CN113732454A

CN113732454A - Welding robot, welding system and method for automatic blocking of nuclear production stacking and unloading mechanism

Info

Publication number: CN113732454A
Application number: CN202110926154.3A
Authority: CN
Inventors: 刘自强; 孙惠东; 姜星斗; 谢非; 王珈浩; 龙再沄; 刘迎林; 郑莉; 鲍芳
Original assignee: China Nuclear Power Engineering Co Ltd
Current assignee: China Nuclear Power Engineering Co Ltd
Priority date: 2021-08-12
Filing date: 2021-08-12
Publication date: 2021-12-03
Anticipated expiration: 2041-08-12
Also published as: CN113732454B

Abstract

The invention provides a welding robot, a welding system and a method for automatic blocking of a nuclear production pile discharging mechanism, wherein the welding robot comprises a rack, a jacking device and a welding device, wherein a first moving mechanism of the rack is connected between an underframe and the jacking device and is used for driving the jacking device to move relative to the underframe to correspond to a welding target; the jacking device comprises a jacking driving device and a jacking mechanism, the jacking driving device is connected with the jacking mechanism and is used for driving the jacking mechanism to ascend to abut against the plug rod so as to provide jacking force for the plug rod; the welding device comprises a second moving mechanism and a welding mechanism, wherein the second moving mechanism is connected between the jacking mechanism and the welding mechanism and used for driving the welding mechanism to move so as to seal and weld the welding target. The plug rod of the unloading mechanism is applied with force by the jacking device to push the spherical plug head to be tightly pressed with the base, and the plug rod and the spring sleeve are fixedly welded by the welding device, so that the effective plugging of the nuclear production stacking and unloading mechanism is indirectly realized.

Description

Welding robot, welding system and method for automatic blocking of nuclear production stacking and unloading mechanism

Technical Field

The invention relates to the technical field of welding equipment, in particular to a welding robot, a welding system and a welding method for automatic blocking of a nuclear production stacking and unloading mechanism.

Background

The plugging of the reactor core of a nuclear production reactor generally needs to plug all penetrating pieces and holes of the reactor body, realize the isolation of the reactor core from the external environment, and maintain the state in a long-term burial period, so as to ensure that radioactive substances do not cause unacceptable harm to the public and the environment during the safe sealing period.

In the unloading mechanism at the lower part of the reactor shown in fig. 1, the plug rod c is pushed by the spring sleeve d in a compressed state at the unloading opening to jack the spherical plug head b, so that the spherical plug head b is in pressing sealing fit with the base 100, and the unloading opening is closed.

Because the radiation of shedding mechanism is big, and reactor lower part shedding mechanism is numerous, and the shedding mechanism shutoff can't adopt the manual welding to accomplish, in addition, because globular chock plug b is narrow and small with base 100 cooperation department space, the weldment work is difficult to expand to it is difficult to realize the shutoff of reactor shedding mechanism.

Theoretically, the plug rod c and the spring sleeve d are welded into a whole, so that the plug rod c can be maintained to permanently lift the spherical plug head b, the spherical plug head b and the base 100 are maintained to be permanently pressed and matched, and the unloading mechanism is indirectly blocked.

However, in the actual operation process, the phenomena that the safety sealing life of some discharging structures is long, the spring sleeve d fails, the parts of the plug head b and the base 100 deform, the defects of corrosion, the adhesion of impurities and the like exist, so that the sealing failure of the spherical plug head b and the base 100 is caused, and the effective sealing of the discharging mechanism of the graphite production pile cannot be realized only by welding the plug rod c and the spring sleeve d.

Disclosure of Invention

The invention aims to solve the technical problem of providing a welding robot for automatically realizing the effective plugging of a graphite production pile discharging mechanism, a welding system with the welding robot and a welding method for realizing the effective plugging of the graphite production pile discharging mechanism by using the welding system aiming at the defects in the prior art.

The technical scheme adopted for solving the technical problem of the invention is as follows:

the invention provides a welding robot for automatically plugging a nuclear production stacking and unloading mechanism, which mainly takes a spring seat of the nuclear production stacking and unloading mechanism and a plug rod penetrating the spring seat as welding targets to carry out sealing welding of the spring seat and the plug rod,

it includes: a frame, a jacking device and a welding device,

the frame comprises an underframe and a first moving mechanism, the first moving mechanism is connected between the underframe and the jacking device and is used for driving the jacking device to move relative to the underframe to correspond to a welding target;

the jacking device comprises a jacking driving device and a jacking mechanism, the jacking driving device is connected with the jacking mechanism and is used for driving the jacking mechanism to ascend to abut against the plug rod so as to provide jacking force for the plug rod;

the welding device comprises a second moving mechanism and a welding mechanism, wherein the second moving mechanism is connected between the jacking mechanism and the welding mechanism and used for driving the welding mechanism to move relative to the jacking mechanism so as to enable the welding mechanism to weld the welding target in a sealing mode.

Optionally, the jacking mechanism is slidably supported at the upper end of the jacking driving device and can slide along any direction of the horizontal plane relative to the jacking driving device,

the center of the top surface of the jacking mechanism is provided with a positioning groove which is of a frustum structure with a big top and a small bottom and is used for the lower end of the plug rod to extend into in the lifting process of the jacking mechanism,

the jacking mechanism can move to be coaxial with the plug rod under the driving force action of the jacking driving device or the combined action of the driving force of the jacking driving device and the horizontal thrust of the plug rod, and the outer edge of a certain cross section of the frustum structure is in fit butt joint with the outer edge of the lower end face of the plug rod.

Optionally, the jacking driving device comprises a supporting seat and a jacking driving mechanism, the supporting seat is supported on the jacking driving mechanism,

a self-adaptive cavity is arranged in the supporting seat,

the jacking mechanism comprises a mandril assembly and a self-adaptive plate, the self-adaptive plate is slidably arranged in the self-adaptive cavity, and the mandril assembly is arranged at the upper end of the self-adaptive plate and extends out of the self-adaptive cavity;

be equipped with between the lateral wall of self-adaptation board and the side cavity wall in self-adaptation chamber and reply the structure, reply the structure and be used for producing the in-process that horizontal thrust promotes the self-adaptation board to slide at the ejector pin to jacking mechanism, produce the restoring force opposite with horizontal thrust to the self-adaptation board, when ejector pin subassembly and gag pin disconnection, restoring force drive self-adaptation board slides in order to reply to initial condition.

Optionally, the adaptive plate is of a square structure, the return structure includes four sets of compression springs, the four sets of compression springs correspond to four side surfaces of the adaptive plate one by one, a side cavity wall of the adaptive cavity has guide sections corresponding to and parallel to the side surfaces of the adaptive plate, each set of compression spring is connected between the corresponding side surface of the adaptive plate and the guide section, and a central axis of each compression spring is perpendicular to the corresponding side surface of the adaptive plate;

when the self-adaptive plate is in an initial state, the two groups of compression springs on the two opposite side surfaces of the self-adaptive plate have the same compression force to the self-adaptive plate and opposite directions.

Optionally, the second moving mechanism comprises a slewing mechanism which comprises a slewing reducer and a slewing table, and the welding mechanism is arranged on the slewing table;

the rotary table is sleeved on the ejector rod assembly, and the upper end of the rotary table extends out of the self-adaptive cavity;

the rotary speed reducer is arranged on the self-adaptive plate and connected with the rotary table and used for driving the rotary table to rotate around the ejector rod assembly, so that the welding mechanism can complete full welding of the spring seat and the plug rod in the rotation process.

Optionally, the welding mechanism comprises a welding gun and a wire feeding mechanism, the welding gun is provided with a wire feeding nozzle, and the wire feeding mechanism is arranged on the rotary table and used for drawing a welding wire to pass through the wire feeding nozzle;

the second moving mechanism further comprises an adjusting mechanism, and the adjusting mechanism is connected between the rotary table and the welding gun and used for driving the welding gun to move relative to the rotary table so that a muzzle of the welding gun faces to and is close to a to-be-welded area of the spring seat and the plug rod.

Optionally, the device further comprises an automatic tungsten electrode replacing device, wherein the automatic tungsten electrode replacing device is arranged on the supporting seat and comprises a feeding device and a discharging device;

the feeding device comprises a tungsten electrode bin and a pushing unit, wherein the tungsten electrode bin is used for containing a replacement tungsten electrode, the top surface of the tungsten electrode bin is provided with a discharge hole, and the pushing unit is arranged on the tungsten electrode bin and is used for driving the replacement tungsten electrode to extend out of the discharge hole;

the discharging device comprises a waste bin and a first clamping mechanism, the waste bin is connected with a tungsten electrode bin,

the first clamping mechanism is arranged on the waste bin and used for clamping or loosening the waste tungsten electrode, a blanking port is formed in the waste bin, and when the first clamping mechanism loosens the waste tungsten electrode, the waste tungsten electrode enters the waste bin through the blanking port under the action of gravity;

the welding gun is internally provided with a second clamping mechanism for clamping or loosening the tungsten electrode,

the adjusting mechanism is also used for driving the welding gun to move to a position above a discharge port of the automatic tungsten electrode replacing device, so that a second clamping mechanism in the welding gun clamps the replacement tungsten electrode extending out of the discharge port; or driving the welding gun to move to the position where the waste tungsten electrode clamped by the second clamping mechanism extends into the first clamping mechanism, so that the first clamping mechanism clamps the waste tungsten electrode.

