Forming line for corrugated sheets for nuclear steam generators

Abstract

The application provides a forming production line for a corrugated plate for a nuclear power steam generator, which comprises a control system and, sequentially arranged along a process flow direction, a raw material pretreatment unit, a corrugation forming unit, an end bending unit, a post-treatment and quality inspection unit and a finished product storage unit. Adjacent units are connected through material transfer assemblies, so that the material can continuously flow according to the set process route, and automatic production from a flat plate raw material to a finished product corrugated plate into a warehouse is realized. Further, a plate material buffer area is arranged in the corrugation forming unit, and the control system executes three-stage progressive regulation of 'normal feeding - reduced feeding - suspended feeding' according to the current buffer capacity of the buffer area and the occupancy state of the rough forming station and the fine forming station. The regulation strategy can dynamically adjust the upstream feeding speed according to the real-time processing capacity of the forming station, effectively avoiding frequent start and stop of the equipment caused by buffer area overflow or lack of material downstream, and ensuring the continuity and stability of the whole line operation.

Description

Technical Field

[0001] This invention relates to the field of corrugated plate forming technology, and specifically to a corrugated plate forming production line for nuclear power steam generators. Background Technology

[0002] Nuclear power steam generators are crucial heat exchange equipment connecting the primary and secondary loops in pressurized water reactor nuclear power plants. Their internal corrugated plates serve as steam-water separation and droplet capture components. These corrugated plates typically operate under high temperature, high pressure, and high humidity environments, demanding higher requirements for forming accuracy, surface quality, dimensional consistency, and structural stability. Compared to other types of irregularly shaped corrugated plates or complex curved surface structures, the corrugated plates used in nuclear power steam generators have a more regular structure, mainly consisting of continuous corrugated sections and end-bending sections. The production requirement lies not in providing new, complex mold structures, but in how to organize the cutting, corrugating, and end-bending processes in a reasonable sequence and achieve a stable, continuous, and low-damage manufacturing process.

[0003] Existing technologies have proposed various molds and processes for processing corrugated plates used in nuclear power steam generators. For example, Chinese Patent Publication No. CN 105127299 A discloses a mold system for processing corrugated plates for CAP1000 / CAP1400 steam generator dryers. In the processing of the corrugated plates, the base plate, baffle plate, and supporting components are processed separately using molds, and then fixed into a whole by welding. Another example is Chinese Patent Publication No. CN 117282825 A, which discloses a corrugated forming method and system for evaporator corrugated plates. This method uses a special mold for forming evaporator corrugated plates to process the sheet material to obtain the formed evaporator corrugated plate, and performs forming quality inspection on the formed evaporator corrugated plate to obtain the forming quality inspection results, achieving automated detection of corrugated plate forming defects. However, the above technical solutions mainly focus on the level of single-machine equipment and mold structure, and pay insufficient attention to the organization of the entire production line, especially the following problems that have not been effectively solved: Firstly, mismatched production cycles restrict overall line efficiency. Different processes have varying cycle times; for example, the stamping cycles for rough forming and finish forming are relatively fixed, while the cutting and feeding speeds at the front end and the inspection, marking, and warehousing speeds at the back end differ. The production line lacks an adaptive control mechanism based on real-time operating conditions, making it difficult to dynamically match the upstream feeding speed with the downstream forming station's processing capacity. This easily leads to buffer overflows or downstream material shortages, causing frequent equipment start-ups, shutdowns, or waiting times, severely impacting overall line efficiency and equipment lifespan.

[0004] Secondly, the material flow in the forming process lacks automated connection. Rough forming and fine forming are usually completed by multiple stampings on the same press or by multiple machines. The transfer of sheet metal between processes relies on manual assistance or simple conveying devices, making it difficult to achieve automatic picking and placing and accurate positioning between workstations.

[0005] In summary, the existing technology lacks a corrugated plate forming production line for nuclear power steam generators that can integrate processes such as raw material cutting, corrugation forming, end bending, cleaning and inspection, sorting and warehousing, and has adaptive material supply control and automatic transfer connection.

[0006] The above background information is provided only to aid in understanding the concept and technical solution of this application. It does not necessarily belong to the prior art of this application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above information was disclosed before the filing date of this application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0007] The purpose of this invention is to provide a corrugated plate forming production line for nuclear power steam generators. By setting up a buffer area, rough and fine forming stations, status sensing components, and a multi-level material supply control strategy based on buffer quantity and station occupancy status, and integrating full-process quality control such as detection, sorting, and warehousing, the production line achieves automated and intelligent production of the entire corrugated plate forming process.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: This invention provides a production line for forming corrugated plates for nuclear power steam generators, comprising a control system, a material transfer assembly, and, arranged sequentially along the process flow direction, a raw material pretreatment unit, a corrugated forming unit, an end bending unit, a post-processing quality inspection unit, and a finished product storage unit. The raw material pretreatment unit is configured to cut the material into sheet materials to be formed. The corrugated forming unit is configured to process the sheet material to be formed into a regular corrugated sheet, which includes a sheet material buffer area, a rough forming station, a fine forming station and a status sensing component. The status sensing component is configured to detect the buffer amount of the sheet material buffer area and the occupancy status of the rough forming station and the fine forming station. The end bending unit is configured to bend the end of the corrugated sheet to form a finished corrugated sheet; The post-processing quality inspection unit is configured to inspect and sort the finished corrugated sheets; The finished product storage unit is configured to store the finished corrugated sheets that have passed inspection; The material transfer assembly includes a first conveying mechanism and a first transfer mechanism. The first conveying mechanism is arranged between the raw material pretreatment unit and the corrugated forming unit, and the first transfer mechanism is configured to transport workpieces within the corrugated forming unit. The control system is communicatively connected to the forming equipment of the corrugated forming unit, the status sensing component, and the material transfer component, and is configured to perform the following steps: (1) Based on the detection result of the state sensing component, determine whether the current buffer amount of the plate material buffer area has reached the first set threshold. If it has not reached the threshold, control the first conveying mechanism to supply material to the plate material buffer area according to the initial set rhythm. If it has reached the threshold, execute step (2). (2) Based on the detection results of the state sensing component, determine whether the rough forming station and the fine forming station meet the continuous occupancy condition. If the condition is not met, the first conveying mechanism is controlled to reduce the feeding rate to the sheet metal buffer area; If the conditions are met, it is further determined whether the current buffer amount of the sheet metal buffer area has reached the second set threshold. If it has, the first conveying mechanism is controlled to suspend feeding material to the sheet metal buffer area until the current buffer amount falls below the second set threshold or at least one of the rough forming station and the fine forming station is in a state that can receive new material. Otherwise, the first conveying mechanism is controlled to reduce the feeding rate to the sheet metal buffer area.

