, the driving member adopts a form of cooperation between a DC servo motor and a stepping motor, and is connected to the welding head 101 through a gear and a synchronous conveyor belt, and controls the welding head 101 to perform welding operations according to the generated travel path.

[0073] Due to the extremely narrow space position of the mechanical penetrator 6, it is relatively easy to have defects when using traditional argon arc welding for backing and then grinding and followed by shielded metal arc welding for filling and surfacing. This results in low overall welding efficiency and it is very difficult to ensure the welding quality. The automatic welding system for nuclear power mechanical penetrators provided in this embodiment uses a weld recognition mechanism 2 to recognize the characteristics of the area to be welded and determine the welding process. Through a control mechanism 4, it automatically controls the operation of the welding equipment and automatically performs layer-by-layer grinding on the weld at the connection between the mechanical penetrator 6 and the pipeline 7, which can improve the weld quality. The scanning range of the weld recognition mechanism 2 is the area to be welded with a size of 10 cm * 10 cm in front of the weld recognition mechanism 2. Specifically, in this embodiment, the weld recognition mechanism 2 recognizes the characteristics of the area to be welded and converts them into signals and transmits them to the control mechanism 4. The control structure controls the automatic welding machine 1 to determine the parameters required for the welding process, and designates the travel paths of the welding head 101 and the grinding mechanism 3, and issues them to the automatic welding machine 1. The welding head 101 and the grinding mechanism 3 enter the designated positions to start welding, and the grinding mechanism 3 following behind the welding head 101 synchronously grinds and cleans the oxide scale, realizing uninterrupted welding of the entire weld joint, effectively saving the welding time and greatly improving the production efficiency.

[0074] Preferably, the weld recognition mechanism 2 converts the information of the area to be welded into signals and transmits them to the control mechanism by using laser scanning, and the weld recognition mechanism 2 is installed in front of the welding head 101. Specifically, the weld recognition mechanism 2 emits laser stripes to the weld, and combines the situation of laser reflection with the welding movement trajectory to perform coordinate conversion on the recognized signals. According to the type of the recognized weld, it fits the trajectory equation, and obtains the discrete points of the trajectory based on the weld trajectory equation, and then plans the starting point, ending point and safety point, and also plans the posture of the welding head 101, and finally issues them to the welding head 101. The whole process operates automatically, with simple operation, high efficiency of fully automated welding operation and the qualification rate of the weld quality is also guaranteed, effectively avoiding the situation of low welding efficiency and unstable welding quality of the mechanical penetrator 6. Subsequently, digital modeling is carried out in the controller 401 to fit and realize the digital modeling of the weld morphology, and then the digital model is sent to the database 402. The control mechanism compares and analyzes the digital model with the data in the database and then performs automatic matching to form the travel path of the automatic welding of the welding head and the parameters required for the matched welding process. It should be understood that the recognition method of the weld recognition mechanism is not limited to the laser scanning method mentioned in this embodiment.

[0075] The grinding mechanism 3 includes a driving motor and a grinding brush. The grinding brush is connected to the welding head 101, and the driving motor is used to drive the grinding brush for grinding. Preferably, a circular narrow grinding brush is selected to adapt to the operation characteristics of the small space of the nuclear power mechanical penetration 6. And the grinding brush is ground by means of motor drive. An elastic member is provided above the grinding brush, and the elastic member provides a downward pressure for the grinding brush so that the grinding brush can contact the scale for grinding and cleaning operations.

[0076] The control mechanism 4 includes a controller 401 and a database 402. The controller 401 is remotely connected to the database 402. The database 402 is used to receive the remote control signal of the controller 401 and transmit it to the automatic welding machine 1, the weld seam recognition mechanism 2, the grinding mechanism 3 and the driving member. Among them, preferably, the controller 401 is an electronic product such as a tablet computer, a mobile phone or a hand-held device, and the database 402 is a pre-determined indication system. An APP corresponding to the indication system is downloaded on the controller 401, so that the controller 401 and the database 402 are remotely connected, facilitating the control of the entire device for automated welding operations.