Optionally, the pushing unit comprises a first pushing mechanism and a second pushing mechanism,

the first pushing mechanism and the second pushing mechanism are both arranged on a tungsten electrode bin, a discharging station is arranged in the tungsten electrode bin and corresponds to a discharging port,

the tungsten electrode bin is used for accommodating a plurality of replacement tungsten electrodes which are vertically arranged and linearly arranged, the replacement tungsten electrodes are connected with the tungsten electrode bin in a sliding way,

the first pushing mechanism is used for abutting against the replacement tungsten electrode which is farthest from the discharging station and pushing the replacement tungsten electrode to slide along the linear arrangement direction of the replacement tungsten electrodes so that the replacement tungsten electrodes abut against one another in sequence and the replacement tungsten electrode which is closest to the discharging station is moved to the discharging station;

and the second pushing mechanism is used for driving the replacement tungsten electrode positioned at the discharging station to axially move to extend out of the discharging port.

Optionally, the first clamping mechanism comprises a first clamping assembly and a clamping driving mechanism,

the first clamping assembly comprises two clamping arms and a second spring, the second spring is arranged between the two clamping arms and is horizontally arranged, and the clamping arms are arranged on the waste bin in a sliding mode and can slide relative to the waste bin along the axial direction of the second spring;

the clamping driving mechanism comprises a sliding seat and a lifting driving device, the sliding seat is arranged above the waste bin, and the lifting driving device is connected between the sliding seat and the waste bin and used for driving the sliding seat to move up and down relative to the waste bin;

a lower through groove is formed in the sliding seat for the lower parts of the two clamping arms to extend into, two wall surfaces of the lower through groove along the axial direction of the second spring are provided with first inclined surfaces, the upper end of each first inclined surface inclines outwards relative to the lower end of the corresponding first inclined surface, and the upper end of each first inclined surface extends upwards to the upper end surface of the sliding seat,

the sliding seat can move upwards relatively until the first inclined surface of the sliding seat is abutted against the corresponding clamping arm, and thrust towards the other clamping arm is applied to the clamping arm, so that the two clamping arms move oppositely to clamp the waste tungsten electrode, and the second spring is compressed;

the sliding seat can move downwards to the first inclined surface of the sliding seat to be separated from and abutted against the corresponding clamping arm, so that the second spring is reset to push the two clamping arms to move back to the opposite direction to loosen the waste tungsten electrode.

Optionally, the device also comprises two polishing devices, the welding device is arranged on one of the lifting devices, the polishing device is arranged on the other lifting device,

the polishing device comprises a third moving mechanism and a polishing mechanism, wherein the third moving mechanism is connected between the jacking mechanism of the corresponding jacking device and the polishing mechanism and used for driving the polishing mechanism to move relative to the corresponding jacking mechanism so that the polishing mechanism polishes the welding target.

Optionally, the first moving mechanism comprises a lifting mechanism and a horizontal driving mechanism,

the lifting mechanism is connected between the bottom frame and the horizontal driving mechanism and is used for driving the horizontal driving mechanism to lift,

the horizontal driving mechanism comprises a first direction driving mechanism and a second direction driving mechanism, the two first direction driving mechanisms and the two second direction driving mechanisms are respectively arranged and correspond to the two jacking devices one by one,

the first direction driving mechanism is connected between the lifting mechanism and the corresponding second direction driving mechanism and is used for driving the corresponding second direction driving mechanism to slide along a first horizontal direction,

and the second direction driving mechanism is connected with the corresponding jacking device and used for driving the corresponding jacking device to slide along a second horizontal direction, and the first horizontal direction is vertical to the second horizontal direction.

Optionally, the base frame comprises a fixed table, a movable table and a workbench, and the fixed table, the movable table and the workbench are sequentially arranged from bottom to top;

the top surface of the fixed table is provided with a third inclined surface or a first concave cambered surface at two end parts along a third horizontal direction, and the far end of the third inclined surface or the first concave cambered surface along the third horizontal direction is obliquely and upwards arranged relative to the near end of the third inclined surface or the first concave cambered surface;

two ends of the bottom of the movable table along a third horizontal direction are respectively abutted against a corresponding third inclined surface or a second concave cambered surface, and a third direction driving mechanism is connected between the fixed table and the movable table and used for driving two ends of the bottom of the movable table along the third horizontal direction to reciprocate in the inclination direction of the corresponding third inclined surface or the radian direction of the second concave cambered surface so as to adjust the levelness of the top surface of the working table along the third horizontal direction;

the top surface of the mobile station is provided with a fourth inclined surface or a second concave cambered surface along two end parts of the fourth horizontal direction, the far end of the fourth inclined surface or the second concave cambered surface along the fourth horizontal direction is obliquely and upwards arranged relative to the near end of the fourth inclined surface or the second concave cambered surface, and the fourth horizontal direction is vertical to the third horizontal direction;

the bottom of workstation along the both ends of fourth horizontal direction respectively with corresponding fourth inclined plane or the concave cambered surface butt of second, be connected with fourth drive mechanism between mobile station and the workstation for drive workstation bottom along the radian direction reciprocating motion of two tip on corresponding fourth inclined plane or the concave cambered surface of second of fourth horizontal direction, in order to adjust workstation top surface is along the levelness of fourth horizontal direction.

The invention also provides a welding system, which is used for automatically and hermetically welding the spring seat of the nuclear production stacking and unloading mechanism and the plug rod penetrating in the spring seat, and comprises a welding machine, a control device and the welding robot;

the first moving mechanism of the welding robot is provided with a holder monitoring device, and the holder monitoring device is electrically connected with the control device and is used for carrying out multi-angle shooting on the surrounding environment of the welding robot and transmitting a real-time shooting signal to the control device;

the control device is electrically connected with the first moving mechanism and used for comparing the welding target image stored in the control device with the real-time camera signal so as to identify the welding target and controlling the first moving mechanism to drive the jacking device to move until the jacking device corresponds to the welding target;

the control device is also electrically connected with the lifting driving device and is used for controlling the lifting driving device to drive the lifting mechanism to ascend until the lifting mechanism provides a preset lifting force for the plug rod;

the welding machine is connected with the welding mechanism and used for driving the welding mechanism to operate, and the control device is further electrically connected with the second moving mechanism and the welding machine respectively and used for controlling the welding machine to start and controlling the second moving mechanism to drive the welding mechanism to move until the welding mechanism completes the sealing welding of the spring seat and the plug rod.

the control device is electrically connected with the first moving mechanism and used for comparing the welding target image stored in the control device with the real-time camera signal to identify the welding target, and controlling the first moving mechanism to drive the jacking device to move after the welding target is identified until the jacking device corresponds to the welding target;

the control device is also electrically connected with the second moving mechanism and the welding machine respectively and used for controlling the welding machine to start and controlling the second moving mechanism to drive the welding mechanism to move until the welding mechanism completes the sealing welding of the spring seat and the plug rod.

The invention also provides a method for automatically sealing and welding the nuclear production stack unloading mechanism by using the welding system, which comprises the following steps:

s1: the cradle head monitoring device carries out multi-angle shooting on the surrounding environment of the welding robot and transmits a real-time shooting signal to the control device;

s2: the control device compares the welding target image stored in the control device with the real-time camera signal to identify the welding target and controls the first moving mechanism to drive the jacking device to move until the jacking device corresponds to the welding target;

s3: the control device controls the jacking driving device to drive the jacking mechanism to ascend until the jacking mechanism provides a preset jacking force for the plug rod;

s4: the control device controls the welding machine to start so as to drive the welding mechanism to operate, and controls the second moving mechanism to drive the welding mechanism to move until the welding mechanism completes the sealing welding of the spring seat and the plug rod.

In the invention, the jacking device is additionally arranged on the frame, the welding device is arranged on the jacking device, and before welding, the first moving mechanism drives the jacking device to move to the position below the welding target, the jacking driving device drives the jacking mechanism to ascend to abut against a plug rod of the graphite production stack discharging mechanism and pushes the plug rod to jack the spherical plug head, further pushing the spherical plug head to press the base to maintain and increase the contact deformation of the spherical plug head and the base, so that the spherical plug head and the base maintain permanent press fit, and finally, welding and fixedly connecting the plug rod and the spring sleeve through a welding device, therefore, the effective plugging of the discharging mechanism in the graphite production pile is indirectly realized, the problems that the spring sleeve fails, the phenomena of deformation, corrosion defects, impurity adhesion and the like of a plug head and a base part cause sealing failure of a spherical plug head and a base, and the effective plugging of the discharging mechanism in the graphite production pile cannot be realized only by welding a plug rod and the spring sleeve are solved.

