CN108500422B

CN108500422B - Sealing weld bead surfacing maintenance device

Info

Publication number: CN108500422B
Application number: CN201710101868.4A
Authority: CN
Inventors: 文忠; 俞照辉; 闫国华; 李玮; 叶琛; 徐进津
Original assignee: State Nuclear Power Plant Service Co Ltd
Current assignee: State Nuclear Power Plant Service Co Ltd
Priority date: 2017-02-24
Filing date: 2017-02-24
Publication date: 2023-06-09
Anticipated expiration: 2037-02-24
Also published as: CN108500422A

Abstract

The invention provides a sealing weld bead surfacing maintenance device which comprises a mounting base with an accommodating inner cavity, a clamping mechanism, a rotating mechanism and a welding module, wherein the clamping mechanism is arranged on the mounting base; the installation base is provided with an installation through groove which is penetrated up and down and is used for the penetration of a sealing weld carrier, and the installation base is provided with a rotating mechanism fixing disc positioned at the lower end of the accommodating inner cavity; the clamping mechanism is arranged in the accommodating cavity of the mounting base and is provided with two symmetrically arranged clamping hoops, and the two clamping hoops can move oppositely along the radial direction of the sealing weld carrier and are used for fixing the mounting base on the periphery of the sealing weld carrier; the rotating mechanism is arranged on the lower end surface of the rotating mechanism fixing disc and provided with a welding motion fixing disc which can rotate along the circumferential direction of the sealing weld carrier; the welding module is arranged on the welding motion fixing disc and provided with a welding assembly and a wire feeding nozzle assembly. The automatic surfacing operation can be realized, the operation is simple, the installation time is short, the surfacing maintenance time is shortened, and the maintenance operation cost of the sealing weld joint is greatly reduced.

Description

Sealing weld bead surfacing maintenance device

Technical Field

The invention relates to the field of welding, overlaying and maintenance of sealing weld joints, in particular to a sealing weld joint overlaying maintenance device for a Control Rod Driving Mechanism (CRDM) of a nuclear power station.

Background

The Control Rod Driving Mechanism (CRDM) is a servo mechanism of a reactor control and safety protection system, and has the functions of driving the control rod assembly to move up and down in the reactor core according to the instruction of the reactor control and safety protection system, keeping the control rod assembly at the instruction height or cutting off the power supply to drop the rod, completing the startup, the power adjustment, the power maintenance, the safe shutdown and the accident shutdown of the reactor, and directly influencing the safety and the operation of the reactor. A plurality of control rod driving mechanisms are distributed on the top cover of the reactor pressure vessel, and a plurality of sealing welding seams are arranged from bottom to top for realizing the connection between the control rod driving mechanisms and the reactor top cover and each part, so that different pile types are different. The sealing weld joints are mainly distributed on the travel sleeve and the pressure-resistant shell of the reactor pressure vessel, so that the sealing effect is achieved, no leakage is allowed in the whole life, but according to the running experience of nuclear power engineering at home and abroad, the occurrence of leakage events of the sealing weld joints of the CRDM is a fault with higher frequency. The boric acid water leaked from the sealing weld joint can cause corrosion damage to the vicinity of the leakage part, even the top cover is corroded to penetrate the sealing weld joint, and the like, so that the safe operation of the nuclear power station, even the inducement of nuclear safety accidents, can be seriously damaged, and if the field maintenance technology of the sealing weld joint can be mastered, the sealing weld joint can be maintained in time, so that the operation efficiency and the operation reliability of the power station can be obviously improved.

Aiming at the leakage maintenance of the CRDM sealing weld joint of the nuclear power station, two schemes of the maintenance surfacing technology in the United states and the CRDM integral replacement technology in France mainly exist internationally. Compared with the French CRDM integral replacement technology, the American repair surfacing technology has the advantages of good technical reliability, relatively short maintenance period and relatively good economy, but the repair equipment in the technology has the advantages of complex structure, large size, complex process control and extremely high repair cost. At present, when the leakage fault of the sealing weld joint occurs in China, the maintenance of the sealing weld joint is highly dependent on foreign import, so that the cost is quite high, the maintenance period is long, and the operation efficiency of the nuclear power station is seriously affected.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a sealing bead weld overlay welding maintenance device, which is suitable for welding, overlay welding, and maintenance of sealing beads in the field, and which greatly reduces the operation cost.

In order to achieve the above object, the present invention provides a sealing bead weld build-up welding maintenance device, comprising a mounting base having a receiving cavity, a clamping mechanism, a rotating mechanism, and a welding module; the mounting base is provided with a mounting through groove which is vertically communicated and is used for the penetration of a sealing weld carrier, the accommodating cavity is communicated with the mounting through groove, and the mounting base is provided with a rotating mechanism fixing disc positioned at the lower end of the accommodating cavity; the clamping mechanism is arranged in the accommodating cavity of the mounting base and is provided with two symmetrically arranged clamping hoops, and the two clamping hoops can move oppositely along the radial direction of the sealing weld carrier and are used for fixing the mounting base on the periphery of the sealing weld carrier; the rotating mechanism is arranged on the lower end surface of the rotating mechanism fixing disc and is provided with a welding motion fixing disc which can rotate along the circumferential direction of the sealing weld carrier; the welding module is arranged on the welding motion fixing disc and is provided with a welding assembly and a wire feeding nozzle assembly.

Further, the installation base further comprises a cylindrical outer shell and an upper cover plate fixedly arranged at the upper end of the outer shell, the rotating mechanism fixing disc is fixedly arranged at the lower end of the outer shell, at least one lifting lug is fixedly arranged on the upper end face of the upper cover plate, the accommodating inner cavity is defined by the upper cover plate, the outer shell and the rotating mechanism fixing disc, and the installation through groove is positioned on the inner side of the outer shell and penetrates through the upper cover plate and the rotating mechanism fixing disc up and down.

Preferably, an upper guide block fixed on the upper cover plate and a lower guide block fixed on the rotating mechanism fixing disc are further arranged in the accommodating cavity of the mounting base, an upper guide hole penetrating up and down is formed in the upper guide block, a lower guide hole penetrating up and down is formed in the lower guide block, and the upper guide hole, the lower guide hole and the mounting through groove are coaxially arranged and communicated with each other.

Preferably, the upper guide block is provided with a chamfer at the lower end of the upper guide hole and the lower guide block is provided with a chamfer at the lower end of the lower guide hole.

Further, the clamping mechanism comprises two arc-shaped mounting plates, two clamping driving screw rods and a clamping motor assembly, wherein the arc-shaped mounting plates are respectively positioned at the outer peripheral sides of the two clamping hoops, the two clamping driving screw rods are respectively positioned at the two sides of the clamping hoops, the clamping motor assembly is fixed on the arc-shaped mounting plates, the two arc-shaped mounting plates are both fixed on the upper end face of a fixed disc of the rotating mechanism, the two ends of the two clamping driving screw rods are both rotatably supported in the two arc-shaped mounting plates through bearings, and clamping driving nuts respectively matched with the two clamping driving screw rods are respectively fixed at the two sides of the two clamping hoops; and one clamping driving screw rod of the two clamping driving screw rods is driven to rotate by the clamping motor assembly, and the clamping driving screw rod is connected with the other clamping driving screw rod through the first transmission unit to drive the other clamping driving screw rod to synchronously rotate.

Preferably, a plurality of elastic pressing plates are fixedly arranged on the inner peripheral surface of each clamping hoop, and the elastic pressing plates are used for being in contact with the outer peripheral surface of the sealing weld carrier.

Preferably, at least one guide rod parallel to the clamping driving screw rod is fixedly arranged between the two arc-shaped mounting plates, and a guide sleeve matched with the guide rod is fixedly arranged in each clamping clamp.

Further, the rotating mechanism comprises a rotating motor assembly fixed on a fixed disc of the rotating mechanism, a lower transmission gear driven by the rotating motor assembly to rotate, an internal tooth annular slideway with an internal transmission tooth surface, an annular guide rail sliding disc fixed with the internal tooth annular slideway, an annular guide rail fixed disc fixed on the lower end surface of the fixed disc of the rotating mechanism, and a plurality of V-shaped groove bearings circumferentially distributed on the annular guide rail fixed disc, wherein the lower transmission gear is meshed with the internal transmission tooth surface of the internal tooth annular slideway; the periphery of the internal tooth annular slide way is provided with V-shaped track parts, the periphery of each V-shaped groove bearing is provided with V-shaped grooves, the V-shaped track parts of the internal tooth annular slide way are matched with the V-shaped grooves of the plurality of V-shaped groove bearings, and the welding motion fixing disc is arranged on the lower end face of the annular guide rail sliding disc.

Further, the welding motion module comprises a radial adjusting mechanism with a first radial moving part, a radial moving mechanism with a second radial moving part, an axial moving mechanism with an axial moving part and a rotating mechanism with a rotating part, wherein the radial adjusting mechanism is arranged on the lower end face of the welding motion fixing disc through a welding motion fixing block, the first radial moving part can move along the radial direction of the sealing weld carrier and is fixed with the radial moving mechanism, the second radial moving part can move along the radial direction of the sealing weld carrier and is fixed with the axial moving mechanism, the axial moving part can move along the axial direction of the sealing weld carrier and is fixed with the rotating mechanism, the rotating part is perpendicular to the axial moving part, and the welding module is fixed with the rotating part.

Preferably, the radial adjusting mechanism comprises a welding motion connecting plate fixed on the welding motion fixing block, a radial dovetail groove formed in the welding motion connecting plate, and a radial dovetail guide rail fixed on the radial motion mechanism, wherein the radial dovetail groove and the radial dovetail guide rail are matched and are parallel to the radial direction of the sealing weld carrier, the lower end of the welding motion connecting plate in the radial dovetail groove is detachably connected with a pressing block, and the radial dovetail guide rail forms the first radial moving part.