[0009] In some implementations, the continuous occupancy condition means that, within a set time period or for multiple consecutive detection cycles, both the rough forming station and the fine forming station are in a state where they cannot accept new materials.

[0010] In some implementations, the state of not accepting new material refers to one of the following situations: (a) The state sensing component detects that a workpiece exists at the corresponding workstation; (b) The status sensing component detects that there is no workpiece at the corresponding workstation, but the forming equipment corresponding to the workstation does not send a ready signal to the control system.

[0011] In some implementations, the state of being able to receive new material means that the state sensing component has not detected a workpiece at the corresponding workstation, and the forming equipment corresponding to the workstation has sent a ready signal to the control system.

[0012] In some specific embodiments, the ready signal is an electrical signal generated when the forming equipment returns to the allowable loading position and is in a fault-free standby state after completing the previous processing cycle.

[0013] In some implementations, reducing the feeding rate includes reducing the feeding frequency of the first conveying mechanism or extending the time interval between two adjacent feedings.

[0014] In some implementations, the current cache size of the sheet metal buffer is the number of sheets metal already stored in the sheet metal buffer or the proportion of cache locations already occupied.

[0015] In some embodiments, the first transfer mechanism is configured to perform the following handling actions: loading from the sheet metal buffer area to the rough forming station, transferring from the rough forming station to the fine forming station, and unloading from the fine forming station to subsequent stations.

[0016] In some specific embodiments, the control system is further configured to perform the following transfer control steps: (I) Determine whether the first transfer mechanism is in an idle state. If not, control the first transfer mechanism to continue performing the current action until it is in an idle state. If yes, proceed to step (II). (II) Following the priority order of material feeding over sequence transfer, and sequence transfer over material feeding, the following conditions are judged in sequence and the corresponding operations are performed: First priority: Determine whether the precision forming station has completed processing and whether the second conveying mechanism connecting the end bending unit and the precision forming station is in a state that can receive new materials. If so, control the first transfer mechanism to take out the corrugated sheet in the precision forming station and transfer it to the second conveying mechanism. If the first priority condition is not met, then proceed to the second priority: determine whether the rough forming station has completed processing and whether the fine forming station is in a state that can receive new materials. If so, control the first transfer mechanism to take out the workpiece in the rough forming station and transfer it to the fine forming station. If neither the first priority nor the second priority condition is met, then proceed to the third priority: determine whether there is a sheet material to be formed in the sheet material buffer area and whether the rough forming station is in a state that can receive new materials. If so, control the first transfer mechanism to take out the sheet material to be formed in the sheet material buffer area and transfer it to the rough forming station. If the conditions for the first priority, the second priority, and the third priority are not met, then the first transfer mechanism is controlled to maintain its current state and return to the execution step (I).

[0017] Furthermore, the control system is also configured to: lock other transport actions that conflict with the current transport action during any transport action performed by the first transfer mechanism; after the current transport action is completed and the first transfer mechanism returns to a safe position, release the interlock state, and the control system reacquires the detection signal of the state sensing component and enters the next round of scheduling.

[0018] In some embodiments, multiple first transfer mechanisms are provided, each corresponding to one of the sheet metal buffer area, the rough forming station, and the finish forming station. Specifically, the first transfer mechanism corresponding to the sheet metal buffer area is configured to feed material from the first conveying mechanism to the sheet metal buffer area; the first transfer mechanism corresponding to the rough forming station is configured to feed material from the sheet metal buffer area to the rough forming station; and the first transfer mechanism corresponding to the finish forming station is configured to feed material from the rough forming station to the finish forming station. In some embodiments, the sheet metal buffer area has a buffer platform configured to support the stacking of the sheet metal to be formed.

[0019] In some specific embodiments, the first transfer mechanism is a handling robot, which includes a robotic arm and a material picking device disposed at the end of the robotic arm. The material picking device is configured to pick up and place sheet metal by means of adsorption.

[0020] In some embodiments, the post-processing quality inspection unit includes a cleaning station, an inspection and sorting station, a non-conforming product rework area, and a warehousing station. The cleaning station is configured to clean the surface of the workpieces; the inspection and sorting station is configured to perform quality inspection on the cleaned workpieces and separate qualified and unqualified products; the non-conforming product rework area is configured to receive the unqualified products separated from the inspection and sorting station, perform rework on them, and return the reworked workpieces to the inspection and sorting station for re-inspection.

[0021] In some embodiments, the raw material pretreatment unit includes a raw material storage area, a raw material loading station, and a cutting station, and the material transfer assembly further includes a third transfer mechanism. The third transfer mechanism is configured to transport workpieces within the pretreatment unit; the output end of the cutting station is connected to the input end of the sheet metal buffer area via the first conveying mechanism.

[0022] In some embodiments, the finished product storage unit has multiple storage locations, each of which is configured to store one or more finished corrugated sheets.

[0023] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: This invention sequentially connects processes such as cutting, rough forming, fine forming, end bending, and post-processing quality inspection, enabling materials to flow continuously according to a set process route.

[0024] Furthermore, by incorporating a sheet metal buffer zone within the corrugated forming unit, the control system implements a three-tiered progressive control mechanism: "normal feeding - decelerated feeding - paused feeding," based on the current buffer volume and the occupancy status of the roughing and finishing stations. When the buffer volume is below the first threshold, feeding proceeds at the initial cycle time to maintain high-efficiency production. When the buffer volume reaches the first threshold, decelerated feeding is initiated to prevent rapid accumulation of sheet metal in the buffer zone. When the roughing and finishing stations are continuously occupied and the buffer volume reaches the second threshold, feeding is paused until the downstream station has the capacity to receive the material. This control strategy dynamically adjusts the upstream feeding speed according to the real-time processing capacity of the forming station, effectively preventing frequent equipment starts and stops caused by buffer overflow or downstream material shortages, thus ensuring the continuity and stability of the entire production line.

