Intelligent equipment based on uranium concentration plant flat plate support arm installation

Abstract

The utility model belongs to the technical field of workpiece installation and welding, and particularly relates to intelligent equipment based on uranium concentration plant flat plate supporting arm installation. A base is arranged on the portal, a six-axis mechanical arm is installed on the base, and a welding gun, a collision sensor and a welding seam tracking sensor are arranged at the tail end of the six-axis mechanical arm. And a crawler-type walking mechanism is arranged. The track is made of synthetic rubber. And a three-stage composite lifting mechanism is arranged. And a hydraulic and servo position control system is arranged. The utility model solves the problems of quality, cost and efficiency in the welding process of mounting the flat plate support arm to the door-shaped frame.

Description

Technical Field

[0001] This utility model belongs to the field of workpiece installation and welding technology, specifically relating to an intelligent device based on the installation of a flat support arm in a uranium enrichment plant. Background Technology

[0002] The installation process in centrifugal uranium enrichment projects involves a large amount of welding work, such as welding of support arms, plates, brackets, and portal frame beams. This type of welding work is characterized by its large quantity, tight schedule, heavy workload, high labor costs, and low efficiency, and it cannot guarantee 100% reliable quality. To date, there are no examples in the uranium enrichment industry of applying intelligent welding robots to the installation of plate support arms onto portal frames.

[0003] Based on the above, a multi-dimensional intelligent welding robot was designed and developed. This welding robot can perform a series of important operations such as translation, lifting, rotation, welding, recognition, tracking, and obstacle avoidance. It can replace manual welding and realize fast and efficient welding and installation of flat plates and arms, thereby effectively reducing labor intensity, improving installation progress and welding quality, and reducing labor costs. Utility Model Content

[0004] The purpose of this invention is to provide an intelligent device for installing flat panel supports in uranium enrichment plants, which solves the quality, cost, and efficiency problems in the process of installing flat panel supports into portal frame welding.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A smart device based on a flat-panel support arm in a uranium enrichment plant has a base on the gantry, on which a six-axis robotic arm is mounted. The end of the six-axis robotic arm is equipped with a welding torch, a collision sensor, and a weld seam tracking sensor.

[0007] It is equipped with a tracked walking mechanism. The tracks are made of synthetic rubber.

[0008] It is equipped with a three-stage composite lifting mechanism and a hydraulic + servo position control system.

[0009] The six-axis robotic arm has a reach of 1500mm and a load capacity of 16kg.

[0010] The beneficial effects achieved by this utility model are as follows:

[0011] This invention boasts advanced features including high automation, high implementability, high production flexibility, high system compatibility, high manufacturability, high operational efficiency, low operational difficulty, low safety risk, and low auxiliary labor requirements. The introduction of intelligent equipment for welding flat plates and outriggers can effectively improve work efficiency, enhance project quality, reduce operators, and significantly lower labor costs. This device can simultaneously install and weld five layers of portal frame flat plates and outriggers, filling a technological gap in welding technology for intelligent factories. The research results have broad application prospects and high production flexibility. In addition to meeting current welding needs for flat plates and outriggers, the replacement of the robot's end effector can also enable applications such as factory inspection, fault diagnosis, and material transfer. All research results are developed in-house, and each technical method is the first of its kind in the industry. Applications include, but are not limited to, welding of outriggers, flat plates, supports, and portal frame beams. Considering that the welding workpieces such as the outrigger, plate, bracket, and portal frame channel beam are all standard parts, and the workpiece materials meet the welding requirements, the workpiece blanking accuracy is high, and batch welding can be carried out, the basic conditions meet the functional requirements of the welding robot, improve the project progress and quality, and reduce labor costs. Attached Figure Description

[0012] Figure 1 Front view of intelligent equipment installed on a flat support arm in a uranium enrichment plant;

[0013] Figure 2 Geodetic coordinate map of intelligent equipment installed on a flat support arm in a uranium enrichment plant;

[0014] Figure 3 Schematic diagram of the portal frame.

[0015] 1-Welding robot chassis; 2-X-axis; 3-Z-axis chassis; 4-Y-axis; 5-Welding torch; 6-Wire feeding mechanism; 7-Wire feeder tray; 8-Outer gantry; 9-Inner gantry A; 10-Inner gantry B; 11-Hydraulic cylinder top core; 12-Welding machine protective cover; 14-Robot 1-axis; 15-Robot 2-axis; 16-Robot 3-axis; 18-Robot 4-axis. Detailed Implementation

[0016] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0017] The intelligent welding robot consists of a tracked chassis, a lifting gantry, and welding units. To improve efficiency, a servo-controlled base is installed on the gantry, and a six-axis robotic arm is mounted on the base. A welding torch, a collision sensor, and a weld seam tracking sensor are located on the sixth axis of the robotic arm. The symmetrical design allows for simultaneous welding on both sides at the same location, reducing downtime caused by frequent robot lifting and lowering. After completing the welding of one gantry frame, the robot moves along the channel to the center of the next gantry frame and repeats the welding process.