Further, the radial movement mechanism comprises a radial movement base fixed on the first radial movement part, a radial movement driving screw rod extending along the radial direction of the sealing weld carrier, a radial nut support fixed with a radial movement nut, and a radial motor assembly mounted on the radial movement base, wherein the radial motor assembly drives the radial movement driving screw rod to rotate, both ends of the radial movement driving screw rod are rotatably supported in the radial movement base through bearings, the radial movement driving screw rod is matched with the radial movement nut, and the radial nut support is connected with the axial movement mechanism through an axial movement connecting plate to form the second radial movement part.

Preferably, the radial movement mechanism further comprises a radial guide rail sliding block fixed on the radial nut support and a radial linear guide rail parallel to the radial movement driving screw rod, two ends of the radial linear guide rail are fixed in the radial movement base, and the radial guide rail sliding block is matched with the radial linear guide rail.

Further, the axial movement mechanism comprises an axial movement base fixed on the second radial movement part, an axial movement driving screw rod axially parallel to the sealing weld carrier, an axial nut support fixed with an axial movement nut and an axial motor assembly mounted on the axial movement base, wherein the axial motor assembly drives the axial movement driving screw rod to rotate, both ends of the axial movement driving screw rod are rotatably supported in the axial movement base through bearings, the axial movement driving screw rod is matched with the axial movement nut, and the axial nut support is connected with the axial movement mechanism through a rotary movement connecting plate to form the axial movement part.

Preferably, the axial movement mechanism further comprises an axial guide rail sliding block fixed on the axial nut support and an axial linear guide rail parallel to the axial movement driving screw rod, two ends of the axial linear guide rail are fixed in the axial movement base, and the axial guide rail sliding block is matched with the axial linear guide rail.

Further, the rotating mechanism comprises a rotating motor fixing seat fixedly connected with the axial moving part, a rotating motor assembly and a rotating bearing jacket which are arranged on the rotating motor fixing seat, and a rotating mandrel driven to rotate by the rotating motor assembly, wherein the rotating mandrel is rotatably supported in the rotating bearing jacket through a bearing, and one end of the rotating mandrel, far away from the rotating motor assembly, is connected with a welding module through a welding module supporting plate to form the rotating part.

Further, the welding module comprises a welding module support plate, a welding wire rotation adjusting fixing seat, a welding wire rotation adjusting block and a welding wire adjusting mechanism connecting plate, wherein the welding assembly is arranged on the welding module support plate, the wire feeding nozzle assembly is arranged on the welding wire adjusting mechanism connecting plate, the welding wire rotation adjusting fixing seat is arranged on the welding assembly, the welding wire rotation adjusting block and the welding wire rotation adjusting fixing seat are in running fit and can relatively rotate around the axis of the welding assembly, and the welding wire adjusting mechanism connecting plate and the welding wire rotation adjusting block are in moving fit and can relatively move along the axial direction of the welding assembly.

Preferably, the two ends of the welding wire rotation adjusting fixing seat are provided with lug parts positioned at two sides of the welding wire rotation adjusting block, each lug part is provided with an arc-shaped adjusting hole and a rotating hole, the two ends of the welding wire rotation adjusting block are respectively provided with rotating shaft parts, the rotating shafts at the two ends of the welding wire rotation adjusting block are respectively matched with the rotating holes at the two ends of the welding wire rotation adjusting fixing seat to form rotation movement, and the lug parts are detachably connected with the welding wire rotation adjusting block through screws penetrating through the arc-shaped adjusting holes.

Preferably, the welding wire rotation adjusting block is provided with a welding wire adjusting dovetail groove parallel to the axial direction of the welding assembly, the welding wire adjusting mechanism connecting plate is provided with a welding wire adjusting dovetail guide rail parallel to the axial direction of the welding assembly, and the welding wire adjusting dovetail guide rail is matched with the welding wire adjusting dovetail groove.

Preferably, a welding video monitoring assembly and a temperature sensor are installed on the welding wire adjusting mechanism connecting plate.

Further, a two-axis welding wire adjusting mechanism is further installed on the welding wire adjusting mechanism connecting plate, the output end of the two-axis welding wire adjusting mechanism is connected with a welding wire adjusting executing block, the welding wire adjusting executing block can move along the axial direction parallel to the welding assembly and along the axial direction perpendicular to the welding assembly, a welding wire adjusting connecting block is installed on the welding wire adjusting executing block, a conducting nozzle installing block is installed on the welding wire adjusting connecting block, and the wire feeding nozzle assembly is fixed on the conducting nozzle installing block.

Further, the two-axis welding wire adjusting mechanism comprises two welding wire adjusting mounting plates which are arranged in parallel, a parallel driving screw rod which is parallel to the axial direction of the welding wire assembly, a perpendicular driving gear shaft which is perpendicular to the axial direction of the welding wire assembly, a parallel nut guide block which is matched with the parallel driving screw rod, a perpendicular driving circular rack which is perpendicular to the axial direction of the welding wire assembly, a parallel motor assembly and a perpendicular motor assembly which are fixed on the welding wire adjusting mounting plates, the two welding wire adjusting mounting plates are fixed on the welding wire adjusting mechanism connecting plates, two ends of the parallel driving screw rod and two ends of the perpendicular driving gear shaft are rotatably supported in the two welding wire adjusting mounting plates through copper sleeves, the parallel driving screw rod is driven to rotate by the parallel motor assembly, the perpendicular driving gear shaft is driven to rotate by the perpendicular motor assembly, a sliding hole is formed in the parallel nut guide block, the perpendicular driving circular rack is movably arranged in the sliding hole of the parallel nut guide block in a penetrating mode and is meshed with the perpendicular driving gear shaft, and the welding wire adjusting executing block is fixed at one end of the perpendicular driving circular rack.

Preferably, a welding wire adjusting limiting block is fixed at the other end of the vertical driving circular rack, and the welding wire adjusting executing block and the welding wire adjusting limiting block are both positioned outside the sliding hole.

Further, the welding module further comprises a wire feeding disc and a wire feeding machine which are arranged on the lower end face of the welding motion fixing disc, the wire feeding nozzle assembly is connected with the wire feeding machine through a wire feeding pipe, and the wire feeding machine is used for feeding welding wires arranged on the wire feeding disc.

Preferably, a distance sensor is mounted on the lower end surface of the welding motion fixing plate.

Further, the periphery of the welding motion fixed disk is fixedly provided with a protruding installation block, a wiring support which extends up and down and is positioned on the periphery side of the installation base is fixed on the installation block, and the lower end face of the welding motion fixed disk is provided with a cable fixed block.

As described above, the sealing bead surfacing maintenance device according to the present invention has the following advantages:

according to the welding device, the whole device can be fixedly clamped on a sealing weld carrier (such as the outer wall of a CRDM travel sleeve or the outer wall of a pressure-resistant shell) through the clamping mechanism, a welding module can be automatically positioned to a sealing weld through a welding motion fixing disc of the rotating mechanism, so that automatic surfacing operation is realized, and the welding device is suitable for field welding maintenance operation and pre-service welding connection operation of CRDM sealing welds of nuclear power stations of different stacks; and this application easy operation, installation time are short, build-up welding maintenance time and before-service welding time effectively shorten to shorten the maintenance cycle of sealed welding seam greatly, effectively improve the operating efficiency of nuclear power station, and greatly reduced sealed welding seam's maintenance and before-service welding operation cost.

Drawings

Fig. 1 is a schematic structural view of a sealing bead weld overlay repair apparatus according to the present application.

Fig. 2 is a schematic diagram of connection between a welding module and a rotating mechanism in the present application.

Fig. 3 is a schematic diagram of the connection of the clamping mechanism and the rotating mechanism to the rotating mechanism fixing plate in the present application.

Fig. 4 is an internal structural view of the rotary mechanism in the present application.

Fig. 5 is an enlarged view of circle a of fig. 4.

Fig. 6 is a schematic structural view of the radial movement mechanism in the present application.

Fig. 7 is a schematic structural view of the axial movement mechanism in the present application.

Fig. 8 is a schematic structural view of a rotating mechanism in the present application.

Fig. 9 is a view showing a state of use of the sealing bead weld overlay repairing apparatus according to the present application.