[0025] In addition, the present invention also integrates a post-processing quality inspection unit and a finished product storage unit to achieve closed-loop quality control in the post-forming processing stage. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the material state changes in Embodiment 1 of the present invention; Figure 2 This is a simplified structural diagram of the corrugated plate forming production line according to Embodiment 1 of the present invention; Figure 3 This is a flowchart illustrating the material receiving cycle time and buffer linkage control of Embodiment 1 of the present invention; Figure 4 This is a flowchart of the priority scheduling process for the first transfer mechanism in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the material handling robot in Embodiment 1 of the present invention. Figure 6 This is a flowchart of the automated corrugated plate forming method of Embodiment 1 of the present invention; The components include: 1. Raw material storage area; 2. Raw material loading station; 3. Cutting station; 4. Sheet metal buffer area; 5. Rough forming station; 6. Fine forming station; 7. End bending unit; 8. Cleaning station; 9. Inspection and sorting station; 10. Warehousing station; 11. Finished product storage unit; 12. Non-conforming product rework area; 20. Conveying mechanism; 30. Handling robot; 301. Robotic arm; 302. Suction cup assembly. 40. Material; 41. Flat raw material; 42. Sheet material to be formed; 43. Roughly formed sheet material; 44. Corrugated sheet; 45. Finished corrugated sheet; 451. Corrugated section; 452. Bending section. Detailed Implementation

[0027] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the embodiments of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0028] In the description of the embodiments of the present invention, it should be understood that the terms "upstream" and "downstream" should be understood as relative positional relationships defined based on the flow direction or sequential order of the workpiece. Specifically, "upstream" refers to the side closer to the starting end in terms of flow direction or timing, and "downstream" refers to the side closer to the ending end. These directional terms are only used to explain the structural fit relationship of the embodiments of the present invention and should not be interpreted as a fixed requirement for the absolute spatial orientation of the product during installation, transportation, or use.

[0029] In the description of the embodiments of this invention, it should be understood that the same reference numerals are used to label multiple similar components. Specifically, multiple conveying mechanisms mentioned below are uniformly represented by the numeral "20", and the specific arrangement and function of each conveying mechanism are defined by its context in the production line; multiple transfer mechanisms (handling robots) mentioned below are uniformly represented by the numeral "30". Each handling robot can use the same model to adapt to standardized production requirements; different models can also be selected according to the load, accuracy, and range of motion requirements of each workstation, and this invention does not impose specific limitations in this regard. Those skilled in the art will understand that the above-mentioned unified labeling method is only for simplifying the reference numeral system and does not mean that multiple similar components necessarily have completely identical structures and performance parameters.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] The following disclosure provides many different implementations or examples for carrying out different structures of the embodiments of the present invention. To simplify the disclosure of the embodiments of the present invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the embodiments of the present invention. Furthermore, reference numerals and / or reference letters may be repeated in different examples of the embodiments of the present invention; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0033] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0034] Example 1: like Figure 1 As shown, material 40 undergoes multiple physical states sequentially during processing in the production line of the present invention. Specifically, material 40 enters the production line in the form of a flat raw material 41, and after cutting, forms a sheet material 42 to be formed; the sheet material 42 to be formed is then rough-formed to form a rough-formed sheet material 43 with a preliminary corrugated profile; the rough-formed sheet material 43 is then fine-formed to form a corrugated sheet 44 with precise waveform dimensions and stable shape; the corrugated sheet 44 is then bent at the ends to form a finished corrugated sheet 45, which includes a regular corrugated section 451 and a bent section 452 located at the end of the corrugated section 451.

[0035] Based on the production processes corresponding to the aforementioned material 40 state changes, this invention provides a forming production line for corrugated plates used in nuclear power steam generators. For example... Figure 2 As shown, the production line includes a control system (not shown), material transfer components, and a raw material pretreatment unit, a corrugated forming unit, an end bending unit 7, a post-processing quality inspection unit, and a finished product storage unit 11 arranged sequentially along the process flow (i.e., according to the processing sequence of material 40). Material 40 flows along... Figure 2 The material flows sequentially through each unit in the direction indicated by the middle arrow, performing corresponding processing steps within each unit to achieve continuous production from the flat raw material 41 to the finished corrugated plate 45. The material transfer assembly includes a conveying mechanism 20 and a transfer mechanism. The conveying mechanism 20 includes at least a first conveying mechanism disposed between the raw material pretreatment unit and the corrugated forming unit, and preferably also includes a second conveying mechanism disposed between the corrugated forming unit and the end bending unit 7 for conveying the material 40 to a fixed pick-up and drop-off position before the corresponding workstation or area. The conveying mechanism 20 can be a belt conveyor or a roller conveyor, adapted to the conveying distance between each unit and the material state. The transfer mechanism is used to perform at least one of the actions of loading, transferring, and unloading, and includes at least the first transfer mechanism, as detailed below.

[0036] The corrugated forming unit includes a sheet metal buffer area 4, a rough forming station 5, a fine forming station 6, and a status sensing component. The input end of the sheet metal buffer area 4 is connected to the output end of the raw material pretreatment unit via a first conveying mechanism. It receives the sheet metal to be formed 42 and temporarily stores a certain quantity of the sheet metal to be formed 42 in a buffering manner to mitigate the difference in production cycle time between the upstream raw material pretreatment unit and the downstream corrugated forming unit. When the upstream feeding speed is greater than the processing speed of the downstream forming station, excess sheet metal to be formed 42 can be temporarily stored in the sheet metal buffer area 4 to prevent the upstream equipment from being forced to stop. When the downstream feeding demand is greater than the upstream feeding speed, the sheet metal to be formed 42 temporarily stored in the sheet metal buffer area 4 can be continuously used downstream, thus ensuring the continuity of the entire production line. As an example, the sheet metal buffer area 4 has a buffer platform, which is configured to support the stacking of sheet metal to be formed. The buffer platform can be a dual-bay buffer platform, and its buffer capacity is configured according to the difference between the maximum output cycle time of the upstream cutting unit and the minimum processing cycle time of the downstream corrugated forming unit. The rough forming station 5 is located downstream of the sheet metal buffer area 4, and its input end is connected to the output end of the sheet metal buffer area 4 via a first transfer mechanism. The rough forming station 5 has a first forming device configured to receive the sheet metal 42 to be formed from the sheet metal buffer area 4 and perform rough forming processing on it, so that the sheet metal 42 to be formed is formed into a rough formed sheet metal 43 with a preliminary corrugated profile. The first forming device can refer to conventional forming equipment in the art, and the present invention does not specifically limit it. As an example, the first forming device includes an upper die assembly, a lower die assembly, and a first driving device. The upper die assembly and the lower die assembly are respectively provided with concave and convex mating surfaces for forming the corrugated profile. The first driving device drives the upper die assembly and the lower die assembly to move relative to each other, applying pressure to the sheet metal 42 to be formed, causing it to undergo plastic deformation, thereby forming a preliminary corrugated profile on the sheet surface. The first forming device can also be a hydraulic press, a servo press, or a mechanical press, etc. The fine forming station 6 is located downstream of the rough forming station 5, and its input end is connected to the output end of the rough forming station 5 via a first transfer mechanism. The finishing forming station 6 has a second forming device configured to receive the rough-formed sheet metal 43 from the rough forming station 5 and perform finishing forming on it. This further refines the rough-formed sheet metal 43 based on the initial corrugated profile, forming a corrugated sheet 44 with precise waveform dimensions and stable shape. By dividing the corrugating forming process into two stages, rough forming and finishing forming, the impact of a single forming operation on the sheet metal state and forming accuracy can be reduced, allowing the corrugated profile to gradually stabilize. Similar to the first forming device, the second forming device can refer to conventional forming equipment in the art, such as the forming equipment with the structure described above, or hydraulic presses, servo presses, mechanical presses, etc., and the present invention does not impose specific limitations on this.It should be noted that the first forming equipment and the second forming equipment can be two independent forming equipment, respectively arranged at the rough forming station 5 and the fine forming station 6, each independently completing the rough forming and fine forming processes; alternatively, they can be the same forming equipment, with rough forming and fine forming processes achieved on the same equipment through two different processing stations (e.g., two die stations or two worktables on the equipment). This invention does not impose specific limitations on these, as long as the two processing stages of rough forming and fine forming can be formed spatially or in terms of processes. The first transfer mechanism is configured to transport workpieces within the corrugated forming unit. The status sensing component is configured to detect the buffer amount of the sheet metal buffer area 4 and the occupancy status of the rough forming station 5 and the fine forming station 6. Through real-time detection by the status sensing component, the control system can obtain the working condition information of each station, and then adaptively adjust the feeding rate and the transporting action of the first transfer mechanism to ensure the continuity and stability of the entire line operation.