Drawings

FIG. 1 is a schematic sectional structure view of an area to be plugged of a nuclear production reactor unloading mechanism;

fig. 2 is a schematic perspective view of a welding robot provided in embodiment 1 of the present invention;

fig. 3 is a schematic perspective view of another perspective view of a welding robot provided in embodiment 1 of the present invention;

fig. 4 is a schematic perspective view of a welding robot provided in embodiment 1 of the present invention in a working state;

FIG. 5 is a schematic perspective view of the jacking device;

FIG. 6 is a front view of the jacking device;

FIG. 7 is a schematic perspective view of the jacking device with the cover plate removed;

FIG. 8 is a schematic perspective view of the jacking device from another perspective with the cover plate removed;

FIG. 9 is a cross-sectional view taken along line A-A of FIG. 6;

FIG. 10 is a schematic view of a partial perspective cross-sectional structure of the jacking device with a cover plate removed;

FIG. 11 is a schematic sectional view of the ram assembly;

FIG. 12 is a partial longitudinal cross-sectional view of the jacking device;

FIG. 13 is a schematic view of the jacking mechanism moving into abutment with the plug stem;

FIG. 14 is a schematic perspective view of the jacking device and the welding device after assembly;

FIG. 15 is a schematic perspective view of the jacking device and the welding device;

FIG. 16 is a schematic perspective view of the welding apparatus (the rotary mechanism is not shown);

FIG. 17 is a schematic perspective view of another view of the welding apparatus (the swing mechanism is not shown);

FIG. 18 is a schematic perspective view of the jacking device, the welding device and the automatic tungsten electrode replacing device after assembly;

FIG. 19 is a schematic perspective view (in a discharging state) of the jacking device, the welding device and the automatic tungsten electrode replacement device at another view angle after assembly;

FIG. 20 is a perspective view of the automatic tungsten electrode changer;

FIG. 21 is a schematic partial perspective cross-sectional view of an automatic tungsten electrode changer;

FIG. 22 is a schematic perspective view of the feeding device;

FIG. 23 is a schematic cross-sectional view of the loading device in an applied state;

FIG. 24 is a schematic view of a partial cross-sectional structure of a loading device;

FIG. 25 is a sectional view taken along line B-B of FIG. 24;

FIG. 26 is a perspective view of the discharging device;

FIG. 27 is a schematic view of a partial perspective cross-sectional structure of a discharge device;

FIG. 28 is a perspective view of the fixed base, the sliding base, and the first clamping assembly after assembly;

FIG. 29 is a schematic view of a partially assembled, partially exploded, perspective structure of the fixed base, the sliding base and the first clamping assembly;

FIG. 30 is a perspective view of the assembled slide mount and first clamp assembly;

fig. 31 is a schematic perspective view of the assembled sliding seat, first clamping assembly and clamping block;

fig. 32 is a front view of the first clamping assembly after being spread.

FIG. 33 is a perspective view of the sliding seat;

FIG. 34 is a schematic perspective view of the jacking device and the polishing device after being assembled;

FIG. 35 is a perspective view of the horizontal drive mechanism;

FIG. 36 is a schematic view of the construction of the chassis;

FIG. 37 is a schematic view of the structure of the fixing table;

fig. 38 is a schematic structural view of the stationary table (wherein the first limiting plate and the first guide wheel are shown as explosive assemblies);

FIG. 39 is a schematic view of the assembled structure of the fixed platen and the second square platform;

FIG. 40 is a schematic structural view of a second square platform or a fourth square platform;

FIG. 41 is a schematic view of the assembled structure of the fixed and mobile stations;

fig. 42 is a schematic structural view of the fixed and mobile stations from another perspective after assembly (with the first limiting plate removed);

fig. 43 is a schematic view showing the structure of the fixed stage, the movable stage and the table after they are assembled.

Fig. 44 is a schematic view of an application state of the welding system according to embodiment 2 of the present invention.

In the figure:

1. a chassis; 11. a fixed table; 111. a first sliding table; 1111. a first rolling element; 1112. a first limit plate; 1113. a first guide wheel; 112. a first square platform; 12. a mobile station; 121. a second sliding table; 1211. a second rolling element; 1212. a second limiting plate; 1213. a second guide wheel; 122. a first slider; 1221. a first guide bar; 123. a second square platform; 124. a third terrain platform; 13. a work table; 131. a second slider; 1311. a second guide bar; 132. a fourth square platform; 133. a table body; 14. a third direction driving mechanism; 15. a fourth direction drive mechanism; 16. a primary adjustment mechanism; 2. a first moving mechanism; 21. a lifting mechanism; 22. a first direction driving mechanism; 23. a second direction driving mechanism; 3. a jacking device; 31. a jacking mechanism; 311. positioning a groove; 312. a push rod assembly; 3121. a vision camera; 3122. conducting rings; 3123. an insulating ring; 3124. positioning a rod; 3125. a transfer ring; 3126. a base; 3127. a first pressure sensor; 313. a self-adaptive panel; 32. a supporting seat; 321. an adaptive cavity; 322. a compression spring; 323. a base plate; 324. a guide plate; 325. a cover plate; 326. closing the plate; 33. a jacking driving mechanism; 331. an installation table; 332. a jacking driving component; 4. a welding device; 41. a welding gun; 411. a welding gun body; 4111. a nozzle; 4112. a clamping motor; 412. a wire feeding nozzle; 413. a camera; 42. a swing mechanism; 421. a rotary speed reducer; 422. a turntable; 43. a wire feeder; 44. an adjustment mechanism; 441. a horizontal linear drive mechanism; 442. a vertical linear drive mechanism; 443. a rotation driving mechanism; 444. a limiting member; 45. a substrate; 5. a tungsten electrode automatic replacing device; 51. a feeding device; 511. a tungsten electrode bin; 5111. an inner cavity; 5112. a through hole; 5113. a first guide groove; 512. a first spring; 513. a second pushing mechanism; 514. replacing the tungsten electrode; 515. a connecting rod; 516. a guide tube; 5161. a guide groove; 52. a discharge device; 521. a fixed seat; 5211. a second through groove; 5212. a sliding part; 5213. a fixed seat body; 5214. a clamping block; 5215. a fastener; 522. a sliding seat; 5221. a first through groove; 5222. a first inclined surface; 523. a first clamping assembly;

5231. clamping arms; 5232. a second spring; 5233. a chute; 5234. a second inclined surface;

524. a waste bin; 5241. a blanking port; 525. a lift drive; 6. a polishing device;

7. a holder monitoring device; 100. a welding robot; 200. a control device; 300. automatic cable winding and unwinding devices.

Detailed Description

The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of the present invention.

In the description of the present invention, it should be noted that the indication of orientation or positional relationship, such as "on" or the like, is based on the orientation or positional relationship shown in the drawings, and is only for convenience and simplicity of description, and does not indicate or imply that the device or element referred to must be provided with a specific orientation, constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected," "disposed," "mounted," "fixed," and the like are to be construed broadly, e.g., as being fixedly or removably connected, or integrally connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.

it includes: a frame, a jacking device and a welding device,

s2: the control device compares the welding target image stored in the control device with the real-time camera signal to identify the welding target, and controls the first moving mechanism to drive the jacking device to move after identifying the welding target until the jacking device corresponds to the welding target;

s4: the control device controls the welding machine to start, and controls the second moving mechanism to drive the welding mechanism to move until the welding mechanism completes the sealing welding of the spring seat and the plug rod.

Example 1:

the embodiment provides a welding robot for automatic shutoff of unloading mechanism is piled in nuclear production, mainly uses the spring holder of unloading mechanism is piled in nuclear production and wears to locate the cock stem in the spring holder as the welding target, carries out the seal weld of the two.

As shown in fig. 2 to 4, the welding robot includes: the device comprises a frame, a jacking device 3, a welding device 4, an automatic tungsten electrode replacing device 5 and a polishing device 6.

The frame comprises an underframe 1 and a first moving mechanism 2, wherein the first moving mechanism 2 is connected between the underframe 1 and a jacking device 3 and is used for driving the jacking device 3 to move relative to the underframe 1 to correspond to a welding target;

the jacking device 3 comprises a jacking driving device and a jacking mechanism 31, the jacking driving device is connected with the jacking mechanism 31 and is used for driving the jacking mechanism 31 to ascend to abut against the plug rod so as to provide jacking force for the plug rod;

the welding device 4 comprises a second moving mechanism and a welding mechanism, wherein the second moving mechanism is connected between the jacking mechanism 31 and the welding mechanism and used for driving the welding mechanism to move relative to the jacking mechanism 31 so that the welding mechanism can be used for welding the welding target in a sealing manner.