Description of element reference numerals

1. Upper guide block 2 lifting lug

3. Upper cover plate 4 outer casing

5. Fixing disc for rotating mechanism of wiring support 6

7. Welding motion fixing block for annular cover 8

9. Radial movement base of welding movement connecting plate 10

11. Radial support side support plate of radial movement cover plate 12

13. Axial movement connecting plate for pressing block 14

15. Axial movement cover plate 16 axially supports side support plates

17. Axial shaft end cover of axial movement base 18

19. Axial fixed side support plate 20 rotary motion connecting plate

21. Rotary motor cover 22 rotary motor fixing seat

23. Rotating bearing housing 24 rotating mandrel

25. Welding wire rotation adjusting fixing seat of welding module supporting plate 26

27. Arc-shaped adjusting hole of welding wire rotation adjusting block 271

28. Dovetail groove block of welding wire adjusting dovetail guide rail 29

30. Welding video monitoring assembly 31 temperature sensor

32. Welding wire adjusting mechanism connecting plate 33 welding wire adjusting mounting plate

34. Vertical motor assembly 35 drives the rack bar vertically

36. Welding wire adjusting limiting block 37 wire feeding pipe

38. Vertical pinion 39 parallel motor assembly

40. Parallel pinion 41 mounting through groove

42. Welding wire adjusting lateral fixing plate 43 conductive nozzle mounting block

44. Welding wire adjusting connecting block 45 wire feeding nozzle assembly

46. Rotary limit switch of welding assembly 47

48. Wire feeding plate 49 wire feeding plate fixing plate

50. Wire feeder for cable fixing block 51

52. Welding motion fixed disk 53 clamping motor assembly

54. Arc mounting plate 55 clamping hoop

56. Guide sleeve of elastic pressing plate 57

58. Guide rod 59 clamps the drive nut

60. Synchronous toothed belt of synchronous pulley 61

62. Clamping driving screw 63 clamps spacing plectrum

64. Lower guide block 65 clamping limit switch

66. Clamping limit mounting plate 67V groove bearing

68. Annular guide rail sliding disk 69 internal tooth annular slideway

691. Inner drive tooth surface 70 distance sensor

71. Rotary limit switch of annular guide rail fixing disc 72

73. Rotation limit shifting piece 74 driving gear

75. Rotating electrical machine assembly of rotating electrical machine fixing seat 76

77. The driving large belt pulley 78 drives the small belt pulley

79. Drive toothed belt 80 clamping motor mounting plate

81. Drive gear on gear shaft 82

83. Radial nut support for lower drive gear 84

85. Radial pinion 86 radial motor assembly

87. Radial large gear 88 radial fixed side support plate

89. Radial limit switch 90 radial linear guide rail

91. Radial limiting poking piece for radial movement driving screw 92

93. Radial guide rail slide block 94 axial pinion

95. Axial motor assembly 96 axial bull gear

97. Axial limiting shifting piece for axial movement nut 98

99. Axial nut support 100 axial guide rail slider

101. Axial linear guide 102 axial movement driving screw

103. Axial limit switch 104 rotary motor assembly

105. Parallel large gear 106 is perpendicular to large gear

107. Welding wire adjusting execution block of welding wire adjusting lateral plate 108

109. Vertical drive gear shaft 110 drives lead screw in parallel

111. Parallel nut guide block 112 seals the weld

113. Pressure-proof casing of travel sleeve 114

115. Radial dovetail guide rail 116 two-axis welding wire adjusting mechanism

117. Mounting base 118 clamping mechanism

119. Rotating mechanism 120 welding module

121. Welding motion module

Detailed Description

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.

It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or scope thereof. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like are used herein for descriptive purposes only and not for purposes of limitation, and are intended to limit the scope of the invention as defined by the claims and the relative terms thereof as construed as corresponding to the claims.

The present application provides a seal bead weld overlay repair apparatus, as shown in fig. 1 and 3, comprising a mounting base 117 having a receiving cavity, a clamping mechanism 118, a rotating mechanism 119, and a welding module 120; the mounting base 117 is provided with a mounting through groove 41 which is vertically penetrated and is used for penetrating a sealing weld carrier, and the clamping mechanism 118 and the rotating mechanism 119 are penetrated by the mounting through groove 41, so that the mounting base 117, the clamping mechanism 118 and the rotating mechanism 119 are all hollow annular structures; the accommodating cavity in the mounting base 117 is communicated with the mounting through groove 41, and the mounting base 117 is provided with a rotating mechanism fixing disc 6 positioned at the lower end of the accommodating cavity; the clamping mechanism 118 is arranged in the accommodating cavity of the mounting base 117 and is provided with two symmetrically arranged clamping hoops 55, and the two clamping hoops 55 can move in opposite directions along the radial direction of the sealing weld carrier and are used for fixing the mounting base 117 on the periphery of the sealing weld carrier, so that the whole sealing weld surfacing maintenance device is fixed and positioned on the sealing weld carrier; the rotating mechanism 119 is mounted on the lower end surface of the rotating mechanism fixing disk 6 and has a welding motion fixing disk 52 rotatable in the circumferential direction of the seal bead carrier; the welding module 120 is mounted to the welding motion fixture plate 52 and has a welding assembly 46 and a wire feeder assembly 45, with a welding torch in the welding assembly 46 positioned opposite a wire feeder in the wire feeder assembly 45.

The sealing weld bead surfacing maintenance device is suitable for surfacing maintenance and pre-service welding connection of various sealing weld beads 112, in the following embodiments, the sealing weld bead surfacing maintenance device is used for surfacing maintenance and pre-service welding connection of the sealing weld beads 112 in a Control Rod Driving Mechanism (CRDM) of a nuclear power station, so that the sealing weld bead carrier is the outer wall of a CRDM travel sleeve 113 or the outer wall of a pressure-resistant shell 114, as shown in fig. 9, the travel sleeve 113 or the pressure-resistant shell 114 are cylindrical, the installation through groove 41 in the installation base 117 is also cylindrical, and the sealing weld beads 112 are arranged on the outer wall of the travel sleeve 113 or the pressure-resistant shell 114. In use, as shown in fig. 9, the mounting base 117 is fixed on the outer wall of the travel sleeve 113 or the outer wall of the pressure housing 114 through the clamping mechanism 118, so that the whole sealing bead surfacing maintenance device is fixedly clamped on the outer wall of the travel sleeve 113 or the outer wall of the pressure housing 114, and the mounting base 117 and the clamping mechanism 118 together form a fixed clamping module; then, the welding module 120 is automatically positioned at the sealing weld 112 by the circumferential movement of the welding movement fixing disc 52 in the rotating mechanism 119, and then the automatic surfacing operation is realized through the welding module 120. The method is applicable to field welding maintenance operation and pre-service welding connection operation of the CRDM sealing weld joints 112 of the nuclear power plants of different stacks, and is simple in operation, short in installation time, and effective in surfacing maintenance time and pre-service welding time shortening, so that the maintenance period of the sealing weld joints 112 is greatly shortened, the operation efficiency of the nuclear power plants is effectively improved, and the maintenance and pre-service welding operation cost of the sealing weld joints 112 is greatly reduced.

The mounting base 117 provides fixing and positioning functions for the sealing bead surfacing maintenance device, and is a mounting platform for each moving mechanism and each functional module in the sealing bead surfacing maintenance device, and the mounting platform carries the weight of each moving mechanism and each functional module and dynamic load in the operation process. In this application, the mounting base 117 adopts the following structure: as shown in fig. 1, the mounting base 117 further includes a cylindrical outer housing 4 and an upper cover plate 3 fixed at the upper end of the outer housing 4, where the outer housing 4 is formed by splicing four arc plates and is fixed at the circumferential edge of the upper end of the rotating mechanism fixing disc 6; four lifting lugs 2 uniformly distributed in the circumferential direction are fixedly arranged on the upper end face of the upper cover plate 3, so that the lifting of the sealing weld bead surfacing maintenance device is realized; the accommodating cavity is defined by the upper cover plate 3, the outer shell 4 and the rotating mechanism fixing disc 6, and the mounting through groove 41 is positioned at the inner side of the outer shell 4 and penetrates the upper cover plate 3 and the rotating mechanism fixing disc 6 up and down, so that the upper cover plate 3 and the rotating mechanism fixing disc 6 are circular.

After being lifted by the four lifting lugs 2, the sealing weld bead surfacing maintenance device is sleeved into a travel sleeve 113 or a pressure-resistant shell 114 from top to bottom; in order to ensure the accuracy of the movement of the sealing bead welding repair device during installation, as shown in fig. 1 and 3, an upper guide block 1 fixed at the lower end of the upper cover plate 3 and a lower guide block 64 fixed at the upper end of the rotating mechanism fixing plate 6 are further disposed in the accommodating cavity of the mounting base 117, an upper guide hole penetrating up and down is formed in the upper guide block 1, a lower guide hole penetrating up and down is formed in the lower guide block 64, and the upper guide hole, the lower guide hole and the mounting through groove 41 are coaxially disposed and mutually communicated to play a guiding role. Preferably, the upper guide block 1 is provided with long chamfer angles and chamfer angles at the lower end of the upper guide hole and the lower guide block 64 at the lower end of the lower guide hole, so that the opening at the lower end of the upper guide hole and the opening at the lower end of the lower guide hole are horn-shaped, and the sealing weld bead welding maintenance device is sleeved on the stroke sleeve 113 or the pressure-resistant shell 114 from top to bottom. In addition, the upper and lower guide blocks 1 and 64 are made of nonmetallic materials having a small friction coefficient, ensure no loss or scratch to the outer wall of the stroke sleeve 113 or the pressure housing 114, and smooth and stable guide functions. The upper guide block 1 and the lower guide block 64 have various specifications, and the upper guide block 1 is detachably connected with the upper cover plate 3, the lower guide block 64 and the rotating mechanism fixing disc 6 through screws, so that the upper guide block and the lower guide block are convenient to replace according to different maintenance objects.

Further, as shown in fig. 3, the two clamping clips 55 are of HALF open type (HALF type), and the clamping mechanism 118 further comprises two arc-shaped mounting plates 54 respectively located at the outer peripheral sides of the two clamping clips 55, two clamping driving screws 62 respectively located at two sides of the clamping clips 55 and extending horizontally, and a clamping motor assembly 53 fixed to the arc-shaped mounting plates 54; the two arc-shaped mounting plates 54 are symmetrically arranged and are positioned and mounted on the upper end surface of the rotating mechanism fixing plate 6 through positioning pins, and a cylindrical part in the middle of each arc-shaped mounting plate 54 and a cylindrical part in the middle of each clamping hoop 55 are coaxially arranged with the sealing weld carrier; both ends of the two clamping driving screws 62 are rotatably supported in the middle holes at the side edges of the two arc-shaped mounting plates 54 through rolling bearings; clamping driving nuts 59 which are respectively matched with the two clamping driving screws 62 are fixed at the two sides of the two clamping hoops 55, the clamping driving screws 62 and the clamping driving nuts 59 form a screw-nut pair, and the screwing directions of each clamping driving screw 62 and the clamping driving nuts 59 in the two clamping hoops 55 are opposite, so that the two clamping hoops 55 move oppositely or move back at the same time of rotating the clamping driving screws 62, and the opening and closing movement of the two clamping hoops 55 is completed; furthermore, of the two clamping driving screw rods 62, one clamping driving screw rod 62 is driven to rotate by the clamping motor assembly 53, and the clamping driving screw rod 62 is connected with the other clamping driving screw rod 62 through the first transmission unit to drive the other clamping driving screw rod 62 to synchronously rotate. The clamping driving screw 62 is a trapezoidal screw, the clamping driving nut 59 is a trapezoidal nut, and the trapezoidal screw has a self-locking function, so that the clamping and fixing of the sealing weld bead welding maintenance device can be ensured under the condition that the clamping motor assembly 53 is powered off.