[0077] Optionally, the controller 401 and the database 402 can also be other control methods, such as infrared signal connection and other control methods. As long as the design concept is not deviated from, it should fall within the protection scope of the present invention.

[0078] The track 5 is arranged at the groove opening of the mechanical penetration 6 and the pipeline 7, and the welding head 101, the weld seam recognition mechanism 2 and the grinding mechanism 3 are evenly arranged on the track 5. Further, the track 5 is arranged between 100 - 200 mm from the groove opening of the mechanical penetration 6 and the pipeline 7, which can be adapted to use in a small space.

[0079] Further, when the automatic welding machine 1 is started, the driving member drives the welding head 101 to reach above the welding area to be welded. At the same time, the weld seam recognition mechanism 2 and the grinding mechanism 3 also reach near the welding area to be welded. The weld seam recognition mechanism 2 uses laser scanning to identify the information of the welding area to be welded and transmits the generated signal to the controller 401. The controller 401 controls the database 402 to control the automatic welding machine 1 to automatically match fixed welding parameters according to the feedback information. At the same time, the controller 401 controls the database 402 to determine the position of the welding head 101 according to the feedback characteristic information. The position of the welding head 101 includes the spatial position, the swing width and the traveling path, and all are sent to the automatic welding machine 1 uniformly. The welding head 101 is controlled by the driving member to perform welding operations, with full automation control, effectively ensuring the welding quality.

[0080] After welding is completed, the automatic welding machine 1 is turned off. If post-weld heat treatment is required, specified heat treatment is carried out according to the specifications of the penetration.

[0081] Furthermore, the size of the welding system is 380mm * 240mm, which occupies less space than current products and can well adapt to narrow spaces.

[0082] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0083] In summary, from the above description, it can be seen that the above embodiments of the GMAW automatic welding system for nuclear power mechanical penetrations of the present invention achieve the following technical effects:

[0084] 1. The welding system proposed by the present invention identifies the characteristics of the area to be welded through the weld identification mechanism and converts them into signals to be transmitted to the control mechanism. The control structure controls the automatic welding machine to determine the parameters required for the welding process, and specifies the walking paths of the welding head and the grinding mechanism to be sent to the automatic welding machine. The welding head and the grinding mechanism enter the specified positions to start welding, and the grinding mechanism synchronously grinds and cleans the oxide scale, realizing uninterrupted welding of the entire weld, effectively saving welding time, and greatly improving production efficiency.

[0085] 2. The weld identification mechanism of the present invention identifies the welding information of the area to be welded by laser scanning and generates signals to be transmitted to the controller. The controller manipulates the database to transmit the signals to the automatic welding machine, the weld identification mechanism, the grinding mechanism and the driving parts, so as to automatically match the parameters required for welding, generate the travel path of the welding head and control the welding operation. The whole process is automated, the operation is simple, the efficiency of the fully automated welding operation is high, and the quality qualification rate of the weld is also guaranteed, which can effectively avoid the situation of low welding efficiency and unstable welding quality of mechanical penetrations.

[0086] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0087] It should be noted that in the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

Claims

1. A gas metal arc welding automatic welding process for nuclear power mechanical penetrations, characterized in that, Including: Inputting the mechanical penetration parameters into the automatic welding system; Selecting the type of welding groove based on the mechanical penetration parameters and determining the initial welding process parameter range; Identifying the weld seam and the actual welding groove information; Based on the actual welding groove information, automatically matching and adjusting the initial welding process parameter range through the automatic welding system to determine the actual welding process parameters; Welding the weld seam based on the actual welding process parameters.

2. The welding process according to claim 1, characterized in that, The types of welding grooves include U-shaped narrow-gap grooves, composite U-shaped grooves, and composite V-shaped grooves. The initial welding process parameters include root welding process parameters and fill-pass welding process parameters.

3. The welding process according to claim 2, characterized in that, The parameter range corresponding to the U-shaped narrow-gap groove is as follows: the narrow-gap groove angle is 9° ± 2.5°, the inflection point fillet radius is 5 - 6 mm, and the groove root face thickness is 0.8 - 1.6 mm.