[0037] Specifically, the control system is communicatively connected to the forming equipment and material transfer components (conveyor 20 and transfer mechanism) of the corrugated forming unit, and also receives detection signals collected by the status sensing components through the communication connection, and is configured to perform the following steps ( Figure 3 (as shown) (1) Based on the detection results of the state sensing component, obtain the buffer status of the sheet material buffer area 4, and determine whether the current buffer amount of the sheet material in the sheet material buffer area 4 has reached the first set threshold. If the current buffer amount has not reached the first set threshold, the material receiving cycle control module of the control system controls the first conveying mechanism to supply material to the sheet material buffer area 4 according to the initial set cycle to maintain the normal production speed; if the current buffer amount has reached the first set threshold, then execute step (2).

[0038] (2) Based on the detection results of the status sensing component, determine whether the rough forming station 5 and the fine forming station 6 meet the continuous occupancy condition. The continuous occupancy condition does not only mean that there is a workpiece on the rough forming station 5 or the fine forming station 6, but also means that the rough forming station 5 and the fine forming station 6 are in a state where they cannot accept new materials within the set time period or in multiple consecutive detection cycles. The state where new materials cannot be accepted refers to one of the following situations: (a) The status sensing component detects that there is a workpiece on the corresponding station (for example, the rough / fine forming station is processing a workpiece, or the rough / fine forming station has completed processing but the completed workpiece has not been removed by the first transfer mechanism); (b) The status sensing component detects that there is no workpiece on the corresponding station, but the forming equipment corresponding to the station has not sent a ready signal to the control system (for example, the forming equipment of the rough / fine forming station cannot accept new materials due to equipment reset, positioning clamping or safety interlock, or the second conveying mechanism downstream of the fine forming station 6 is temporarily not allowed to accept new materials). Conversely, the state of being able to receive new materials refers to the situation where the state sensing component detects that there is no workpiece at the corresponding workstation, and the forming equipment corresponding to that workstation has sent a ready signal to the control system. Further, the ready signal is an electrical signal generated when the moving parts of the forming equipment return to the allowable loading position and are in a fault-free standby state after completing the previous processing cycle.

[0039] If the rough forming station 5 and the fine forming station 6 do not meet the continuous occupancy condition, the first conveying mechanism will reduce the feeding rate to the sheet metal buffer area 4 to the first rate (for example, by reducing the feeding frequency or extending the time interval between two adjacent feedings) to appropriately slow down the feeding speed and relieve the storage pressure of the sheet metal buffer area 4.

[0040] If the rough forming station 5 and the fine forming station 6 meet the continuous occupancy condition, the control system further determines whether the current buffer amount of the sheet metal in the sheet metal buffer area 4 has reached the second set threshold. If the current buffer amount reaches the second set threshold, the control system controls the first conveying mechanism to suspend feeding material to the sheet metal buffer area 4 until the current buffer amount falls below the second set threshold and / or at least one of the rough forming station 5 and the fine forming station 6 is in a state that can receive new material; if the current buffer amount does not reach the second set threshold, the control system controls the first conveying mechanism to reduce the feeding rate to the sheet metal buffer area 4 to a second rate, the second rate being less than or equal to the first rate, preferably less than the first rate.

[0041] Through a three-level progressive control of "normal feeding - decelerated feeding - paused feeding", the upstream feeding speed can be dynamically adjusted according to the real-time processing capacity of the corrugated forming unit and the downstream end bending unit 7. This effectively avoids frequent equipment start-ups and shutdowns caused by overflow of the sheet material buffer area 4 or shortage of downstream material, ensuring the continuity and stability of the entire line operation.

[0042] This invention does not strictly limit the specific values ​​of the first and second set thresholds. Those skilled in the art can adaptively set them based on the total capacity of the sheet metal buffer 4, the upstream feeding cycle time, the processing cycle time of the downstream forming station, and the actual operating conditions of the production line. Generally, both the first and second set thresholds are percentage values ​​of the total capacity of the sheet metal buffer 4, and the second set threshold is greater than the first set threshold. As a preferred, but not limiting, embodiment, the first set threshold can be set to 60% to 80% of the total buffer capacity, for example, 60%, 65%, 70%, 75%, or 80%. When the buffer amount reaches the first set threshold, it indicates that a considerable amount of sheet metal 42 to be formed has accumulated in the buffer, and a mismatch has begun to appear between the upstream feeding speed and the downstream forming processing speed. At this time, the control system starts the first-stage deceleration feeding to appropriately reduce the feeding speed to alleviate the pressure on the sheet metal buffer 4. The second set threshold can be set to 90% to 100% of the total buffer capacity, for example, 90%, 95%, 98%, or 100%. When the buffer volume reaches the second set threshold, it indicates that the buffer area is close to or has reached full capacity, and the processing capacity of the downstream forming station is seriously insufficient. At this time, the control system will suspend the feeding to avoid the accumulation of sheet metal, jamming or damage caused by the overflow of the buffer area.