Preferably, the first transmission unit adopts the following structure: as shown in fig. 3, one ends of the two clamping driving screws 62 are respectively provided with a synchronous pulley 60, and the two synchronous pulleys 60 are connected and driven by a synchronous toothed belt 61 to realize synchronous rotation of the two clamping driving screws 62. The clamping motor assembly 53 is mounted on a clamping motor mounting plate 80, the clamping motor mounting plate 80 is mounted on an arc-shaped mounting plate 54, and the clamping motor assembly 53 drives the clamping driving screw 62 to rotate through a second transmission unit; the second transmission unit adopts the following structure: the other end of the clamping driving screw 62 is provided with a driving large belt pulley 77, the motor shaft end of the clamping motor assembly 53 is provided with a driving small belt pulley 78, and the driving small belt pulley 78 and the driving large belt pulley 77 are connected and transmitted through a driving toothed belt 79. Therefore, when the motor in the clamping motor assembly 53 rotates, the driving small belt pulley 78 and the driving toothed belt 79 drive the driving large belt pulley 77 to rotate, so as to drive the two clamping driving screw rods 62 to synchronously rotate, and the clamping driving nuts 59 drive the two clamping hoops 55 to move oppositely or back to realize the action of automatically centering, clamping and loosening of the clamping mechanism 118.

Preferably, as shown in fig. 3, two guide rods 58 parallel to the clamping driving screw 62 are fixedly arranged between two sides of the two arc-shaped mounting plates 54, at one side of each arc-shaped mounting plate 54, the two guide rods 58 are respectively positioned at the upper side and the lower side of the clamping driving screw 62, and guide sleeves 57 matched with the guide rods 58 are fixedly arranged on two sides of each clamping hoop 55, so that a guiding effect is provided for the axial movement of the clamping hoops 55 along the clamping driving screw 62. Each arc-shaped mounting plate 54 is provided with flat plate-shaped supporting parts on both sides of the cylindrical part of each arc-shaped mounting plate 54 and on both sides of the cylindrical part of each clamping hoop 55, the supporting parts of the arc-shaped mounting plates 54 are used for supporting the clamping driving screw rods 62 and the guide rods 58, and the supporting parts of the clamping hoops 55 are used for mounting the clamping driving nuts 59 and the guide sleeves 57. The inner peripheral surface of the middle cylindrical part of each clamping hoop 55 is fixedly provided with a plurality of elastic compression plates 56 which extend up and down, when the clamping hoops 55 are clamped on the sealing weld carrier, the elastic compression plates 56 are contacted with the outer peripheral surface of the sealing weld carrier, so that the clamping hoops 55 lock the outer wall of the stroke sleeve 113 or the pressure-resistant shell 114 through the elastic compression plates 56, the locking force is uniform, the stress surface is large, the clamping is firm and reliable, and the clamping hoops 55 can be prevented from damaging the outer wall of the stroke sleeve 113 or the pressure-resistant shell 114. The clamping band 55 is also detachably connected to the arcuate mounting plate 54 by screws, and the clamping band 55 is provided with a plurality of gauges which can be replaced according to different maintenance objectives. Still fixed mounting has the tight spacing mounting panel 66 of clamp that is located the outside of two clamp clips 55 on the up end of rotary mechanism fixed disk 6, the tight spacing mounting panel 66 of clamp is located between two arc mounting panels 54, the tight spacing mounting panel 66 of clamp is provided with the tight limit switch 65 respectively in its both ends department that is close to the one side terminal surface of clamp clip 55, be provided with the tight spacing plectrum 63 of clamp respectively on the one side terminal surface that two clamp clips 55 face the tight spacing mounting panel 66 of clamp, can realize the electric spacing when two clamp clips 55 open and shut the motion through the cooperation of tight spacing plectrum 63 of clamp and tight limit switch 65, improve control accuracy.

Further, the rotating mechanism 119 is located below the clamping mechanism 118, and is used for installing a welding module 120 and a welding motion module 121 described below, and providing motion along the circumferential direction of the seal bead carrier for surfacing operation or precision machining operation. As shown in fig. 3 to 5, the rotating mechanism 119 comprises a rotating motor assembly 76 fixed on the rotating mechanism fixing disk 6, a lower transmission gear 83 driven to rotate by the rotating motor assembly 76, an internal tooth annular slideway 69 with an internal transmission tooth surface 691, an annular guide rail sliding disk 68 fixed with the internal tooth annular slideway 69, an annular guide rail fixing disk 71 fixed on the lower end surface of the rotating mechanism fixing disk 6, and a plurality of V-groove bearings 67 circumferentially distributed on the lower end of the annular guide rail fixing disk 71, wherein the lower transmission gear 83 is meshed with the internal transmission tooth surface 691 of the internal tooth annular slideway 69 to form a gear transmission pair; the outer periphery of the internal tooth annular slide way 69 is provided with a circular V-shaped track part, the outer periphery of each V-shaped groove bearing 67 is provided with a V-shaped groove, the V-shaped track part of the internal tooth annular slide way 69 is matched with the V-shaped grooves of the plurality of V-shaped groove bearings 67 to form a sliding pair, and the plurality of V-shaped groove bearings 67 provide guidance for the rotation of the internal tooth annular slide way 69; the welding motion fixing plate 52 is mounted on the lower end surface of the annular guide rail sliding plate 68; thus, the entire rotation mechanism 119 is mounted below the rotation mechanism fixing plate 6 by the annular rail fixing plate 71. Preferably, the welding motion anchor plate 52 is removably attached to the annular rail slide plate 68 by a plurality of screws to allow for quick removal and replacement.

The rotating motor assembly 76 is mounted on the upper end surface of the rotating mechanism fixing disc 6 through the rotating motor fixing seat 75, the rotating motor assembly 76 drives the lower transmission gear 83 to rotate through a third transmission unit, and the specific structure of the third transmission unit is as follows: as shown in fig. 4 and 5, the third transmission unit includes a gear shaft 81 extending vertically, a transmission gear 82 fixed on an upper end of the gear shaft 81, and a driving gear 74 fixed on a motor output shaft of the rotary motor assembly 76, the lower transmission gear 83 is fixed on a lower end of the gear shaft 81, the gear shaft 81 is rotatably installed in the rotary mechanism fixing plate 6 through a bearing, a bearing cap, or the like, and the driving gear 74 is meshed with the upper transmission gear 82 to constitute a gear transmission pair. When the rotating motor assembly 76 rotates, the driving gear 74 is driven to synchronously rotate, so that the upper transmission gear 82, the gear rotating shaft 81 and the lower transmission gear 83 are driven to rotate, and then the inner gear annular slide 69 is driven to rotate through the meshing of the lower transmission gear 83 and the inner transmission tooth surface 691 of the inner gear annular slide 69, so that finally, the inner gear annular slide 69 drives the annular guide rail sliding disc 68, the welding motion fixing disc 52, a welding motion module 121 and a welding module 120 to move along the circumferential direction of the sealing weld carrier. The internal tooth annular slide 69 can provide high load capacity, life and rigidity. Preferably, as shown in fig. 3, the lower end surface of the annular guide fixing plate 71 is provided with a rotation limit switch 72 near the outer edge side thereof, the upper surface of the welding motion fixing plate 52 is provided with a rotation limit pulling piece 73 near the outer edge side thereof, and the alarm limit of the rotation mechanism 119 and the zero calibration can be realized by the mutual cooperation of the rotation limit switch 72 and the rotation limit pulling piece 73.

Further, as shown in fig. 1, the outer edge side of the welding motion fixing plate 52 is fixedly provided with a protruding mounting block, a wire support 5 extending up and down and located at the outer peripheral side of the mounting base 117 is fixed on the mounting block, the cable fixing block 50 is installed on the lower end surface of the welding motion fixing plate 52, the wire support 5 is used for sealing the wire of the welding bead welding repair device, and the cable fixing block 50 is used for fixing the cable of the welding bead welding repair device, so that the cable winding during the operation of the welding bead welding repair device can be avoided. Furthermore, a distance sensor 70 is mounted on the lower end face of the welding motion fixing plate 52 for height position detection when the sealing bead weld overlay repair apparatus is mounted. Meanwhile, the rotating mechanism 119 further comprises an annular cover 7 positioned on the outer peripheral side of the annular guide fixing plate 71, and the annular cover 7 is fixed at the lower end of the rotating mechanism fixing plate 6 and used for preventing external chips or dust and the like from entering the internal tooth annular slide way 69, the annular guide sliding plate 68 and other parts, so that the accuracy of the movement of the rotating mechanism 119 is ensured.