[0018] When the intelligent welding robot moves between work areas, the necessary breaks and preparation periods are relatively short. Therefore, the robot's movement is achieved through wired manual operation, which is both safe and convenient while effectively controlling costs. The walking mechanism is a tracked system made of high-strength synthetic rubber, which is flexible and can easily adapt to uneven ground and holes. During movement, the synthetic rubber track rests between the ground and the drive wheels, preventing damage to the ground. A three-stage composite lifting mechanism allows for flexible translation and lifting. In addition to covering the working elevation, the gantry structure made of reinforced special steel ensures component rigidity, which is very beneficial for avoiding swaying during high-altitude operations. The lifting drive is hydraulic, which has the advantages of large thrust, stable operation, and easy control.

[0019] The robotic arm employs a 6-DOF articulated robot with a 1500mm reach and a 16kg load capacity. This 6-DOF robot can flexibly move and adjust the position and movement of the welding torch, and achieve seamless welding without blind spots through programming and arc tracking technology. Specifically, the position and trajectory of the welding torch can be controlled by a program, and the arc state during the welding process can be monitored and adjusted in real time using arc tracking technology to ensure omnidirectional automated welding and guarantee that the weld quality and shape meet requirements.

[0020] The welding robot is a six-axis robot that uses a geodetic coordinate system. It is set to move parallel along the X, Y, and Z axes; it can also perform rotations around the A, B, and C axes, with axis A rotating around the X axis, axis B rotating around the Y axis, and axis C rotating around the Z axis, following the right-hand screw rule.

[0021] The workspace in this study is arranged in a row-and-column pattern, with the work areas positioned on both sides of the passageway. Vertically, it is divided into three layers, each with two rows, for a total height of approximately 6 meters. The spacing between each layer is approximately 1.23 meters, and the passageway width is approximately 1.5 meters. The ground is a primary surface, with uneven surfaces and small pits. To adapt to the working environment, the robot needs to possess the following capabilities: good maneuverability; stable posture maintenance; the ability to freely adjust its position within the working elevation range; flexible free movement; intelligent position and weld seam recognition; rapid and effective safety assurance; ease of operation; and high-efficiency welding capabilities.

[0022] Based on the above analysis of the robot's functional performance, the robot is designed with a tracked chassis, an independent lifting system, an independent welding unit, and a hydraulic + servo position control system.

[0023] The working principle of the welding robot is as follows: The welding robot moves to the designated welding position via a tracked chassis; the positions of robot axes 1, 2, 3, and 4 are adjusted through the coordinated operation of the X-axis, Z-axis chassis, and Y-axis; and the outer gantry, inner gantry A, inner gantry B, and hydraulic cylinder lifting gantry mechanism are used for vertical adjustment to ensure accurate positioning. Finally, welding is performed through the cooperation of the welding torch, wire feeding mechanism, wire feeder tray, and welding machine protective cover. In addition, the realization of the above functions also requires the cooperation of systems such as a recognition system, collision sensors, and weld seam tracking sensors.

Claims

1. An intelligent device based on the installation of a uranium enrichment plant slab arm, characterized by: The gantry is provided with a base, and a six-axis mechanical arm is installed on the base, and the end of the six-axis mechanical arm is provided with a welding gun, a collision sensor and a weld tracking sensor.

2. The uranium enrichment plant flat panel arm mounted smart device of claim 1, wherein: The walking mechanism is provided with a caterpillar track.

3. The uranium enrichment plant flat panel arm mounted smart device of claim 2, wherein: The caterpillar track is made of synthetic rubber.

4. The uranium enrichment plant panel arm mounted smart device based on claim 1, characterized by: The three-stage composite lifting mechanism is provided.

5. The uranium enrichment plant panel arm mounted smart device based on claim 1, characterized by: The six-axis mechanical arm has an arm span of 1500mm.

6. The uranium enrichment plant flat plate arm mounted smart device of claim 1, wherein: The six-axis mechanical arm has a load of 16kg.

7. The uranium enrichment plant panel arm mounted smart device based on claim 1, characterized by: The hydraulic + servo position control system is provided.

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