[0043] This invention does not strictly limit the specific device type and installation method of the status sensing component, as long as it can provide the control system with detection signals characterizing the material inventory in the sheet metal buffer area 4 and whether the rough forming station 5 and the fine forming station 6 are occupied. Those skilled in the art can select and combine various mature sensing technologies based on detection accuracy requirements, station space limitations, and cost budgets. As a preferred, but not limiting, embodiment, the status sensing component includes a first sensor group disposed in the sheet metal buffer area 4, a second sensor disposed in the rough forming station 5, and a third sensor disposed in the fine forming station 6. The first sensor group can employ multiple photoelectric sensors (such as through-beam or reflective photoelectric sensors) spaced along the buffer path to determine occupancy by detecting whether each buffer position is obstructed by the sheet metal. Alternatively, the first sensor group can also employ an ultrasonic sensor array, a capacitive proximity sensor, an inductive proximity sensor, or a mechanical level switch. Both the second and third sensors can be independently selected from any of the following: proximity sensors (such as inductive or capacitive proximity sensors), photoelectric sensors, pressure sensors (such as piezoelectric pressure sensors installed under the mold of the forming equipment), or mechanical limit switches. The detection signals from each group of sensors in the status sensing assembly are transmitted to the control system via wired or wireless communication. The control system receives the detection signals from each sensor according to a preset sampling period or continuously in real time, and converts the signals into corresponding status information (such as "occupied / idle," "threshold reached / threshold not reached," etc.), which serves as the basis for material supply control and transfer scheduling decisions.

[0044] In this embodiment, the following transport actions within the corrugated forming unit are performed by the same first transfer mechanism: loading from the sheet metal buffer area 4 to the rough forming station 5, transferring from the rough forming station 5 to the fine forming station 6, and unloading from the fine forming station 6 to subsequent stations. The control system is also configured to perform the following transfer control steps ( Figure 4 (as shown) (I) Determine whether the first transfer mechanism (i.e. the same first transfer mechanism that performs the above-mentioned handling action) is in an idle state. If the first transfer mechanism is not in an idle state, control the first transfer mechanism to continue performing the current action until it is in an idle state. If the first transfer mechanism is in an idle state, proceed to step (II). (II) Following the priority order of material feeding over sequence transfer, and sequence transfer over material feeding, the following conditions are judged in sequence and the corresponding operations are performed: First priority: Determine whether the precision forming station 6 has completed processing and whether its downstream second conveying mechanism is in a state that can receive new materials. If so, control the first transfer mechanism to take out the corrugated plate 44 in the precision forming station 6 and transfer it to the downstream second conveying mechanism. If the first priority condition is not met, then proceed to the second priority: determine whether the rough forming station 5 has completed processing and whether the fine forming station 6 is in a state that can receive new materials. If so, control the first transfer mechanism to take out the workpiece in the rough forming station 5 and transfer it to the fine forming station 6. If neither the first nor the second priority conditions are met, then proceed to the third priority: determine whether there is a sheet material 42 to be formed in the sheet material buffer area 4 and whether the rough forming station 5 is in a state that can receive new materials. If so, control the first transfer mechanism to take out the sheet material 42 to be formed in the sheet material buffer area 4 and transfer it to the rough forming station 5. If the conditions for the first priority, the second priority, and the third priority are not met, the first transfer mechanism is controlled to maintain its current state and return to the execution step (I).

[0045] The aforementioned transfer control steps prioritize ensuring smooth material flow between the finishing forming station 6 and the downstream second conveying mechanism, preventing material accumulation at the finishing forming station 6 or material shortage downstream. Based on this, the transfer to the rough forming station 5 and the loading of the sheet metal buffer area 4 are then scheduled. Through this scheduling strategy, all material transfer tasks within the corrugated forming unit are achieved with the fewest possible transfer mechanisms, reducing idle travel and waiting time of the transfer mechanisms and improving equipment utilization.

[0046] Furthermore, the control system is configured to: lock other handling actions that may conflict with the current handling action during any handling action performed by the first transfer mechanism, prohibiting their execution; after the current handling action is completed and the first transfer mechanism returns to a safe position, the interlock state is released, the control system reacquires the detection signal from the status sensing component, and enters the next round of transfer scheduling. This can be specifically achieved through the workstation interlock module of the control system. Furthermore, "other handling actions that may conflict with the current handling action" include, but are not limited to: when the current handling action is to transfer the workpiece from the finishing station 6 to the downstream second conveying mechanism, locking the transfer of the workpiece from the rough forming station 5 to the finishing station 6 and the transfer of the sheet metal 42 to be formed in the sheet metal buffer area 4 to the rough forming station 5; when the current handling action is to transfer the workpiece from the rough forming station 5 to the finishing station 6, locking the transfer of the workpiece from the finishing station 6 to the downstream second conveying mechanism and the transfer of the sheet metal 42 to be formed in the sheet metal buffer area 4 to the rough forming station 5; when the current handling action is to transfer the sheet metal 42 to be formed in the sheet metal buffer area 4 to the rough forming station 5, locking the transfer of the workpiece from the rough forming station 5 to the finishing station 6 and the transfer of the workpiece from the finishing station 6 to the downstream second conveying mechanism. In other words, at any given moment, the same first transfer mechanism performs only one transport action. The control system ensures that each transport action is executed sequentially according to the priority order of "unloading takes precedence over transfer, and transfer takes precedence over loading," with no overlapping time windows between any two transport actions. This effectively avoids the risks caused by timing errors or path interference between multiple transport actions of the transfer mechanism, further improving the operational safety and reliability of the production line.

[0047] Furthermore, the first transfer mechanism also has another unit for feeding material from the first conveying mechanism to the sheet metal buffer area.

[0048] In some other embodiments, multiple first transfer mechanisms may be provided, each corresponding to a sheet metal buffer area, a rough forming station, and a finish forming station. Specifically, the first transfer mechanism corresponding to the sheet metal buffer area is used to feed material from the first conveying mechanism to the sheet metal buffer area; the first transfer mechanism corresponding to the rough forming station is used to feed material from the sheet metal buffer area to the rough forming station; and the first transfer mechanism corresponding to the finish forming station is used to feed material from the rough forming station to the finish forming station.

[0049] The first transfer mechanism is preferably a handling robot 30, such as a multi-axis industrial robot or a robotic arm. Figure 5 As shown, the handling robot 30 includes a robotic arm 301 and a material handling device disposed at the end of the robotic arm 301. The material handling device is configured to pick up and place sheet metal by means of suction. As an example, such as Figure 5As shown, the material handling device includes a mounting frame, a suction cup assembly 302, and a vacuum generator (e.g., a vacuum pump). The mounting frame is fixedly connected to the end of the robotic arm 301, serving as an overall support structure. The suction cup assembly 302 includes multiple suction cups arranged in a predetermined array and mounted on the mounting frame. The vacuum generator is connected to each suction cup via air pipes, generating negative pressure between the suction cups and the sheet material, thereby picking up the sheet material through negative pressure adsorption.