Further, the sealing bead weld overlay repairing apparatus further includes a welding motion module 121, as shown in fig. 1, the welding motion module 121 includes a radial adjustment mechanism having a first radial moving part, a radial motion mechanism having a second radial moving part, an axial motion mechanism having an axial moving part, and a rotation mechanism having a rotation part, the radial adjustment mechanism is mounted on a lower end surface of the welding motion fixing plate 52 through a welding motion fixing block 8, so that the entire welding motion module 121 is mounted on a lower end of the welding motion fixing plate 52; the first radial moving part can move along the radial direction of the sealing weld carrier and is fixed with the radial moving mechanism; the second radial moving part can move along the radial direction of the sealing weld carrier and is fixed with the axial moving mechanism; the axial moving part can move along the axial direction of the sealing weld carrier and is fixed with the rotating mechanism; the rotating part is perpendicular to the axial moving part, and the welding module 120 is fixed to the rotating part. In the welding motion module 121, the radial adjusting mechanism is used for adjusting the radial position of the welding module 120 on the sealing weld carrier in a large range, so as to adapt to sealing weld carriers with different outer diameters in a matching way; the radial movement mechanism is used for adjusting the position of the welding module 120 in the radial direction of the sealing weld carrier in a small range, the axial movement mechanism is used for adjusting the position of the welding module 120 in the axial direction of the sealing weld carrier in a small range, and the radial movement mechanism and the axial movement mechanism are matched to realize the accurate positioning of the welding module 120; the rotation mechanism is used to adjust the inclination angle of the welding module 120. The preferred embodiment of each mechanism in the welding motion module 121 is as follows.

As shown in fig. 1, the radial adjusting mechanism comprises a welding motion connecting plate 9 fixed on a welding motion fixing block 8, a radial dovetail groove formed in the welding motion connecting plate 9, and a radial dovetail guide rail 115 fixed on a radial motion base of the radial motion mechanism, wherein the radial dovetail groove and the radial dovetail guide rail 115 are matched and are parallel to the radial direction of the sealing weld carrier, the lower end of the welding motion connecting plate 9 in the radial dovetail groove is detachably connected with a pressing block 13 through a screw, and the radial dovetail guide rail 115 forms the first radial moving part. Before the sealing weld bead surfacing maintenance device is lifted and sleeved on the sealing weld bead carrier, the pressing block 13 is firstly detached, the position of the radial dovetail guide rail 115 in the radial dovetail groove is adjusted according to the specific outer diameter of the sealing weld bead carrier to be maintained on site, so that the specific positions of the radial movement mechanism, the axial movement mechanism, the rotating mechanism and the welding module 120 in the radial direction of the sealing weld bead carrier are adjusted, after the adjustment is finished, the pressing block 13 is installed at the lower end of the radial dovetail groove, the position of the radial dovetail guide rail 115 in the radial dovetail groove is locked, and then the sealing weld bead surfacing maintenance device is sleeved on the sealing weld bead carrier.

As shown in fig. 1 and 6, the radial movement mechanism includes a radial movement base fixed to the first radial movement portion, a radial movement drive screw 91 extending in the radial direction of the seal bead carrier, a radial nut mount 84 to which a radial movement nut is fixed, and a radial motor assembly 86 mounted on the radial movement base; the radial motion base comprises a radial motion base 10 with a U-shaped semi-wrapping structure, and radial fixed side support plates 88 and radial support side support plates 12 which are respectively and fixedly arranged at two ends of the radial motion base 10, the radial motor assembly 86 drives a radial motion driving screw 91 to rotate, two ends of the radial motion driving screw 91 are rotatably supported in the radial fixed side support plates 88 and the radial support side support plates 12 through bearings, the radial motion driving screw 91 is matched with a radial motion nut, and the radial nut support 84 is connected with an axial motion mechanism through an axial motion connecting plate 14 to form the second radial moving part. The radial motor assembly 86 is arranged on one side of the radial motion base 10 and is fixed on a radial fixed side support plate 88, and the radial motor assembly 86 drives the radial motion driving screw 91 to rotate through a fourth transmission unit; the specific structure of the fourth transmission unit is as follows: the fourth transmission unit includes a radial pinion 85 mounted on the motor output shaft of the radial motor assembly 86, and a radial large gear 87 mounted on the end of the radial movement driving screw 91, the radial pinion 85 and the radial large gear 87 being meshed to constitute a gear transmission pair. When the radial motor assembly 86 rotates, the radial pinion 85 is driven to synchronously rotate, so that the radial movement driving screw 91 is driven to rotate through the radial large gear 87, and the radial movement nut, the radial nut support 84, the axial movement mechanism, the rotation mechanism and the welding module 120 realize linear movement of the radial movement driving screw 91 to cover the radial direction of the whole sealing weld joint 112 and provide swing control or arc length control movement for the welding assembly 46 during welding maintenance.

In order to improve the stability of the radial movement of the radial nut support 84, as shown in fig. 6, the radial movement mechanism further comprises a radial guide rail slider 93 fixed to the radial nut support 84, and a radial linear guide rail 90 parallel to the radial movement driving screw 91, wherein both ends of the radial linear guide rail 90 are fixed in a radial movement base, and the radial guide rail slider 93 is matched with the radial linear guide rail 90. In addition, a radial limit switch 89 is installed on an inner side surface of the radial motion base 10, radial limit paddles 92 are installed on two end surfaces of the radial nut support 84, the two radial limit paddles 92 are oppositely arranged along the extending direction of the radial motion driving screw 91, and the radial limit switch 89 and the radial limit paddles 92 are matched with each other to realize the electric limit of the radial motion of the radial nut support 84. As shown in fig. 1, a radial shaft end cover is mounted on the outer surface of the radial fixed side support plate 88, and a radial moving cover plate 11 is arranged above the radial moving base 10, so that the whole parts in the radial moving mechanism are enveloped in the radial moving base 10 and the radial moving cover plate 11, and the radial moving mechanism has compact layout and exquisite structure and can effectively protect all parts in the radial moving mechanism. An axial movement cover plate 15 is also connected to the axial movement connecting plate 14 fixed to the upper end surface of the radial nut support 84, and the axial movement mechanisms are all mounted on the axial movement cover plate 15, so that the axial movement mechanisms are fixedly connected with the axial movement connecting plate 14.

As shown in fig. 1 and 7, the axial movement mechanism includes an axial movement base, an axial movement drive screw 102 axially parallel to the seal bead carrier, an axial nut mount 99 to which an axial movement nut 97 is fixed, and an axial motor assembly 95 mounted on the axial movement base; the upper end of the axial motion base is fixed on the axial motion cover plate 15, the axial motion base comprises an axial motion base 17 with a U-shaped semi-wrapping structure, and an axial fixed side support plate 19 and an axial support side support plate 16 which are respectively fixed at two ends of the axial motion base 17, the axial motor assembly 95 drives an axial motion driving screw 102 to rotate, two ends of the axial motion driving screw 102 are rotatably supported in the axial fixed side support plate 19 and the axial support side support plate 16 through bearings, the axial motion driving screw 102 is matched with an axial motion nut 97, and the axial nut support 99 is connected with an axial motion mechanism through a rotation motion connecting plate 20 to form an axial moving part. The axial motor assembly 95 is arranged at the lower end of the axial movement base 17 and is fixed on the axial fixed side support plate 19, and the axial motor assembly 95 drives the axial movement driving screw 102 to rotate through a fifth transmission unit; the specific structure of the fifth transmission unit is as follows: the fifth transmission unit includes an axial pinion 94 mounted on the motor output shaft of the axial motor assembly 95, and an axial bull gear 96 mounted on the end of the axial movement drive screw 102, the axial pinion 94 and the axial bull gear 96 meshing to constitute a gear transmission pair. When the axial motor assembly 95 rotates, the axial pinion 94 is driven to synchronously rotate, so that the axial movement driving screw 102 is driven to rotate through the axial large gear 96, linear movement of the axial movement nut 97, the axial nut support 99, the rotating mechanism and the welding module 120 along the axial movement driving screw 102 is realized, vertical movement is provided for the welding module 120, different height requirements of the welding module 120 and the surface of the sealing weld joint 112 are met when multilayer overlaying is realized, and swinging control or arc length control movement is provided for the welding assembly 46 during welding maintenance, so that unstable arc combustion caused by uneven overlaying is eliminated, and stability of an overlaying process is ensured.

In order to improve the stability of the axial movement of the axial nut support 99, as shown in fig. 7, the axial movement mechanism further comprises an axial guide rail slide block 100 fixed to the axial nut support 99, and an axial linear guide rail 101 parallel to the axial movement driving screw 102, wherein two ends of the axial linear guide rail 101 are fixed in an axial movement base, and the axial guide rail slide block 100 is matched with the axial linear guide rail 101. In addition, an axial limit switch 103 is installed on an inner side surface of the axial movement base 17, axial limit paddles 98 are installed on two end surfaces of the axial nut support 99, the two axial limit paddles 98 are oppositely arranged along the extending direction of the axial movement driving screw 102, and the axial movement of the axial nut support 99 is electrically limited through the mutual matching of the axial limit switch 103 and the axial limit paddles 98. As shown in fig. 1, an axial shaft end cover 18 is also mounted on the outer surface of the axial fixing side support plate 19.