Therefore, by additionally arranging the jacking device 3 on the frame, installing the welding device 4 on the jacking device 3, before welding, driving the jacking device 3 to move to the lower part of a welding target through the first moving mechanism 2, driving the jacking mechanism 31 to lift to abut against the plug rod c of the graphite production stack unloading mechanism through the jacking driving device, pushing the plug rod c to jack the spherical plug head b, further pushing the spherical plug head b to press the base a to maintain and increase the contact deformation of the spherical plug head b and the base a, so that the spherical plug head b and the base a maintain permanent pressing fit, and finally welding and fixedly connecting the plug rod c and the spring sleeve d through the welding device 4, thereby indirectly realizing the effective plugging of the graphite production stack unloading mechanism, solving the problems of failure of the spring sleeve d, deformation of the spherical plug head b and the base a, corrosion defects, impurity adhesion and the like, and the sealing failure of the spherical plug head b and the base a, the problem that the discharging mechanism can not be effectively plugged by welding the plug rod c and the spring sleeve d is solved.

In this embodiment, as shown in fig. 5-12, the jacking mechanism 31 is slidably supported at the upper end of the jacking driving device and can slide along any direction of the horizontal plane relative to the jacking driving device,

the center of the top surface of the jacking mechanism 31 is provided with a positioning groove 311, the positioning groove 311 is a frustum structure with a large upper part and a small lower part and is used for the lower end of the plug rod to extend into in the lifting process of the jacking mechanism 31,

the jacking mechanism 31 can move to be coaxial with the plug rod under the action of the driving force of the jacking driving device or the combined action of the driving force of the jacking driving device and the horizontal thrust of the plug rod, and the outer edge of a certain cross section of the frustum structure is in matched butt joint with the outer edge of the lower end face of the plug rod.

In this embodiment, the lower end of the plug rod c is a circular truncated cone structure with a large top and a small bottom, and the groove wall of the positioning groove 311 is matched with the outer wall of the lower end of the plug rod c.

Referring to fig. 13, since the positioning slot 311 is a circular truncated cone slot and the side slot wall of the positioning slot 311 is matched with the outer wall of the lower end of the plug rod c, when the positioning slot 311 is coaxial with the plug rod c, the jacking mechanism 31 can be lifted to the lower end of the plug rod c to be directly matched and clamped with the positioning slot 311.

When the positioning groove 311 is not coaxial with the plug rod C, a point A (short for near point) of the outer edge of the lower end surface of the plug rod C, which is closest to the side groove wall of the circular truncated cone groove, is firstly contacted with the side groove wall of the positioning groove 311, the point is positioned on a plane where a central axis C of the plug rod C and a central axis D of the positioning groove 311 are positioned, and another point B of the outer edge of the lower end surface of the plug rod C in the plane is farthest away from the side groove wall of the positioning groove 311 (short for far point) compared with other points of the outer edge of the lower end surface of the plug rod C; at this time, the jacking mechanism 31 provides a jacking force E along the normal direction of the contact point to the plug rod C, the plug rod C applies a reaction force F to the plug rod mechanism, before the far point B contacts with the side groove wall of the positioning groove 311, the horizontal component G of the reaction force is located in the above plane and perpendicular to the line C and the line D, which drives the jacking mechanism 31 to horizontally slide relative to the driving device, so that the far point B gets closer to the side groove wall of the positioning groove 311, and at the same time, the jacking mechanism 31 moves upwards more and more under the jacking action of the driving device, when the jacking mechanism 31 moves to the far point B to abut against the side groove wall of the positioning groove 311, all points on the outer edge of the lower end face of the plug rod C abut against the side groove wall of the positioning groove 311 (i.e. the circular outer edge of the bottom face thereof), so that the jacking mechanism 31 does not rise any more, and the horizontal component I of the reaction force H of the plug rod C on the jacking mechanism 31 at the far point B offsets the horizontal component G of the reaction force at the near point a, so the jacking mechanism 31 does not move horizontally any more; this moment stopper rod C central axis C and the coincidence of constant head tank 311 central axis D, and stopper rod C tip down forms the cooperation joint with constant head tank 311 to realized climbing mechanism 31 and stopper rod C's self-adaptation centering, so that jacking device 3 exerts vertical ascending jacking force to stopper rod C, avoid the slippage phenomenon to appear among the jacking process.

In this embodiment, as shown in fig. 7-10, the jacking driving device includes a supporting seat 32 and a jacking driving mechanism 33, the supporting seat 32 is supported on the jacking driving mechanism 33,

a self-adaptive cavity 321 is arranged in the supporting seat 32,

the jacking mechanism 31 comprises a jacking rod assembly 312 and a self-adaptive plate 313, the self-adaptive plate 313 is slidably arranged in the self-adaptive cavity 321, and the jacking rod assembly 312 is arranged at the upper end of the self-adaptive plate 313 and extends out of the self-adaptive cavity 321;

a restoring structure is arranged between the outer side wall of the self-adaptive plate 313 and the side cavity wall of the self-adaptive cavity 321, the restoring structure is used for generating restoring force opposite to the horizontal thrust to the self-adaptive plate 313 in the process that the plug rod generates the horizontal thrust to the jacking mechanism 31 to push the self-adaptive plate 313 to slide, and when the ejector rod assembly 312 is disconnected from the plug rod c, the restoring force drives the self-adaptive plate 313 to slide so as to restore to the initial state.

When the plug rod c and the push rod assembly 312 are eccentric, the plug rod c contacts with the positioning groove 311 in the jacking process, the horizontal thrust of the plug rod c to the push rod assembly 312 pushes the adaptive plate 313 to slide in the adaptive cavity 321, so that the push rod assembly 312 and the plug rod c perform small-range centering adjustment, and meanwhile, the adaptive plate 313 deviates to enable the restoring mechanism to generate restoring force opposite to the horizontal thrust to the adaptive plate 313. When the push rod assembly 312 is coaxial with the plug rod c, the jacking mechanism 31 is stabilized in the adaptive cavity 321 of the support seat 32 by the matching clamping connection of the positioning groove 311 and the lower end part of the plug rod c.

When the jack assembly 312 is disconnected from the plug c, the restoring force of the restoring mechanism drives the adaptive plate 313 to be restored to the initial state.

In this embodiment, the adaptive plate 313 is a square structure, the restoring structure includes four sets of compression springs 322, the four sets of compression springs 322 correspond to four side surfaces of the adaptive plate 313 one by one, a side cavity wall of the adaptive cavity 321 has guide sections corresponding to and parallel to the side surfaces of the adaptive plate 313, each set of compression springs 322 is connected between the corresponding side surface of the adaptive plate 313 and the guide sections, and a central axis of each compression spring 322 is perpendicular to the corresponding side surface of the adaptive plate 313;

when the adaptive plate is in the initial state, the two sets of compression springs 322 on the two opposite sides of the adaptive plate 313 have the same magnitude of compression force on the adaptive plate 313 and have opposite directions.

Because a certain side face of the adaptive plate 313 is arranged in parallel with the corresponding guide section, the distance between the adaptive plate 313 and the guide section in the sliding process of the adaptive plate 313 is kept consistent in the extension direction of the guide section, so that the central axis of the compression spring 322 between the adaptive plate 313 and the guide section is always perpendicular to the corresponding side face of the adaptive plate 313. Thus, the sliding motion of the adaptive plate 313 in either direction along the horizontal plane can be decomposed into the movement along the directions perpendicular to both sides of the top surface of the adaptive plate 313. Accordingly, the restoring force of the restoring structure to the adaptive plate 313 may also be decomposed into two components in directions along two vertical sides of the top surface of the adaptive plate 313. Each force component is the difference between the compression forces of the two sets of compression springs 322 on the two sides of the adaptive plate 313 in the direction of the force component on the adaptive plate 313.

When the push rod assembly 312 is out of contact with the plug rod c, the two sets of compression springs 322 on the two opposite sides of the adaptive plate 313 counteract the compression force of the adaptive plate 313, so that the adaptive plate 313 can return to the initial state.

In this embodiment, referring to fig. 9, the adaptive plate 313 is a square structure, and four sets of compression springs 322 are circumferentially and uniformly distributed around the vertical center line of the adaptive plate 313. Specifically, each set of compression springs 322 includes two compression springs 322, and the two compression springs 322 are respectively disposed at two ends of the corresponding side surface of the adaptive plate 313 along the extending direction of the corresponding guide section. The guide section is provided with a containing hole corresponding to the compression spring 322, one end of the compression spring 322 is abutted against the bottom wall of the containing hole, and the other end is abutted against the corresponding side face of the self-adaptive plate 313.

In this embodiment, the supporting seat 32 includes a bottom plate 323, a guiding plate 324, a cover plate 325 and a sealing plate 326, the bottom plate 323, the guiding plate 324, the cover plate 325 and the sealing plate 326 are sequentially connected from bottom to top, the guiding plate 324 is provided with a guiding through hole, and a top wall of the bottom plate 323, a hole wall of the guiding through hole and a bottom wall of the cover plate 325 enclose to form a self-adaptive cavity 321.