[0050] To accommodate sheet metal with corrugated sections extending in a specific direction and undulating periodically, and to ensure effective sealing and adsorption between the suction cup and the sheet metal surface, the suction cup of the first transfer mechanism in this embodiment is not installed vertically downwards, but rather fixed at a predetermined angle relative to the bottom surface of the mounting frame or the horizontal plane. Specifically, the angle of inclination of the suction cup is configured to be approximately equal to the angle of inclination of the corrugated section slope of the sheet metal to be adsorbed. With this configuration, at the pick-up station, when the robotic arm 301 moves the picking device above the sheet metal, the adsorption end face of each suction cup can adhere to the sheet metal surface in an orientation perpendicular to the local plane of the corresponding corrugated section, thereby maximizing the contact area between the suction cup lip and the sheet metal surface, improving adsorption stability and sealing, and preventing air leakage caused by the edge of the suction cup lifting due to the corrugated slope.

[0051] Furthermore, each suction cup assembly 302 is equipped with multiple rows of suction cups arranged along the sheet material conveying direction. Each row of suction cups contains multiple suction cups, which are evenly distributed at certain intervals along the length of the corrugated section. In this way, on the one hand, the gravity of the sheet material can be dispersed through multi-row, multi-point adsorption, improving the reliability of pickup; on the other hand, it ensures the overall uniformity of adsorption and the stability of the sheet material's posture, preventing the sheet material from slipping or deflecting during handling. In addition, a vacuum pressure detection element can be set to determine whether the adsorption is reliable.

[0052] The end bending unit 7 is located downstream of the corrugated forming unit. Its input end is connected to the output end of the precision forming station 6 via the second conveying mechanism 20. It is used to bend the ends of the precision-formed corrugated sheet 44 to form a finished corrugated sheet 45 structure that combines regular corrugated sections 451 and end bending sections. The end bending unit 7 has a bending device, which can refer to the structure of conventional bending devices in the art and is not specifically limited.

[0053] The post-processing quality inspection unit is located downstream of the end bending unit 7, with its input end connected to the output end of the end bending unit 7. It is configured to clean, inspect, sort, rework, and pre-warehousing the finished corrugated sheet 45. Specifically, the post-processing quality inspection unit includes a cleaning station 8, an inspection and sorting station 9, a non-conforming product rework area 12, and a warehousing station 10. The cleaning station 8 is used to clean the surface of the finished corrugated sheet 45 after end bending, removing any oil, metal shavings, or other processing residues that may remain from the processing. The cleaning station 8 can employ ultrasonic cleaning, high-pressure gas blowing, or wiping cleaning methods. The inspection and sorting station 9 is used to perform quality inspection on the cleaned finished corrugated sheet 45 and separate qualified from unqualified products. As an example, the inspection and sorting station 9 integrates a vision inspection system and a dimensional measurement device to inspect quality indicators such as corrugation dimensions, bending angles, and surface defects of the corrugated sheet. The visual inspection system can use an industrial camera combined with image processing algorithms to automatically identify surface defects such as scratches, dents, oxidation, and deformation on the board surface. The dimensional measurement device can use a laser rangefinder or a contact probe to measure key dimensional parameters such as corrugation height, corrugation pitch, and bending angle. As another example, manual sorting can also be used, where the inspection and sorting station 9 does not have a visual inspection system or dimensional measurement device, and quality indicators such as corrugation size, bending angle, and board surface defects are measured manually. After inspection, the inspection and sorting station 9 divides the finished products into qualified and unqualified products according to the inspection results, and transfers them to different channels. Unqualified products can be transferred to the unqualified product rework area 12 by a transfer mechanism (specifically, the second transfer mechanism, which is similar to the first transfer mechanism and will not be described in detail here), while qualified products can be transferred to the warehousing station 10 by a conveyor mechanism 20 (specifically, the third conveyor mechanism). The non-conforming product rework area 12 is configured to receive non-conforming products flowing out of the inspection and sorting station 9, perform rework on them (such as correcting bending angles and trimming burrs), and then send the reworked parts back to the inspection and sorting station 9 for re-inspection by the second transfer mechanism. Only after passing the re-inspection can they enter the subsequent stations, thus forming a closed-loop quality control. The warehousing station 10 is used to sort and transfer qualified finished corrugated sheets 45 to the finished product storage unit 11.

[0054] The finished product storage unit 11 is located downstream of the post-processing quality inspection unit and is configured to store finished corrugated sheets 45 that have passed the inspection by the post-processing quality inspection unit. As an example, the finished product storage unit 11 adopts a pallet-type storage structure, which mainly includes a support pallet configured as a single-layer or multi-layer stackable pallet. Each pallet is divided into multiple storage locations, and each storage location is designed to stack multiple finished corrugated sheets 45. As another example, the finished product storage unit 11 adopts a single-location storage rack with multiple storage locations, each configured to store only one finished corrugated sheet 45. The storage locations are separated from each other to avoid collisions or friction between the finished corrugated sheets 45, preventing damage to the sheet surface.

[0055] The raw material pretreatment unit includes, in sequence along the material conveying direction 40, a raw material storage area 1, a raw material loading station 2, and a cutting station 3. The raw material storage area 1 stores the flat raw material 41 to be processed. The loading station receives the flat raw material 41. The cutting station 3 cuts the material into pre-formed sheet metal 42 of a predetermined size. Cutting methods include, but are not limited to, laser cutting. The pre-formed sheet metal 42 formed after laser cutting is fed into the sheet metal buffer area 4 of the corrugated forming unit by the first conveying mechanism. The material transfer assembly also includes a third transfer mechanism, configured to transport workpieces within the raw material pretreatment unit, performing the transfer of material 40 between the raw material storage area 1 and the raw material loading station 2. The third transfer mechanism can be a handling robot 30, as described above, and will not be repeated here. The raw material loading station 2 and the cutting station 3 are sequentially connected by a conveying mechanism 20 (specifically, a fourth conveying mechanism). The fourth conveying mechanism is used to transfer materials from one station to the next. Specifically, the flat raw material in the raw material storage area 1 is taken out by the third transfer mechanism and transferred to the raw material loading station 2, then transferred to the cutting station 3 by the third conveying mechanism to be cut into the sheet material to be formed, and finally the sheet material to be formed is sent into the sheet material buffer area 4 of the corrugated forming unit by the first conveying mechanism.