As shown in fig. 1 and 2, the rotating mechanism includes a rotating motor fixing seat 22 fixedly connected with the axial moving part, a rotating motor assembly 104 and a rotating bearing sleeve 23 mounted on the rotating motor fixing seat 22, and a rotating mandrel 24 driven to rotate by the rotating motor assembly 104, the rotating motor fixing seat 22 is fixed with the lower end of the rotating moving connecting plate 20, the rotating moving connecting plate 20 is L-shaped, the rotating mandrel 24 is rotatably supported in the rotating bearing sleeve 23 through a bearing, and one end of the rotating mandrel 24 far away from the rotating motor assembly 104 is connected with the welding module 120 through a welding module supporting plate 25 to form the rotating part. In this embodiment, the motor output shaft of the rotary motor assembly 104 is directly fixed to the rotary mandrel 24, and directly drives the rotary mandrel 24 to rotate, so as to adjust the inclination angle of the welding module 120, so as to adapt to the surfacing operations of the middle side sealing weld 112 and the middle transverse and lower side sealing weld 112 on the middle running sleeve 113 or the pressure-resistant housing 114 in different stacks, and ensure that the plane formed by the welding assembly 46 and the wire feeding nozzle assembly 45 is as perpendicular as possible to the arc surface of the sealing weld 112 during the welding operation. The rotating mandrel 24 is further provided with a rotating limiting disc, two square holes which are separated by a rotating limiting angle are engraved on the rotating limiting disc, the rotating motor fixing seat 22 is provided with a rotating limiting switch 47, when the rotating limiting disc rotates along with the rotating mandrel 24, the limit position of the rotating mandrel 24 can be detected through the matching of the rotating limiting switch 47 and the square holes, and different rotating limiting discs are arranged for different sealing welding seams 112 so as to adapt to different welding processes. The outside of the rotary motor assembly 104 is provided with a rotary motor cover 21, and the rotary motor cover 21 is fixed to the rotary motion connection plate 20 for protection of the rotary motor assembly 104.

Further, as shown in fig. 1 and 2, the welding module 120 includes a welding module support plate 25, a welding wire rotation adjustment fixing seat 26, a welding wire rotation adjustment block 27, and a welding wire adjustment mechanism connecting plate 32, where the welding module support plate 25 is fixed to the rotating mandrel 24, so that the welding module 120 is mounted on an end face of the rotating mandrel 24, the welding assembly 46 is mounted on the welding module support plate 25, the wire feeding nozzle assembly 45 is mounted on the welding wire adjustment mechanism connecting plate 32, the welding wire rotation adjustment fixing seat 26 is mounted on the welding assembly 46, the welding wire rotation adjustment block 27 and the welding wire rotation adjustment fixing seat 26 are in a running fit, and can relatively rotate around an axis of the welding assembly 46, and the welding wire adjustment mechanism connecting plate 32 and the welding wire rotation adjustment block 27 are in a moving fit, and can relatively move along an axial direction of the welding assembly 46.

The welding wire rotation adjusting block 27 and the welding wire rotation adjusting fixing seat 26 are in a rotation fit structure: as shown in fig. 2, two ends of the welding wire rotation adjusting fixed seat 26 are provided with lug parts positioned at two sides of the welding wire rotation adjusting block 27, each lug part is provided with an arc-shaped adjusting hole 271 and a rotating hole, two ends of the welding wire rotation adjusting block 27 are respectively provided with rotating shaft parts, and the rotating shaft parts at two ends of the welding wire rotation adjusting block 27 are respectively matched with the rotating holes at two ends of the welding wire rotation adjusting fixed seat 26 to form rotation movement; after the adjustment is completed, the lug portion is connected with the welding wire rotation adjustment block 27 by a screw penetrating through the arc-shaped adjustment hole 271, the rotation angle is locked, and the adjustment of the rotation angle can be realized within the range of the arc-shaped adjustment hole 271. The structure of the welding wire rotation adjusting block 27 and the welding wire adjusting mechanism connecting plate 32 in moving fit is as follows: as shown in fig. 2, a dovetail groove block 29 is fixed on the welding wire rotation adjusting block 27, a welding wire adjusting dovetail groove parallel to the axial direction of the welding assembly 46 is formed in the dovetail groove block 29, a welding wire adjusting dovetail guide rail 28 parallel to the axial direction of the welding assembly 46 is arranged on the welding wire adjusting mechanism connecting plate 32, and the welding wire adjusting dovetail guide rail 28 is matched with the welding wire adjusting dovetail groove. Through the running fit and the moving fit between the welding wire adjusting mechanism connecting plate 32 and the welding wire rotating adjusting fixing seat 26, the wire feeding position can be adjusted in a large range according to different welding assembly 46 structures so as to adapt to different welding assembly 46 structures and welding processes. The welding video monitoring assembly 30 and the temperature sensor 31 are installed on the welding wire adjusting mechanism connecting plate 32; the welding video monitoring component 30 can select a CCD camera for positioning when the sealing weld bead surfacing maintenance device is installed and real-time monitoring when welding; the temperature sensor 31 detects a bath temperature at the time of welding.

Further, as shown in fig. 1 and 2, the welding wire adjusting mechanism connecting plate 32 is further provided with a two-axis welding wire adjusting mechanism 116, the output end of the two-axis welding wire adjusting mechanism 116 is connected with a welding wire adjusting executing block 108, the welding wire adjusting executing block 108 can move along the axial direction parallel to the welding assembly 46 and along the axial direction perpendicular to the welding assembly 46, the welding wire adjusting executing block 108 is provided with a welding wire adjusting connecting block 44, the welding wire adjusting connecting block 44 is provided with a conducting nozzle mounting block 43, and the wire feeding nozzle assembly 45 is fixed on the conducting nozzle mounting block 43, so that the two-axis automatic adjustment of welding wires is realized, the adjusting precision of the welding wire position is greatly improved, and the quality of welding operation is provided.

The two-axis wire adjustment mechanism 116 preferably employs the following structure: as shown in fig. 2 and 8, the two-axis wire adjusting mechanism 116 includes two wire adjusting mounting plates 33 arranged in parallel, a parallel drive screw 110 and a vertical drive gear shaft 109 parallel to the axial direction of the welding assembly 46, a parallel nut guide block 111 fitted with the parallel drive screw 110, a vertical drive rack 35 perpendicular to the axial direction of the welding assembly 46, and a parallel motor assembly 39 and a vertical motor assembly 34 fixed to the wire adjusting mounting plates 33. The two welding wire adjustment mounting plates 33 are fixed with a welding wire adjustment lateral plate 107 and a welding wire adjustment lateral fixing plate 42, which are parallel to each other, at both ends thereof, and the welding wire adjustment lateral fixing plate 42 is fixed to the welding wire adjustment mechanism connecting plate 32, thereby fixing both the welding wire adjustment mounting plates 33 to the welding wire adjustment mechanism connecting plate 32. Both ends of the parallel driving screw 110 and both ends of the vertical driving gear shaft 109 are rotatably supported in the two welding wire adjusting mounting plates 33 through copper sleeves, the parallel motor assembly 39 drives the parallel driving screw 110 to rotate through a sixth transmission unit, the vertical motor assembly 34 drives the vertical driving gear shaft 109 to rotate through a seventh transmission unit, a sliding hole is formed in the parallel nut guide block 111, the vertical driving circular rack 35 is movably arranged in the sliding hole of the parallel nut guide block 111 in a penetrating manner and meshed with the vertical driving gear shaft 109, a gear transmission pair is formed, and the welding wire adjusting execution block 108 is fixed at one end of the vertical driving circular rack 35.

In the present embodiment, the sixth transmission unit includes a parallel pinion gear 40 fixed to the motor output shaft of the parallel motor unit 39, and a parallel bull gear 105 fixed to the end of the parallel drive screw 110, and the parallel pinion gear 40 meshes with the parallel bull gear 105 to form a gear pair. The seventh transmission unit includes a vertical pinion gear 38 fixed to the motor output shaft of the vertical motor assembly 34, and a vertical large gear 106 fixed to an end portion of a vertical drive gear shaft 109, and the vertical pinion gear 38 meshes with the vertical large gear 106 to constitute a gear transmission pair. The screw thread of the parallel nut guide block 111 forming the screw pair with the parallel driving screw 110 is a trapezoidal screw thread, and the sliding hole is perpendicular to the axial direction of the trapezoidal screw thread, or the sliding hole and the vertical driving circular rack 35 are perpendicular to a plane formed by the welding assembly 46 and the wire feeding nozzle assembly 45. Thus, when the parallel motor assembly 39 rotates, the parallel drive screw 110 is driven to rotate by the meshing of the parallel pinion 40 and the parallel bull gear 105, thereby effecting linear movement of the parallel nut guide block 111, the vertical drive rack 35, and the wire adjustment actuator block 108 along an axis parallel to the axis of the welding assembly 46, at which time the vertical drive rack 35 slides relative to the vertical drive gear shaft 109. When the vertical motor assembly 34 rotates, the vertical drive gear shaft 109 is driven to rotate by the meshing of the vertical pinion 38 and the vertical bull gear 106, thereby effecting linear movement of the vertical drive rack 35, and the wire adjustment actuator block 108, in a direction perpendicular to the plane defined by the welding assembly 46 and the wire feeder assembly 45. The welding wire adjusting limiting block 36 is fixed at the other end of the vertical driving circular rack 35, and the welding wire adjusting executing block 108 and the welding wire adjusting limiting block 36 are both positioned outside the sliding hole, so that the limiting of the movement of the vertical driving circular rack 35 is realized, and the welding wire adjusting limiting block is prevented from being separated from the sliding hole.

Further, as shown in fig. 1, the welding module 120 further includes a wire feeding tray 48 and a wire feeder 51 mounted on a lower end surface of the welding motion fixing tray 52, the wire feeding tray 48 is mounted under the welding motion fixing tray 52 through a wire feeding tray fixing plate 49, the wire feeding nozzle assembly 45 is connected to the wire feeder 51 through a wire feeding pipe 37, and the wire feeder 51 is used for feeding welding wires mounted on the wire feeding tray 48.

When the sealing weld bead surfacing maintenance device is used for a certain pile of control rod driving mechanisms, as shown in fig. 9, three sealing welds 112 are sequentially arranged on a travel sleeve 113 of the control rod driving mechanism and the outer wall of a pressure housing 114 from top to bottom, and the sealing welds 112 at the lower part of the outer wall of the pressure housing 114 are used as surfacing maintenance objects for explanation, and the specific implementation steps of the sealing weld bead surfacing maintenance device are as follows:

before the build-up welding maintenance, the leakage of the lower sealing weld joint 112 on the pressure-resistant shell 114 is found by nondestructive testing, and the sealing weld joint 112 is subjected to the pretreatment work in the earlier stage, such as drilling, polishing and the like.