In the present embodiment, referring to fig. 8 and 10, the second moving mechanism includes a rotating mechanism 42, which includes a rotating speed reducer 421 and a rotating table 422, and the welding mechanism is disposed on the rotating table 422;

the rotary table 422 is sleeved on the ejector rod assembly 312, and the upper end of the rotary table extends out of the adaptive cavity 321;

the rotary speed reducer 421 is arranged on the adaptive plate 313 and connected with the rotary table 422, and is used for driving the rotary table 422 to rotate around the ejector rod assembly 312, so that the welding mechanism can complete full welding of the spring seat and the plug rod in the rotating process.

The cover plate 325 and the sealing plate 326 of the support base 32 are provided with a clearance hole for the upper end of the rotary table 422 to extend out and horizontally slide.

Specifically, the turntable 422 comprises an inner ring and an outer ring, the inner ring and the outer ring are rotatably connected, the inner ring is sleeved at the lower end of the ejector rod assembly 312, the rotary speed reducer 421 is connected with the outer ring and used for driving the turntable to rotate around the central axis of the turntable 422, and the upper end of the outer ring of the turntable 422 extends out of the adaptive cavity 321.

In this embodiment, referring to fig. 11, the lift bar assembly 312 includes a bar body and a vision camera 3121, the positioning slot 311 is disposed on a top surface of the bar body, a central hole is disposed on the top surface of the positioning slot 311, and the vision camera 3121 is located in the central hole.

The vision camera 3121 accurately locates the position of the plunger c by image recognition and positioning technology. And then the self-adaptive plate 313 and the self-adaptive cavity 321 are matched in a sliding way to automatically adjust so as to realize the centering of the mandril assembly 312 and the plug rod c and compensate errors of visual recognition.

In this embodiment, continue to refer to fig. 11, the body of rod includes conducting ring 3122, insulating ring 3123, locating lever 3124, adapter ring 3125 and base 3126, conducting ring 3122, insulating ring 3123, locating lever 3124, adapter ring 3125 and base 3126 from last to cup jointing in proper order down, base 3126 is located on self-adaptation board 313, the centre bore extends down to the top surface of locating lever 3124, be equipped with first pressure sensor 3127 between adapter ring 3125 and the base 3126.

The first pressure sensor 3127 is configured to detect a jacking pressure, ensure that the ejector rod assembly 312 is in close contact with the lower end of the plunger c, and ensure that the jacking pressure is within a set range.

The conducting ring 3122 is in sliding contact with the ground wire of the welding machine to form a welding loop. Conducting ring 3122 is connected to locating lever 3124 through insulating ring 3123 on, the connected mode is threaded connection, insulating ring 3123 all opens the screw outside the inboard, locating lever 3124 and pressure sensor 3127 are fixed through screw and adapter ring 3125, base 3126 is fixed through countersunk head screw and pressure sensor 3127 from the top down, makes adapter ring 3125 and base 3126 form sliding fit, the feedback of the jacking force of being convenient for.

The vision camera 3121 is located the dabber center, through image recognition location technique, carries out accurate location to gag lever post c position.

In this embodiment, referring to fig. 12, the lift-up driving mechanism 33 includes a mounting table 331 and a lift-up driving assembly 332, and the mounting table 331 is disposed at the top end of the first moving mechanism 2. The supporting base 32 is slidably connected to the mounting table 331, the lower portion of the lift driving unit 332 is disposed on the mounting table 331, and the upper portion thereof abuts against the supporting base 32 for driving the supporting base 32 and the lift mechanism 31 thereon to move up and down relative to the mounting table 331.

In this embodiment, the jacking driving assembly 332 adopts a screw nut pair structure driven by a motor mature in the mechanical industry, and is not described herein again.

In this embodiment, as shown in fig. 14 and 15, the welding mechanism includes a base plate 45, a welding torch 41, and a wire feeder 43, and the base plate 45 is connected to the rotary table 422 through a connecting member.

Referring to fig. 16 and 17, a wire feed nozzle 412 is attached to a torch body 411 of the torch 41, and a wire feeder 43 is provided on the base plate 45 for drawing the welding wire through the wire feed nozzle 412.

The welding gun body 411 is a cylindrical structure, and a nozzle 4111 is arranged at one end of a gun mouth. The welding gun body 411 is provided with a second clamping mechanism for clamping or loosening a tungsten electrode penetrating through the welding gun body 411. The second clamping mechanism comprises a second clamping component and a clamping motor 4112, one end of the tungsten electrode is clamped by the second clamping component, and the other end of the tungsten electrode extends out of the nozzle 4111. The clamping motor 4112 is connected with the second clamping assembly in a transmission mode through a bevel gear, and controls the second clamping assembly to clamp or loosen the tungsten electrode, so that the tungsten electrode can be automatically replaced conveniently.

The axial direction of the wire feeding nozzle 412 is inclined with respect to the axial direction of the nozzle 4111, and the outlet of the wire feeding nozzle 412 is close to the outlet of the nozzle 4111. The relative positions of wire feed nozzle 412 and nozzle 4111 are adjusted and fixed prior to entering the field.

The welding gun body 411 is also connected with a camera 413, a lens of the camera 413 faces to a to-be-welded area of a welding object, and a visual angle of the camera 413 at least covers an outlet of the nozzle 4111, an outlet of the wire feeding nozzle 412 and the to-be-welded area of the welding object.

Thus, by mounting the camera 413 on the welding gun 41 to take a picture of the outlet of the nozzle 4111, the outlet of the wire feed nozzle 412 and the area to be welded of the welding target in real time, the camera 413 may be connected by radio to a remote control device so that it makes remote control adjustments to the position of the welding gun 41, thereby avoiding the operator's exposure to the nuclear welding environment.

In this embodiment, the second moving mechanism further comprises an adjusting mechanism 44, and the adjusting mechanism 44 is connected between the turntable 422 and the welding gun 41 and is used for driving the welding gun 41 to move relative to the turntable 422 so that the muzzle of the welding gun 41 faces to and is close to the to-be-welded area of the spring seat and the plug rod.

With continued reference to fig. 16 and 17, in this embodiment:

the adjustment mechanism 44 includes a horizontal linear drive mechanism 441, a vertical linear drive mechanism 442, and a rotary drive mechanism 443. The horizontal linear driving mechanism 441 is disposed on the base plate 45, the vertical linear driving mechanism 442 is slidably disposed on the horizontal linear driving mechanism 441, the rotary driving mechanism 443 is slidably disposed on the vertical linear driving mechanism 442, and the welding gun 41 is connected to the rotary driving mechanism 443. The horizontal linear driving mechanism 441 is used to drive the vertical linear driving mechanism 442 to reciprocate in a horizontal direction relative to the base plate 45, the vertical linear driving mechanism 442 is used to drive the rotary driving mechanism 443 to reciprocate in a vertical direction relative to the base plate 45, and the rotary driving mechanism 443 is used to rotate the welding gun 41 in a certain vertical plane, so that the welding gun 41 is located at an optimal welding position through the cooperation of the three.

In this embodiment, the horizontal linear driving mechanism 441 and the vertical linear driving mechanism 442 are both trapezoidal screw-nut pair mechanisms. The screw driver comprises a shell, a nut seat, a motor and a screw, wherein the motor and the screw are arranged in the shell, the motor is in transmission connection with the screw and used for driving the screw to rotate, the nut seat is in threaded connection with the screw, and the nut seat moves along the axial direction of the screw in the rotating process of the screw. The housing of the horizontal linear driving mechanism 441 is provided on the base plate 45, the housing of the vertical linear driving mechanism 442 is provided on the nut seat of the horizontal linear driving mechanism 441, and the rotary driving mechanism 443 is provided on the nut seat of the vertical linear driving mechanism 442. Slide rails and limit switches are arranged in the shell, and the two nut seats are arranged on the corresponding slide rails in a sliding mode and are limited by the corresponding limit switches.

In this embodiment, the rotary driving mechanism 443 includes an angle pendulum and a motor that is in transmission connection with the angle pendulum and drives the angle pendulum to swing. The angle pendulum is connected with the nut seat of the vertical linear driving mechanism 442 through an L-shaped plate, and the welding gun 41 is connected with the angle pendulum through a connecting piece. The L-shaped plate is provided with a stopper 444 for stopping the welding gun 41 from rotating when the welding gun is rotated to be vertically arranged downwards, so as to facilitate replacement of the tungsten electrode.