[0056] The present invention also provides a method for forming a corrugated sheet, based on the above-mentioned production line, such as... Figure 6 As shown, it includes the following steps: S1. Raw material loading: Place material 40 (i.e. the board to be processed) in the raw material storage area 1 and transfer the board to be processed to the raw material loading station 2. S2, Cutting and blanking: Cutting station 3 cuts the board according to the preset cutting path to obtain the cut board material 42 to be formed. The cut board material 42 is sent into the board material buffer area 4 by the conveying mechanism (first conveying mechanism). S3, Rough forming: The handling robot 30 grabs the sheet material 42 to be formed from the sheet material buffer area 4 and sends it to the rough forming station 5. The rough forming station 5 presses the sheet material 42 to be formed to form the rough formed sheet material 43. S4. Fine forming: After the rough forming is completed, the transport robot 30 takes the rough formed corrugated plate out from the rough forming station 5 and sends it to the fine forming station 6. The fine forming station 6 performs secondary pressing and shaping on the rough formed corrugated plate to obtain the fine formed corrugated plate sheet 44. S5. End bending: The corrugated sheet 44 after precision forming is sent to the end bending station by the conveying mechanism. The end of the corrugated sheet after precision forming is bent at the end bending station to form the finished corrugated sheet 45 after end bending. If necessary, manual assistance can be used to complete positioning, picking and placing or quality confirmation. S6. Cleaning treatment: The finished corrugated plate 45 after end bending enters the cleaning station 8, where the cleaning station 8 removes oil, metal shavings and other processing residues from the surface of the finished corrugated plate 45. S7. Inspection and sorting: The cleaned finished corrugated board 45 enters the inspection and sorting station 9. The inspection and sorting station 9 inspects the surface condition and / or key dimensions of the finished corrugated board 45 and sorts them according to the inspection results. S8. Non-conforming product rework and re-inspection: Non-conforming finished corrugated sheets 45 enter the non-conforming product rework area 12 for rework. After rework, the finished corrugated sheets 45 re-enter the cleaning station 8 or the inspection and sorting station 9 for re-inspection. S9. Warehousing and Finished Product Storage: Qualified finished corrugated sheets 45 are sent to warehousing station 10 and then from warehousing station 10 to finished product storage unit 11 to complete storage.

[0057] Compared with existing technologies, the corrugated plate forming production line and forming method for nuclear power steam generators provided by this invention have the following advantages: (i) Realizing a streamlined production line operation for the entire corrugated sheet forming process. This invention organizes processes such as raw material feeding, laser cutting, sheet buffering, rough forming, fine forming, end bending, cleaning, inspection and sorting, warehousing, and rework of defective products into a continuous production line. Through the connection of conveying mechanisms and handling robots, materials can flow continuously according to the set process route, realizing continuous production from flat raw materials to finished corrugated sheets entering the warehouse.

[0058] (II) Adaptive matching of upstream and downstream cycle times is achieved through a three-level progressive material feeding control strategy. This invention incorporates a sheet metal buffer zone in the corrugated forming unit. The control system executes a three-level progressive control strategy of "normal feeding - decelerated feeding - paused feeding" based on the current buffer volume and the occupancy status of the rough forming and fine forming stations. This dynamically adjusts the upstream feeding speed according to the real-time processing capacity of the downstream forming station, effectively preventing frequent equipment start-ups and shutdowns caused by buffer overflow or downstream material shortages, thus ensuring the continuity and stability of the entire production line.

[0059] Furthermore, by using status sensing components and a readiness signal mechanism, accurate perception and reliable determination of workstation status are achieved, avoiding equipment failure or workpiece damage caused by forcibly loading materials when the equipment is not ready, thus improving the reliability and safety of the production line.

[0060] (III) Maximizing equipment utilization through a transfer scheduling strategy of "material unloading prioritizes transfer, and transfer prioritizes material loading". In this invention, the same handling robot completes the material loading from the sheet metal buffer area to the rough forming station, the transfer from the rough forming station to the fine forming station, and the unloading from the fine forming station to the downstream conveying mechanism in the corrugated forming unit. The control system controls the handling robot's actions according to the priority scheduling strategy of "material unloading prioritizes transfer, and transfer prioritizes material loading", that is, it prioritizes transferring the finely formed corrugated sheet out, then transfers the rough-formed corrugated sheet into the fine forming station, and finally sends the sheet metal to be formed into the rough forming station. This scheduling method can reduce the occupancy and waiting time of the rough forming station and the fine forming station, and reduce the accumulation of material in the forming area.

[0061] (iv) Establish a closed-loop quality process covering forming, inspection, rework, and warehousing. This invention integrates cleaning, inspection and sorting, rework of defective products, and automatic warehousing functions in the post-processing quality inspection unit. The inspection and sorting station performs quality inspection on the formed corrugated plates and diverts defective products to the rework area. After rework, the workpieces re-enter the cleaning or inspection and sorting station for re-inspection. Only after passing the re-inspection can they enter the warehousing stage, ensuring that only qualified finished products enter the inventory.

[0062] (v) Reducing the risk of surface damage during material transfer. This invention uses a handling robot in conjunction with a suction cup assembly to transfer materials, enabling non-rigid or low-damage handling between the conveying mechanism and each designated workstation. Compared to manual handling or ordinary clamping handling methods, this method can reduce the risk of scratches, indentations, and waveform damage on the corrugated plate surface, and is more suitable for corrugated plates used in nuclear power steam generators where high surface quality is required.

[0063] (vi) Improve the stability of production line operation and output per unit time. This invention enables each process in the production line to operate at a mutually matched pace through continuous chemical station layout, low-damage robot transfer, stable connection between rough and fine forming, closed-loop inspection and rework warehousing, priority scheduling of robots in the forming area, and incoming material cycle control. This reduces bottleneck station blockage, ineffective waiting of handling robots, and material retention, thereby improving the stability of production line operation and output per unit time.

[0064] The present invention has been described in detail above, with the aim of enabling those skilled in the art to understand and implement the invention. However, this description should not be construed as limiting the scope of protection of the invention. All equivalent changes or modifications made in accordance with the spirit and essence of the invention should be included within the scope of protection of the invention.

Claims

1. A production line for forming corrugated plates for nuclear power steam generators, characterized in that, It includes a control system, material transfer components, and raw material pretreatment units, corrugated forming units, end bending units, post-processing quality inspection units, and finished product storage units arranged sequentially along the process flow direction. The raw material pretreatment unit is configured to cut the material into sheet materials to be formed. The corrugated forming unit is configured to process the sheet material to be formed into a regular corrugated sheet, which includes a sheet material buffer area, a rough forming station, a fine forming station and a status sensing component. The status sensing component is configured to detect the buffer amount of the sheet material buffer area and the occupancy status of the rough forming station and the fine forming station. The end bending unit is configured to bend the end of the corrugated sheet to form a finished corrugated sheet; The post-processing quality inspection unit is configured to inspect and sort the finished corrugated sheets; The finished product storage unit is configured to store the finished corrugated sheets that have passed inspection; The material transfer assembly includes a first conveying mechanism and a first transfer mechanism. The first conveying mechanism is arranged between the raw material pretreatment unit and the corrugated forming unit, and the first transfer mechanism is configured to transport workpieces within the corrugated forming unit. The control system is communicatively connected to the forming equipment of the corrugated forming unit, the status sensing component, and the material transfer component, and is configured to perform the following steps: (1) Based on the detection result of the state sensing component, determine whether the current buffer amount of the plate material buffer area has reached the first set threshold. If it has not reached the threshold, control the first conveying mechanism to supply material to the plate material buffer area according to the initial set rhythm. If the condition is met, proceed to step (2). (2) Based on the detection results of the state sensing component, determine whether the rough forming station and the fine forming station meet the continuous occupancy condition. If the condition is not met, the first conveying mechanism is controlled to reduce the feeding rate to the sheet metal buffer area; If the conditions are met, it is further determined whether the current buffer amount of the sheet metal buffer area has reached the second set threshold. If it has, the first conveying mechanism is controlled to suspend feeding material to the sheet metal buffer area until the current buffer amount falls below the second set threshold or at least one of the rough forming station and the fine forming station is in a state that can receive new material. Otherwise, the first conveying mechanism is controlled to reduce the feeding rate to the sheet metal buffer area.