And 2, zeroing and resetting all moving parts (such as the clamping hoops 55, the internal tooth annular slide ways 69, the radial nut support 84, the axial nut support 99 and the like) in the sealing bead surfacing maintenance device, and adjusting the welding module 120 to be in a vertical state so as to prevent the welding module 120 from interfering with the environment when the sealing bead surfacing maintenance device is installed, and manually adjusting and locking the position of the radial dovetail guide rail 115 according to the outer diameter of the pressure-resistant housing 114.

And 3, hoisting the sealing weld bead welding maintenance device through the lifting lug 2, enabling the sealing weld bead welding maintenance device to slide downwards along the outer wall of the travel sleeve 113 and the outer wall of the pressure-resistant shell 114 from above the control rod driving mechanism under the guiding action of the upper guide block 1 and the lower guide block 64, and installing the sealing weld bead welding maintenance device to a designated position by combining the height position detected by the distance sensor 70 through observation of the welding video monitoring assembly 30.

And 4, controlling the clamping motor assembly 53 to rotate, so that the two clamping hoops 55 are driven by the clamping driving screw 62 to clamp inwards, and locking the outer wall of the pressure-resistant shell 114 through the elastic pressing plate 56 fixed on the inner side of the clamping hoops 55.

Step 5, controlling the rotating mechanism 119 to act, positioning the welding assembly 46 to the sealing weld joint 112, adjusting the posture and wire feeding position of the welding assembly 46, striking an arc, feeding wires, and controlling the movement of each moving mechanism according to the welding process requirement to realize the surfacing operation; in the overlaying process, according to the welding process requirements, the arc swinging control and the arc length control are carried out through a radial movement mechanism and an axial movement mechanism, the condition of a welding pool is observed in real time through a welding video monitoring assembly 30, and the temperature of the pool is detected through a temperature sensor 31; after the surfacing operation is completed, arc quenching, wire feeding stopping, resetting the mechanisms, and adjusting the welding module 120 to be in a vertical state; the clamping motor assembly 53 is controlled to rotate, so that the two clamping hoops 55 loosen the outside of the pressure housing 114, and the sealing weld surfacing maintenance device is lifted upwards, thereby completing the whole surfacing operation process.

In summary, the sealing weld bead surfacing maintenance device related to the application has the following beneficial effects:

1. the whole appearance of the sealing weld bead surfacing maintenance device is of a cylinder structure, a hollow fixed clamping and rotating mechanism, a semi-enclosed welding motion module and a welding module are adopted, the structure is compact and reasonable, the sealing weld bead surfacing maintenance device can be fully suitable for a narrow and limited space of a maintenance site, and installation limitations of different directions during maintenance work are avoided.

2. The clamping mechanism can automatically center and clamp, clamping and guiding parts can be replaced, the clamping mechanism is suitable for different pipe diameters, and other operation modules such as drilling, polishing and the like can be installed below the rotating mechanism; the three-degree-of-freedom welding motion module can fully adjust the position and the posture of the welding module, the two-axis welding wire adjusting mechanism can adjust the relative positions of the wire feeding nozzle assembly and the welding assembly, and the space accessibility and the welding process requirements required by the surfacing maintenance of different sealing welding seams can be ensured through the automatic adjustment of each axis; the welding module is provided with the two-axis large-range manual adjusting mechanism, so that the two-axis welding wire adjusting mechanism can rotate and axially move along the axis of the welding assembly, and can adapt to different welding assembly structures, such as a TIG welding assembly or a laser welding assembly.

4. The whole set of sealing weld bead surfacing maintenance device adopts a modularized design, a few parts can be replaced by adjusting each motion shaft, the welding process requirements of CRDM sealing weld beads at different piles and different positions can be met, and the sealing weld bead surfacing maintenance device can also be used for welding CRDM sealing weld beads before service, and has strong applicability; the maintenance device is simple to operate, short in installation time, automatic control and remote monitoring of the welding process can reduce the irradiation dose of operators, save the time of surfacing maintenance and effectively improve the operation efficiency of the nuclear power station.

Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims

1. A sealing weld bead surfacing maintenance device is characterized in that: comprises a mounting base (117) with a containing cavity, a clamping mechanism (118), a rotating mechanism (119) and a welding module (120); the mounting base (117) is provided with a mounting through groove (41) which is vertically communicated and is used for a sealing weld carrier to penetrate, the accommodating cavity is communicated with the mounting through groove (41), and the mounting base (117) is provided with a rotating mechanism fixing disc (6) positioned at the lower end of the accommodating cavity; the clamping mechanism (118) is arranged in the accommodating cavity of the mounting base (117) and is provided with two symmetrically arranged clamping hoops (55), and the two clamping hoops (55) can move oppositely along the radial direction of the sealing weld carrier and are used for fixing the mounting base (117) on the periphery of the sealing weld carrier; the rotating mechanism (119) is arranged on the lower end surface of the rotating mechanism fixing disc (6) and is provided with a welding motion fixing disc (52) capable of rotating along the circumferential direction of the sealing weld carrier; the welding module (120) is mounted to the welding motion fixture (52) and has a welding assembly (46) and a wire feeder assembly (45).

2. The seal weld overlay repair apparatus according to claim 1, wherein: the mounting base (117) further comprises a cylindrical outer shell (4) and an upper cover plate (3) fixedly arranged at the upper end of the outer shell (4), the rotating mechanism fixing disc (6) is fixedly arranged at the lower end of the outer shell (4), at least one lifting lug (2) is fixedly arranged on the upper end face of the upper cover plate (3), the accommodating inner cavity is formed by encircling the upper cover plate (3), the outer shell (4) and the rotating mechanism fixing disc (6), and the mounting through groove (41) is formed in the inner side of the outer shell (4) and penetrates through the upper cover plate (3) and the rotating mechanism fixing disc (6) up and down.

3. The seal weld overlay repair apparatus according to claim 2, wherein: an upper guide block (1) fixed on the upper cover plate (3) and a lower guide block (64) fixed on the rotating mechanism fixing disc (6) are further arranged in the accommodating cavity of the mounting base (117), an upper guide hole penetrating up and down is formed in the upper guide block (1), a lower guide hole penetrating up and down is formed in the lower guide block (64), and the upper guide hole, the lower guide hole and the mounting through groove (41) are coaxially arranged and are mutually communicated.

4. A seal weld overlay repair apparatus according to claim 3, wherein: the upper guide block (1) is provided with a chamfer at the lower end of the upper guide hole and the lower guide block (64) is provided with a chamfer at the lower end of the lower guide hole.

5. The seal weld overlay repair apparatus according to claim 1, wherein: the clamping mechanism (118) comprises two arc-shaped mounting plates (54) which are respectively positioned at the peripheral sides of the two clamping hoops (55), two clamping driving screw rods (62) which are respectively positioned at the two sides of the clamping hoops (55), and a clamping motor assembly (53) which is fixed on the arc-shaped mounting plates (54), wherein the two arc-shaped mounting plates (54) are both fixed on the upper end surface of the rotating mechanism fixing plate (6), two ends of the two clamping driving screw rods (62) are both rotatably supported in the two arc-shaped mounting plates (54) through bearings, and clamping driving nuts (59) which are respectively matched with the two clamping driving screw rods (62) are both fixed at the two sides of the two clamping hoops (55); of the two clamping driving screw rods (62), one clamping driving screw rod (62) is driven to rotate by the clamping motor assembly (53), and the clamping driving screw rod (62) is connected with the other clamping driving screw rod (62) through the first transmission unit to drive the other clamping driving screw rod (62) to synchronously rotate.

6. The seal bead weld overlay repair apparatus according to claim 1 or 5, wherein: a plurality of elastic pressing plates (56) are fixedly arranged on the inner peripheral surface of each clamping hoop (55), and the elastic pressing plates (56) are used for being in contact with the outer peripheral surface of the sealing weld carrier.

7. The seal weld overlay repair apparatus according to claim 5, wherein: at least one guide rod (58) parallel to the clamping driving screw rod (62) is fixedly arranged between the two arc-shaped mounting plates (54), and a guide sleeve (57) matched with the guide rod (58) is fixedly arranged in each clamping hoop (55).

8. The seal weld overlay repair apparatus according to claim 1, wherein: the rotating mechanism (119) comprises a rotating motor assembly (76) fixed on a rotating mechanism fixing disc (6), a lower transmission gear (83) driven by the rotating motor assembly (76) to rotate, an internal tooth annular slideway (69) with an internal transmission tooth surface (691), an annular guide rail sliding disc (68) fixed with the internal tooth annular slideway (69), an annular guide rail fixing disc (71) fixed on the lower end surface of the rotating mechanism fixing disc (6), and a plurality of V-groove bearings (67) circumferentially distributed on the annular guide rail fixing disc (71), wherein the lower transmission gear (83) is meshed with the internal transmission tooth surface (691) of the internal tooth annular slideway (69); the outer periphery of the internal tooth annular slide way (69) is provided with V-shaped track parts, the outer periphery of each V-shaped groove bearing (67) is provided with V-shaped grooves, the V-shaped track parts of the internal tooth annular slide way (69) are matched with the V-shaped grooves of the plurality of V-shaped groove bearings (67), and the welding motion fixing disc (52) is arranged on the lower end face of the annular guide rail sliding disc (68).