4. The welding process according to claim 2, wherein, The parameter range corresponding to the composite U-shaped groove is as follows: the upper groove angle is 5° ± 2.5°, the lower groove angle is 15° ± 2.5°, the inflection point fillet radius is 2.5 - 3.5 mm, the groove root face thickness is 0.9 - 1.1 mm, and the root face length is 0.9 - 1.1 mm.

5. The welding process according to claim 2, characterized in that, The parameter range corresponding to the composite V-shaped groove is as follows: the upper groove angle is 10° ± 2.5°, the lower groove angle is 20° ± 2.5°, the inflection point fillet radius is 5.5 - 6.5 mm, and the groove root face thickness is 0.5 - 1.5 mm.

6. The welding process according to any one of claims 2 to 5, characterized in that, The range of the root welding process parameters in the initial welding process parameter range is as follows: the current is 157 - 208 A, the voltage is 15.6 - 20.3 V, the welding speed is 37.9 - 45.0 cm / min, and the heat input ≤ 1 KJ / mm; the range of the fill-pass welding process parameters is as follows: the current is 123 - 226 A, the voltage is 14.3 - 24.7 V, the welding speed is 29.9 - 48 cm / min, and the heat input ≤ 1 KJ / mm.

7. The welding process according to claim 1, characterized in that, Before inputting the mechanical penetration parameters into the automatic welding system, it further includes: preheating the automatic welding machine of the automatic welding system, the preheating temperature is greater than or equal to 120 °C, and the maximum inter-pass temperature is 300 °C.

8. The welding process according to claim 1, wherein The root welding process assembly gap range is 0 - 1 mm.

9. The welding process according to claim 1, characterized in that, The protective gas required for welding is a mixed gas of 80% argon and 20% carbon dioxide.

10. A GMAW (Gas Metal Arc Welding) automatic welding system for nuclear power mechanical penetrations, characterized in that, The welding system is used to implement the welding process described in any one of claims 1 to 9 above. The welding system includes: an automatic welding machine (1), a weld seam identification mechanism (2), a grinding mechanism (3), and a control mechanism (4). The automatic welding machine (1) includes a welding head (101), and the welding head (101) is connected to the grinding mechanism (3), and the welding head (101) moves synchronously with the grinding mechanism (3); the weld seam identification mechanism (2) is used to identify the signal of the area to be welded and transmit the signal to the control mechanism (4); the control mechanism (4) is respectively connected to the automatic welding machine (1), the weld seam identification mechanism (2), and the grinding mechanism (3) for control.

11. The system according to claim 10, wherein The automatic welding machine (1) further includes a driving member, and the driving end of the driving member is drivingly connected to the welding head (101) for controlling the movement track of the welding head (101).

12. The system according to claim 10, wherein The weld identification mechanism (2) scans the information of the area to be welded by laser and converts the information of the area to be welded into a signal and transmits it to the control mechanism (4).

13. The system according to claim 12, characterized in that, The scanning range of the weld identification mechanism (2) is the area to be welded with an area of 10 cm * 10 cm in front of the weld identification mechanism (2).

14. The system according to claim 10, wherein The grinding mechanism (3) includes a driving motor and a grinding brush. The grinding brush is connected to the welding head (101), and the driving motor is used to drive the grinding brush to perform grinding.

15. The system according to claim 10, wherein It further includes: A track (5), the track (5) is arranged at the groove of the mechanical penetrator (6) and the pipeline (7), and the welding head (101), the weld identification mechanism (2) and the grinding mechanism (3) are evenly arranged on the track (5).

16. The system according to claim 15, wherein The track (5) is arranged between 100 - 200 mm from the groove of the mechanical penetrator (6) and the pipeline (7).

17. The system according to claim 11, wherein The control mechanism (4) includes a controller (401) and a database (402). The controller (401) is remotely connected to the database (402). The database (402) is used to receive the remote control signal of the controller (401) and transmit it to the automatic welding machine (1), the weld identification mechanism (2), the grinding mechanism (3) and the driving member.

18. The system according to any one of claims 11 to 17, characterized in that The size of the welding system is 380 mm * 240 mm.

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