2. The forming production line for corrugated plates for nuclear power steam generators according to claim 1, characterized in that, The continuous occupancy condition refers to the situation where, within a set time period or in multiple consecutive detection cycles, both the rough forming station and the fine forming station are in a state where they cannot accept new materials.

3. The forming production line for corrugated plates for nuclear power steam generators according to claim 2, characterized in that, The state of "unacceptable new materials" refers to one of the following situations: (a) The state sensing component detects that a workpiece exists at the corresponding workstation; (b) The status sensing component detects that there is no workpiece at the corresponding workstation, but the forming equipment corresponding to the workstation does not send a ready signal to the control system.

4. The forming production line for corrugated plates for nuclear power steam generators according to claim 1, characterized in that, The state of being able to receive new materials refers to the following: the state sensing component does not detect the presence of a workpiece at the corresponding workstation, and the forming equipment corresponding to that workstation has sent a ready signal to the control system.

5. The forming production line for corrugated plates for nuclear power steam generators according to claim 3 or 4, characterized in that, The ready signal is an electrical signal generated when the forming equipment returns to the allowable loading position and is in a fault-free standby state after completing the previous processing cycle.

6. The forming production line for corrugated plates for nuclear power steam generators according to claim 1, characterized in that, Reducing the feeding rate includes decreasing the feeding frequency of the first conveying mechanism, or extending the time interval between two adjacent feedings; and / or, The current cache size of the sheet metal cache area is the number of sheets metal already stored in the sheet metal cache area or the proportion of cache positions already occupied.

7. The forming production line for corrugated plates for nuclear power steam generators according to claim 1, characterized in that, The first transfer mechanism is configured to perform the following handling actions: loading from the sheet metal buffer area to the rough forming station, transferring from the rough forming station to the fine forming station, and unloading from the fine forming station to subsequent stations.

8. The forming production line for corrugated plates for nuclear power steam generators according to claim 7, characterized in that, The control system is also configured to perform the following transfer control steps: (I) Determine whether the first transfer mechanism is in an idle state. If not, control the first transfer mechanism to continue performing the current action until it is in an idle state. If yes, proceed to step (II). (II) Following the priority order of material feeding over sequence transfer, and sequence transfer over material feeding, the following conditions are judged in sequence and the corresponding operations are performed: First priority: Determine whether the precision forming station has completed processing and whether the second conveying mechanism connecting the end bending unit and the precision forming station is in a state that can receive new materials. If so, control the first transfer mechanism to take out the corrugated sheet in the precision forming station and transfer it to the second conveying mechanism. If the first priority condition is not met, then proceed to the second priority: determine whether the rough forming station has completed processing and whether the fine forming station is in a state that can receive new materials. If so, control the first transfer mechanism to take out the workpiece in the rough forming station and transfer it to the fine forming station. If neither the first priority nor the second priority condition is met, then proceed to the third priority: determine whether there is a sheet material to be formed in the sheet material buffer area and whether the rough forming station is in a state that can receive new materials. If so, control the first transfer mechanism to take out the sheet material to be formed in the sheet material buffer area and transfer it to the rough forming station. If the conditions for the first priority, the second priority, and the third priority are not met, then the first transfer mechanism is controlled to maintain its current state and return to the execution step (I).

9. The forming production line for corrugated plates for nuclear power steam generators according to claim 8, characterized in that, The control system is further configured to: lock other handling actions that conflict with the current handling action during any handling action performed by the first transfer mechanism; and release the interlock state after the current handling action is completed and the first transfer mechanism returns to a safe position, and the control system reacquires the detection signal of the state sensing component and enters the next round of scheduling.

10. The forming production line for corrugated plates for nuclear power steam generators according to claim 1, characterized in that, The first transfer mechanism is provided in multiple ways, and each of them corresponds to the sheet metal buffer area, the rough forming station and the fine forming station respectively; The first transfer mechanism corresponding to the sheet metal buffer area is configured to feed material from the first conveying mechanism to the sheet metal buffer area, the first transfer mechanism corresponding to the rough forming station is configured to feed material from the sheet metal buffer area to the rough forming station, and the first transfer mechanism corresponding to the fine forming station is configured to feed material from the rough forming station to the fine forming station.

11. The forming production line for corrugated plates for nuclear power steam generators according to any one of claims 1, 7, 8, 9, and 10, characterized in that, The first transfer mechanism is a handling robot, which includes a robotic arm and a material handling device disposed at the end of the robotic arm. The material handling device is configured to pick up and place workpieces by means of adsorption. And / or, The sheet metal buffer area has a buffer platform, which is configured to support the stacking of the sheet metal to be formed.

12. The forming production line for corrugated plates for nuclear power steam generators according to claim 1, characterized in that, The post-processing quality inspection unit includes a cleaning station, an inspection and sorting station, and a non-conforming product rework area. The cleaning station is configured to perform surface cleaning on the workpiece. The inspection and sorting station is configured to perform quality inspection on the cleaned workpieces and separate qualified products from unqualified products; The defective product rework area is configured to receive defective products diverted from the inspection and sorting station, perform rework on them, and send the reworked products back to the inspection and sorting station for re-inspection.

13. The forming production line for corrugated plates for nuclear power steam generators according to claim 1, characterized in that, The raw material pretreatment unit includes a raw material storage area, a raw material loading station, and a cutting station. The output end of the cutting station is connected to the input end of the sheet metal buffer area through the first conveying mechanism. The material transfer assembly also includes a third transfer mechanism, which is configured to transport workpieces within the pretreatment unit.

14. The forming production line for corrugated plates for nuclear power steam generators according to claim 1, characterized in that, The finished product storage unit has multiple storage locations, each of which is configured to store one or more finished corrugated sheets.

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