As shown in fig. 18 and 19, in the present embodiment, the automatic tungsten electrode replacement device 5 is disposed on the support base 32, and referring to fig. 20 and 21, the device includes a feeding device 51 and a discharging device 52;

the feeding device 51 comprises a tungsten electrode bin 511 and a pushing unit, wherein the tungsten electrode bin 511 is used for accommodating a replacement tungsten electrode 514, the top surface of the tungsten electrode bin is provided with a discharge hole 517, and the pushing unit is arranged on the tungsten electrode bin 511 and is used for driving the replacement tungsten electrode 514 to extend out of the discharge hole 517;

the discharging device 52 comprises a waste bin 524 and a first clamping mechanism, wherein the waste bin 524 is connected with the tungsten electrode bin 511,

the first clamping mechanism is arranged on the waste bin 524 and used for clamping or loosening the waste tungsten electrode, a blanking port 5241 is formed in the waste bin 524, and when the first clamping mechanism loosens the waste tungsten electrode, the waste tungsten electrode enters the waste bin 524 through the blanking port under the action of gravity;

referring to fig. 19, the adjusting mechanism 44 is further configured to drive the welding gun 41 to move to a position above the discharge port 517 of the automatic tungsten electrode replacing device 5, so that the second clamping mechanism in the welding gun 41 clamps the replacement tungsten electrode 514 extending from the discharge port; or the welding gun 41 is driven to move until the waste tungsten electrode clamped by the second clamping mechanism extends into the first clamping mechanism, so that the first clamping mechanism clamps the waste tungsten electrode.

Therefore, the first clamping mechanism of the discharging device 52 is matched with the second clamping mechanism of the welding gun, so that the waste tungsten electrode in the welding gun 41 can be discharged; and then the replacement tungsten electrode 514 is pushed out from the discharge hole 517 of the tungsten electrode bin 511 by the pushing unit of the feeding device 51, so that the second clamping component in the welding gun 41 clamps the replacement tungsten electrode, thereby realizing the automatic replacement of the tungsten electrode in the welding gun and improving the argon tungsten-arc welding efficiency and the automation degree.

Referring to fig. 22 to 25, in the present embodiment, the pushing unit includes a first pushing mechanism and a second pushing mechanism 513.

The first pushing mechanism and the second pushing mechanism 513 are both arranged on the tungsten electrode bin 511, a discharging station is arranged in the tungsten electrode bin 511, the discharging station corresponds to the discharging hole 517,

the tungsten electrode bin 511 is used for accommodating a plurality of replacement tungsten electrodes 514 which are vertically arranged and linearly arranged, the replacement tungsten electrodes 514 are connected with the tungsten electrode bin 511 in a sliding way,

the first pushing mechanism is used for abutting against the replacement tungsten electrode 514 farthest from the discharging station and pushing the replacement tungsten electrode 514 to slide along the linear arrangement direction of the replacement tungsten electrodes, so that the replacement tungsten electrodes 514 abut against one another in sequence until the replacement tungsten electrode 514 closest to the discharging station moves onto the discharging station;

the second pushing mechanism 513 is used to drive the replacement tungsten electrode 514 at the discharge station to move axially to protrude from the discharge port 517.

When the replacement tungsten electrode 514 at the discharge port of the feeding device 51 is clamped away, the pushing mechanism pushes the rest replacement tungsten electrodes 514 to move, and the replacement tungsten electrode 514 closest to the discharge station moves to the discharge station. By analogy, continuous automatic feeding of the tungsten electrode can be realized.

As shown in fig. 23 and 25, the inner cavity 5111 of the tungsten electrode bin 511 has a three-dimensional structure, the width of the three-dimensional structure is matched with the diameter of the tungsten electrode, the length of the three-dimensional structure extends along the linear arrangement direction of the tungsten electrode, and the height of the three-dimensional structure is slightly higher than the length of the tungsten electrode, so that the two opposite wall surfaces of the tungsten electrode 514 and the inner cavity 5111 of the tungsten electrode bin 511 are replaced to be abutted, and are linearly arranged along the length direction of the inner cavity 5111 of the tungsten electrode bin 511, and can slide relative to the inner cavity wall of the tungsten electrode bin 511 along the linear arrangement direction of the tungsten electrode under the pushing of the first pushing mechanism.

In this embodiment, referring to fig. 23, the first pushing mechanism of the feeding device 51 includes a first spring 512, the first spring 512 is arranged along the linear arrangement direction of the plurality of replacement tungsten electrodes, one end of the first spring 512 is connected to the tungsten electrode bin 511, and the other end of the first spring is used for abutting against the replacement tungsten electrode 514 closest to the first spring, the first spring 512 can be compressed under the action of external force, so that the plurality of replacement tungsten electrodes 514 in linear arrangement are pressed between the first spring 512 and the inner wall of the tungsten electrode bin 511;

after the replacement tungsten electrode 514 extending from the discharge port is removed, the compressed first spring 512 can push the remaining replacement tungsten electrode 514 to slide towards the discharge station, so that the remaining replacement tungsten electrode 514 is pressed between the first spring 512 and the inner wall of the tungsten electrode bin 511.

Thus, a compressed first spring 512 is formed in the tungsten electrode compartment 511 by an external force to crimp a plurality of replacement tungsten electrodes 514 in a linear arrangement between the first spring 512 and the side end surface of the inner cavity 5111 of the tungsten electrode compartment. So that the replacement tungsten electrode 514 on the discharge station is simultaneously abutted against the side end face of the inner cavity 5111 of the tungsten electrode bin.

In this embodiment, the pushing mechanism further includes a connecting rod 515, and the connecting rod 515 is a bolt.

A through hole 5112 is formed in the tungsten electrode bin 511, the through hole 5112 is arranged along the axial direction of the first spring 512, one end of the connecting rod 515 is connected with the first spring 512, and the other end of the connecting rod passes through the through hole 5112 and is in threaded connection with the tungsten electrode bin 511;

the external force drives the connecting rod 515 to move spirally relative to the tungsten electrode bin 511 so as to push the first spring 512 to be compressed.

In other embodiments, the connection rod 515 can be a rod with an interference fit with the axial hole of the through hole 5112, and the external force can drive the rod to slide axially relative to the tungsten electrode bin 511 to push the first spring 512 to be compressed.

Thus, in the present embodiment, the "first spring 512 can be compressed by an external force so that the plurality of replacement tungsten electrodes 514 arranged in a linear manner are pressed between the first spring 512 and the inner wall of the tungsten electrode compartment 511" is realized as follows:

the connecting rod 515 is screwed out, the first spring 512 is taken out, the replacement tungsten electrode 514 is sent into the tungsten electrode bin 511 through the discharge hole, the device is rotated by 90 degrees, so that the replacement tungsten electrode 514 moves towards one end far away from the discharge hole 517 under the action of gravity, and the like, until all the replacement tungsten electrodes 514 enter the tungsten electrode bin 511 and are linearly arranged along the axial direction of the first spring 512. The first spring 512 extends into the tungsten electrode bin 511 through the through hole 5112 until the first spring is abutted with the closest replacement tungsten electrode 514, the connecting rod 515 is screwed into the through hole 5112, the connecting rod 515 pushes the replacement tungsten electrode 514 to move to the multiple replacement tungsten electrodes 514 through the first spring 512 in the process of screwing forward to form a continuous body in which the replacement tungsten electrodes 514 are abutted in sequence, the replacement tungsten electrode 514 farthest from the first spring 512 is abutted with the side end face of the inner cavity 5111 of the tungsten electrode bin, the first spring 512 is compressed in the process, and the compressed first spring 512 crimps the multiple replacement tungsten electrodes 514 between the first spring 512 and the side end face of the inner cavity 5111 of the tungsten electrode bin.

In this embodiment, the first pushing mechanism further includes a guiding tube 516, the guiding tube 516 is connected to the tungsten electrode bin 511 and coaxially disposed with the first spring 512, and one end of the guiding tube 516 is sleeved outside the first spring 512 to guide the first spring 512 to axially move, so as to avoid a slipping phenomenon occurring in the compression process of the first spring 512; the outer circumference of the other end is provided with a guide groove 5161 matched with the tungsten electrode, the guide groove 5161 extends to penetrate the guide tube 516 along the radial direction of the guide tube 516, and extends to the end face of one end of the guide tube 516 far away from the first spring 512 along the axial direction of the guide tube 516. A plurality of replacement tungsten electrodes 514 in a linear arrangement are fitted in the tungsten electrode compartment 511 in a manner of being clamped in the clamping groove 61, so as to guide the movement of the replacement tungsten electrodes 514 in the axial direction of the replacement tungsten electrodes and in the axial direction of the spring.

In this embodiment, the second pushing mechanism 513 is a telescopic cylinder, the telescopic cylinder is arranged along the axial direction of the replacement tungsten electrode 514, the cylinder barrel of the telescopic cylinder is fixed to the outer wall of the tungsten electrode bin 511, one end of the piston rod of the telescopic cylinder, which is provided with a piston, is hermetically and slidably arranged in the cylinder barrel, and the other end of the piston rod of the telescopic cylinder extends into the tungsten electrode bin 511 and is used for abutting against the replacement tungsten electrode 514 on the discharging station.

Specifically, the other end of the piston rod has a push plate.

The bottom surface of the tungsten electrode bin 511 is provided with a first guide groove for the piston rod to move up and down, the inner wall of the tungsten electrode bin 511 is provided with a second guide groove for communicating the first guide groove 5113 with the inner cavity of the tungsten electrode bin 511, so that the push plate can move up and down, one end of the push plate facing the replacement tungsten electrode extends into the tungsten electrode bin 511 through the second guide groove and is used for abutting against the replacement tungsten electrode 514 on the discharging station.