9. The seal weld overlay repair apparatus according to claim 1, wherein: the welding motion module (121) further comprises a radial adjusting mechanism with a first radial moving part, a radial moving mechanism with a second radial moving part, an axial moving mechanism with an axial moving part and a rotating mechanism with a rotating part, wherein the radial adjusting mechanism is arranged on the lower end face of the welding motion fixing disc (52) through a welding motion fixing block (8), the first radial moving part can move along the radial direction of the sealing weld carrier and is fixed with the radial moving mechanism, the second radial moving part can move along the radial direction of the sealing weld carrier and is fixed with the axial moving mechanism, the axial moving part can move along the axial direction of the sealing weld carrier and is fixed with the rotating mechanism, the rotating part is perpendicular to the axial moving part, and the welding module (120) is fixed with the rotating part.

10. The seal weld overlay repair apparatus as set forth in claim 9, wherein: the radial adjusting mechanism comprises a welding motion connecting plate (9) fixed on a welding motion fixing block (8), a radial dovetail groove formed in the welding motion connecting plate (9) and a radial dovetail guide rail (115) fixed on the radial motion mechanism, wherein the radial dovetail groove and the radial dovetail guide rail (115) are matched and are parallel to the radial direction of a sealing weld carrier, a pressing block (13) is detachably connected to the lower end of the welding motion connecting plate (9) in the radial dovetail groove, and the radial dovetail guide rail (115) forms the first radial moving part.

11. The seal weld overlay repair apparatus as set forth in claim 9, wherein: the radial movement mechanism comprises a radial movement base fixed on the first radial movement part, a radial movement driving screw (91) extending along the radial direction of the sealing weld carrier, a radial nut support (84) fixed with a radial movement nut, and a radial motor assembly (86) mounted on the radial movement base, wherein the radial motor assembly (86) drives the radial movement driving screw (91) to rotate, two ends of the radial movement driving screw (91) are rotatably supported in the radial movement base through bearings, the radial movement driving screw (91) is matched with the radial movement nut, and the radial nut support (84) is connected with the axial movement mechanism through an axial movement connecting plate (14) to form the second radial movement part.

12. The seal weld overlay repair apparatus as set forth in claim 11, wherein: the radial movement mechanism further comprises a radial guide rail sliding block (93) fixed on the radial nut support (84) and a radial linear guide rail (90) parallel to the radial movement driving screw rod (91), two ends of the radial linear guide rail (90) are fixed in the radial movement base, and the radial guide rail sliding block (93) is matched with the radial linear guide rail (90).

13. The seal weld overlay repair apparatus as set forth in claim 9, wherein: the axial movement mechanism comprises an axial movement base fixed on the second radial movement part, an axial movement driving screw rod (102) axially parallel to the sealing weld carrier, an axial nut support (99) fixed with an axial movement nut (97), and an axial motor assembly (95) arranged on the axial movement base, the axial motor assembly (95) drives the axial movement driving screw rod (102) to rotate,

both ends of the axial movement driving screw rod (102) are rotatably supported in the axial movement base through bearings, the axial movement driving screw rod (102) is matched with an axial movement nut (97), and the axial nut support (99) is connected with an axial movement mechanism through a rotation movement connecting plate (20) to form the axial movement part.

14. The seal weld overlay repair apparatus as set forth in claim 13, wherein: the axial movement mechanism further comprises an axial guide rail sliding block (100) fixed on the axial nut support (99) and an axial linear guide rail (101) parallel to the axial movement driving screw rod (102), two ends of the axial linear guide rail (101) are fixed in the axial movement base, and the axial guide rail sliding block (100) is matched with the axial linear guide rail (101).

15. The seal weld overlay repair apparatus as set forth in claim 9, wherein: the rotating mechanism comprises a rotating motor fixing seat (22) fixedly connected with an axial moving part, a rotating motor assembly (104) and a rotating bearing jacket (23) which are arranged on the rotating motor fixing seat (22), and a rotating mandrel (24) which is driven to rotate by the rotating motor assembly (104), wherein the rotating mandrel (24) is rotatably supported in the rotating bearing jacket (23) through a bearing, and one end, far away from the rotating motor assembly (104), of the rotating mandrel (24) is connected with a welding module (120) through a welding module supporting plate (25) to form the rotating part.

16. The seal bead weld overlay repair apparatus according to claim 1 or 9, wherein: the welding module (120) comprises a welding module supporting plate (25), a welding wire rotation adjusting fixing seat (26), a welding wire rotation adjusting block (27) and a welding wire adjusting mechanism connecting plate (32), wherein the welding assembly (46) is arranged on the welding module supporting plate (25), a wire feeding nozzle assembly (45) is arranged on the welding wire adjusting mechanism connecting plate (32), the welding wire rotation adjusting fixing seat (26) is arranged on the welding assembly (46), the welding wire rotation adjusting block (27) and the welding wire rotation adjusting fixing seat (26) are in rotary fit, the welding wire rotation adjusting block (27) can rotate relatively around the axis of the welding assembly (46), and the welding wire adjusting mechanism connecting plate (32) and the welding wire rotation adjusting block (27) are in movable fit and can move relatively along the axis of the welding assembly (46).

17. The seal weld overlay repair apparatus as set forth in claim 16, wherein: the welding wire rotation adjusting fixing seat comprises a welding wire rotation adjusting fixing seat body and is characterized in that lug parts positioned at two sides of the welding wire rotation adjusting seat body (26) are arranged at two ends of the welding wire rotation adjusting fixing seat body, arc-shaped adjusting holes (271) and rotating holes are formed in each lug part, rotating shaft parts are respectively arranged at two ends of the welding wire rotation adjusting seat body (27), the rotating shaft parts at two ends of the welding wire rotation adjusting seat body (27) are respectively matched with the rotating holes at two ends of the welding wire rotation adjusting fixing seat body (26) to form rotation, and the lug parts are detachably connected with the welding wire rotation adjusting seat body (27) through screws penetrating through the arc-shaped adjusting holes (271).

18. The seal weld overlay repair apparatus as set forth in claim 16, wherein: the welding wire rotation adjusting block (27) is provided with a welding wire adjusting dovetail groove parallel to the axial direction of the welding assembly (46), the welding wire adjusting mechanism connecting plate (32) is provided with a welding wire adjusting dovetail guide rail (28) parallel to the axial direction of the welding assembly (46), and the welding wire adjusting dovetail guide rail (28) is matched with the welding wire adjusting dovetail groove.

19. The seal weld overlay repair apparatus as set forth in claim 16, wherein: and a welding video monitoring assembly (30) and a temperature sensor (31) are arranged on the welding wire adjusting mechanism connecting plate (32).

20. The seal weld overlay repair apparatus as set forth in claim 16, wherein: the welding wire adjusting mechanism is characterized in that a two-axis welding wire adjusting mechanism (116) is further arranged on the welding wire adjusting mechanism connecting plate (32), the output end of the two-axis welding wire adjusting mechanism (116) is connected with a welding wire adjusting executing block (108), the welding wire adjusting executing block (108) can move along the axial direction parallel to the welding assembly (46) and move along the axial direction perpendicular to the welding assembly (46), a welding wire adjusting connecting block (44) is arranged on the welding wire adjusting executing block (108), a conducting nozzle installing block (43) is arranged on the welding wire adjusting connecting block (44), and the wire feeding nozzle assembly (45) is fixed on the conducting nozzle installing block (43).

21. The seal weld overlay repair apparatus as set forth in claim 20, wherein: the two-axis welding wire adjusting mechanism (116) comprises two welding wire adjusting mounting plates (33), parallel driving screw rods (110) and perpendicular driving gear shafts (109) which are arranged in parallel, parallel nut guide blocks (111) which are matched with the parallel driving screw rods (110), perpendicular driving circular racks (35) which are perpendicular to the axial direction of the welding wire assemblies, and parallel motor assemblies (39) and perpendicular motor assemblies (34) which are fixed on the welding wire adjusting mounting plates (33), the two welding wire adjusting mounting plates (33) are both fixed on welding wire adjusting mechanism connecting plates (32), two ends of the parallel driving screw rods (110) and two ends of the perpendicular driving gear shafts (109) are rotatably supported in the two welding wire adjusting mounting plates (33) through copper sleeves, the parallel driving screw rods (110) are driven to rotate by the parallel motor assemblies (39), the perpendicular driving gear shafts (109) are driven to rotate by the perpendicular motor assemblies (34), sliding holes are formed in the parallel nut guide blocks (111), and the perpendicular driving circular racks (35) are movably arranged in the parallel driving circular racks (35) and meshed with the perpendicular driving circular racks (108) to one ends of the perpendicular driving circular racks (109).

22. The seal weld overlay repair apparatus as set forth in claim 21, wherein: the welding wire adjusting limiting block (36) is fixed at the other end of the vertical driving circular rack (35), and the welding wire adjusting executing block (108) and the welding wire adjusting limiting block (36) are positioned outside the sliding hole.

23. The seal weld overlay repair apparatus according to claim 1, wherein: the welding module (120) further comprises a wire feeding disc (48) and a wire feeding machine (51) which are arranged on the lower end face of the welding motion fixing disc (52), the wire feeding nozzle assembly (45) is connected with the wire feeding machine (51) through a wire feeding pipe (37), and the wire feeding machine (51) is used for feeding welding wires arranged on the wire feeding disc (48).

24. The seal weld overlay repair apparatus according to claim 1, wherein: a distance sensor (70) is arranged on the lower end face of the welding motion fixing disc (52).

25. The seal weld overlay repair apparatus according to claim 1, wherein: the periphery of the welding motion fixed disc (52) is fixedly provided with a protruding installation block, the installation block is fixedly provided with a wiring support (5) which extends up and down and is positioned on the periphery side of the installation base (117), and the lower end face of the welding motion fixed disc (52) is provided with a cable fixed block (50).