In this embodiment, referring to fig. 26-33, the first clamping mechanism includes a first clamping assembly 523 and a clamping drive mechanism.

The first clamping assembly 523 comprises two clamping arms 5231 and a second spring 5232, the second spring 5232 is disposed between the two clamping arms 5231 and is horizontally arranged, and the clamping arms 5231 are slidably disposed on the waste bin 524 and can slide along the axial direction of the second spring 5232 relative to the waste bin 524;

the clamping driving mechanism comprises a sliding seat 522 and a lifting driving device 525, the sliding seat 522 is arranged above the waste bin 524, and the lifting driving device 525 is connected between the sliding seat 522 and the waste bin 524 and is used for driving the sliding seat 522 to move up and down relative to the waste bin 524;

a first through groove 5221 is formed in the sliding seat 522 to allow the lower portions of the two clamping arms 5231 to extend into, two wall surfaces of the first through groove 5221 along the axial direction of the second spring 5232 have first inclined surfaces 5222, the upper end of the first inclined surface 5222 is inclined outward from the first through groove 5221 relative to the lower end thereof, and the upper end thereof extends upward to the upper end surface of the sliding seat 522,

the sliding seat 522 can move up relatively until the first inclined surface 5222 of the sliding seat abuts against the corresponding clamping arm 5231, and applies a pushing force to the clamping arm 5231 towards the other clamping arm 5231, so that the two clamping arms 5231 move towards each other to clamp the waste tungsten electrode, and the second spring 5232 is compressed;

the sliding seat 522 can move down until its first inclined surface 5222 is disengaged from the corresponding clipping arm 5231, so that the second spring 5232 is reset to push the two clipping arms 5231 to move back to release the tungsten scrap electrode.

From this, through reciprocating of sliding seat 522 to and the cooperation between first inclined plane 5222 of first logical groove 5221, arm lock 5231 and the second spring 5232, can realize that two arm lock 5231 open and close at the level in first logical groove 5221, the useless tungsten utmost point of quilt centre gripping can directly pass through first logical groove 5221 and vertically fall down after arm lock 5231 opens, thereby realized the vertical blanking of normal position after the useless tungsten utmost point clamp is got, operating space has been practiced thrift, and the degree of automation that the tungsten utmost point was changed has been improved.

In this embodiment, the waste bin 524 includes a waste bin body and a fixing seat 521, the fixing seat 521 is disposed at the upper end of the waste bin body, and the blanking port 5241 is disposed at the top surface of the waste bin body.

A second through groove 5211 matched with the sliding seat 522 is formed in the fixed seat 521, and the sliding seat 522 is vertically and slidably arranged in the second through groove 5211; therefore, the device has compact integral structure and small occupied space.

As shown in fig. 29 and 30, a sliding portion 5212 extending toward the clamping arm 5231 is disposed on one side surface of the second through groove 5211 parallel to the second spring 5232, the first through groove 5221 penetrates through a side surface of the sliding seat 522 opposite to the sliding portion 5212, a sliding groove 5233 engaged with the sliding portion 5212 is disposed on a side surface of the clamping arm 5231 opposite to the sliding portion 5212, and the sliding portion 5212 is slidably disposed in the sliding grooves 5233 of the two clamping arms 5231.

In this embodiment, referring to fig. 29 and 31, the fixing base 521 includes a fixing base body 5213 and a latch 5214, the second through groove 5211 is formed in the fixing base body 5213, a slot matching with the latch 5214 is formed in an end surface of the fixing base body 5213 facing the sliding groove 5233, and the latch 5214 is latched in the slot;

an end of the latching block 5214 opposite to the sliding groove 5233 has an extending portion extending toward the sliding groove 5233, and an end of the extending portion passes through a groove wall of the second through groove 5211 and then extends into the sliding groove 5233 to form a sliding portion 5212.

Thus, the first through groove 5221 can be reduced in size such that its two side surfaces perpendicular to the central axis of the second spring 5232 abut against corresponding side surfaces of the lower portion of the first clamping member 523. During assembly, the lower portion of the first clamping assembly 523 is first inserted into the first through groove 5221, and then the clamping block 5214 is inserted into the clamping groove from the clamping groove inlet of the fixing seat body 5213 until the sliding portion 5212 of the clamping block 5214 extends into the sliding grooves 5233 of the two clamping arms 5231, so that the horizontal sliding connection between the clamping arms 5231 and the fixing seat 521 is completed.

In this embodiment, the fixing seat body 5213 and the latching block 5214 are screwed together by the fastening member 5215, so as to prevent the latching block 5214 from slipping out during the operation.

In this embodiment, the side surface of the clamping arm 5231 opposite to the corresponding first inclined surface 5222 is provided with a second inclined surface 5234 which is in fit with the first inclined surface 5222, so as to realize smooth transmission of the thrust of the sliding seat 522.

In this embodiment, the lifting driving device 525 is a vertically arranged telescopic cylinder, a cylinder thereof is connected with the waste bin 524, a lower end of a piston rod thereof is hermetically and slidably arranged in the cylinder thereof, and an upper end thereof is connected with the sliding seat 522.

The discharging device of the embodiment is applied to the automatic discharging process of the waste tungsten electrode as follows:

when the device does not work, the piston rod of the lifting driving device 525 keeps in a retraction state, and the first inclined surface 5222 of the first through groove 5221 of the sliding seat 522 is not in contact with the clamping arm 5231 of the clamping component, so that the first clamping component 523 keeps in an expansion state. When the welding gun 41 rotates and moves downwards to enable the waste tungsten electrode 56 to extend into a position between the two clamping arms 5231 of the first clamping assembly 523, the piston rod of the lifting driving device 525 moves upwards until the first inclined surface 5222 abuts against the corresponding clamping arm 5231 and provides a pushing force towards the other clamping arm 5231 for the clamping arms 5231 to enable the two clamping arms 5231 to move oppositely to tighten the waste tungsten electrode 56, the second clamping mechanism chuck on the welding gun is loosened, the piston rod of the lifting driving device 525 retracts, the first inclined surface 5222 is disengaged from the corresponding clamping arm 5231, the second spring 5232 resets to enable the first clamping assembly 523 to be spread to loosen the waste tungsten electrode 56, the waste tungsten electrode 56 falls into the waste bin body, and the unloading work cycle is finished.

In this embodiment, as shown in fig. 2 to 4 and 34, two jacking devices 3 are provided, the welding device 4 is provided on one of the jacking devices 3, and the grinding device 6 is provided on the other jacking device 3.

The polishing device 6 comprises a third moving mechanism and a polishing mechanism, and the third moving mechanism is connected between the jacking mechanism 31 of the corresponding jacking device 3 and the polishing mechanism and used for driving the polishing mechanism to move relative to the corresponding jacking mechanism 31 so that the polishing mechanism polishes the welding target.

In this embodiment, the third moving mechanism is similar to the second moving mechanism and also includes a rotating mechanism and a linear driving mechanism, which are not described herein again.

Referring to fig. 2 to 4, in the present embodiment, the first moving mechanism 2 includes a lifting mechanism 21 and a horizontal driving mechanism.

Elevating system 21 connects between chassis 1 and horizontal drive mechanism for drive horizontal drive mechanism goes up and down, and in this embodiment, elevating system 21 is cut fork lift, and it cuts fork lift platform to rise to have higher stability, and the operation platform is wide big and has higher bearing capacity. The scissor lift platform is controlled by a hydraulic cylinder to lift and lower, and adopts a double-layer adjustable structure to ensure the stability of the lifting process, so that the welding robot working platform is ensured to be completely vertical to a plug rod to be welded.

Referring to fig. 35, the horizontal driving mechanism includes two first direction driving mechanisms 22 and two second direction driving mechanisms 23, and the two first direction driving mechanisms 22 and the two second direction driving mechanisms 23 are in one-to-one correspondence with the two jacking devices 3,

the first direction driving mechanism 22 is connected between the lifting mechanism 21 and the corresponding second direction driving mechanism 23, and is used for driving the corresponding second direction driving mechanism 23 to slide along the first horizontal direction,

the second direction driving mechanism 23 is connected to the corresponding jacking device 3, and is used for driving the corresponding jacking device 3 to slide along a second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.

In this embodiment, the first direction driving mechanism 22 and the second direction driving mechanism 23 are both screw-nut pair mechanisms. The screw driver comprises a shell, a nut seat, a motor and a screw, wherein the motor and the screw are arranged in the shell, the motor is in transmission connection with the screw and used for driving the screw to rotate, the nut seat is in threaded connection with the screw, and the nut seat moves along the axial direction of the screw in the rotating process of the screw. The shell of the first direction driving mechanism 22 is arranged at the top end of the lifting mechanism 21, the shell of the second direction driving mechanism 23 is arranged on the nut seat of the corresponding first direction driving mechanism 22, and the jacking devices 3 for installing the welding device 4 and the grinding device 6 are respectively arranged on the nut seats of the corresponding second direction driving mechanism 23.

Each shell is provided with a slide rail, and the nut seats of the two first direction driving mechanisms 22 are arranged on the slide rails of the two first direction driving mechanisms 22 in a sliding manner. The nut seats of the second secondary driving mechanism 23 are slidably disposed on respective slide rails.

Thereby, the welding device 4 or the grinding device 6 is driven by the first moving mechanism 2 to move in three directions of the rectangular coordinate system to drive the welding device 4 or the grinding device 6 to move to directly below the welding target.

In this embodiment, an automatic navigation cart is installed at the bottom of the bottom frame 1, and an automatic navigation device is installed in the automatic navigation cart, so that the automatic navigation cart can travel along a specified navigation path to drive the welding robot to move integrally. The automatic navigation trolley is electrically connected with the remote control device so as to feed back the information of the welding robot reaching the designated operation area to the remote control device.

As shown in fig. 36 to 43, the base frame 1 includes a preliminary adjustment mechanism 16, a fixed stage 11, a movable stage 12, and a table 13.

The primary adjustment mechanisms 16 are screw rod nut pair structures driven by a motor, the number of the primary adjustment mechanisms is four, and nut seats of the four primary adjustment mechanisms 16 are respectively connected with four corners of the fixed table 11 and used for driving the corresponding corners of the fixed table 11 to move up and down relative to other corners. In addition, the lead screw is the electric telescopic handle structure, and the motor is flexible motor, and when welding robot arrived appointed operation region, flexible motor drive electric telescopic handle extended downwards to the supporting legs and the ground butt of preliminary adjustment mechanism 16 bottom to make four preliminary adjustment mechanisms 16 play the effect of supporting the cube structure that fixed station 11, mobile station 12 and workstation 13 constitute.

Be equipped with second pressure sensor in the preliminary adjustment mechanism 16, second pressure sensor is connected with the remote control device electricity for transmit the pressure signal that each preliminary adjustment mechanism 16 received for the remote control device, the remote control device carries out the analysis back to the second pressure sensor numerical data on four preliminary adjustment mechanisms 6, and the control motor is rotatory, adjusts the relative height to four nut seats, guarantees that each preliminary adjustment mechanism 16 atress is even.

In this embodiment, the fixed stage 11, the moving stage 12, and the table 13 are sequentially arranged from bottom to top.

The top surface of the fixed table 11 is provided with a third inclined surface or a second concave cambered surface at two end parts along the third horizontal direction, and the far end of the third inclined surface or the first concave cambered surface along the third horizontal direction is obliquely and upwards arranged relative to the near end of the third inclined surface or the first concave cambered surface;

the two ends of the bottom of the movable table 12 along the third horizontal direction are respectively abutted against the corresponding third inclined surface or the first concave arc surface, and a third direction driving mechanism 14 is connected between the fixed table 11 and the movable table 12 and used for driving the two ends of the bottom of the movable table 12 along the third horizontal direction to reciprocate in the inclination direction of the corresponding third inclined surface or the radian direction of the first concave arc surface so as to adjust the levelness of the top surface of the working table 13 along the third horizontal direction.

The top surface of the mobile station 12 has a fourth inclined surface or a second concave arc surface at two end portions along a fourth horizontal direction, the far end of the fourth inclined surface or the second concave arc surface along the fourth horizontal direction is obliquely and upwardly arranged relative to the near end thereof, and the fourth horizontal direction is perpendicular to the third horizontal direction;

two ends of the bottom of the working table 13 along a fourth horizontal direction are respectively abutted against a corresponding fourth inclined surface or a corresponding second concave arc surface, and a fourth-direction driving mechanism 15 is connected between the moving table 12 and the working table 13 and used for driving two end parts of the bottom of the working table 13 along the fourth horizontal direction to reciprocate in the inclination direction of the corresponding fourth inclined surface or the radian direction of the second concave arc surface so as to adjust the levelness of the top surface of the working table 13 along the fourth horizontal direction;

in this embodiment, the third direction driving mechanism 14 and the fourth direction driving mechanism 15 both adopt electric push rods, so that the third direction driving mechanism 14 and the fourth direction driving mechanism 15 both can be electrically connected with the remote control system, and the electric push rods are automatically controlled by the remote control system to extend out or retract, so as to avoid radiation damage to operators caused by the nuclear welding environment.

The top surface of the worktable 13 is provided with a level meter, specifically a horizontal gyroscope, which is electrically connected with a remote control device.

The spirit level is used for monitoring the levelness of the top surface of the working table 13 along the third horizontal direction, and transmitting a third direction levelness detection signal to the remote control device, and the remote control device controls the action of the third direction driving mechanism 14 according to the third direction levelness detection signal so as to drive the two end parts of the bottom of the movable table 12 along the third horizontal direction to reciprocate in the inclination direction of the corresponding third inclined surface or the radian direction of the first concave cambered surface until the top surface of the working table 13 keeps horizontal along the third horizontal direction.

The level gauge is also used for monitoring the levelness of the top surface of the workbench 13 along the fourth horizontal direction, and transmitting a fourth-direction levelness detection signal to the remote control device, and the remote control device controls the action of the fourth-direction driving mechanism 15 according to the fourth-direction levelness detection signal so as to drive the two end parts of the bottom of the workbench 13 along the fourth horizontal direction to reciprocate in the inclination direction of the corresponding fourth inclined surface or the radian direction of the second concave arc surface until the top surface of the workbench 13 keeps horizontal along the fourth horizontal direction.

In this embodiment, the first horizontal direction and the third horizontal direction are both the length direction of the top surface of the table 13, i.e., the X direction in fig. 36, and the second horizontal direction and the fourth horizontal direction are both the width direction of the top surface of the table 13, i.e., the Y direction in fig. 36.

In this embodiment, as shown in fig. 37 and 38, the fixed table 11 includes a first square platform 112 and four first sliding tables 111, and the four first sliding tables 111 are respectively disposed at four corners of the top of the first square platform 112.

The moving stage 12 includes a second square platform 123, a third square platform 124, four second sliding tables 121, and four first sliders 122. The third square platform 124 is fixed on the second square platform 123, and the four first sliding blocks 122 are in one-to-one correspondence with the four first sliding tables 111 and are respectively disposed at four corners of the bottom of the second square platform 123. The four second sliding tables 121 are respectively disposed at four corners of the top of the third square platform 124.

The workbench 13 includes a fourth square platform 132, a workbench body 133 and four second sliding blocks 131, the workbench body 133 is fixed on the fourth square platform 132, the four second sliding blocks 131 are in one-to-one correspondence with the four second sliding tables 121, and are respectively arranged at four corners of the bottom of the fourth square platform 132.

First mounting groove has been seted up to the top surface of first slip table 111, is equipped with a plurality of first rolling elements 1111 in the first mounting groove, and first rolling element 1111 rotates with first slip table 111 and links to each other and its axial is arranged along the Y direction. The plurality of first rolling bodies 1111 are disposed along a slope direction of the first inclined surface or an arc direction of the first concave arc surface, and circumferential surfaces of the plurality of first rolling bodies 1111 partially contact the bottom surface of the corresponding first slider 122 to form the corresponding first inclined surface or the first concave arc surface.

When the first slider 122 is driven by the third direction driving mechanism 14 to move, the first rolling element 1111 abutted against the first slider is driven to rotate, and the rotating first rolling element 1111 pushes the first slider to move continuously, so that the sliding friction of the reciprocating movement of the movable table 12 is converted into the rotating friction, and the friction resistance when the movable table 12 reciprocates is reduced.

A second mounting groove is formed in the top surface of the second sliding table 121, a plurality of second rolling bodies 1211 are disposed in the second mounting groove, and the second rolling bodies 1211 are rotatably connected with the second sliding table 121 and axially arranged along the X direction. The plurality of second rolling bodies 1211 are arranged in a slope direction of the second inclined surface or a radian direction of the second concave arc surface, and circumferential surfaces of the plurality of second rolling bodies 1211 partially contact with the bottom surface of the corresponding second slider 131 to form the corresponding second inclined surface or second concave arc surface.

When the second slider 131 is driven by the fourth driving mechanism 15 to move, the second rolling element 1211 abutting against the second slider is driven to rotate, and the rotating second rolling element 1211 pushes the second slider to move continuously, so that the sliding friction generated by the reciprocating movement of the table 13 is converted into the rotating friction, and the friction resistance generated by the reciprocating movement of the table 13 is reduced.

In this embodiment, a distal end of the first sliding table 111 along the Y direction is provided with a first limiting plate 1112, and the first limiting plate 1112 is configured to limit the movement of the corresponding first slider 122 along the Y direction when moving on the first sliding table 111.

The first limiting plate 1112 is rotatably connected with a first guide wheel 1113, and the axial direction of the first guide wheel 1113 is arranged along the Y direction. As shown in fig. 40, the distal end of the first slider 122 in the Y direction extends toward the corresponding first stopper plate 1112 to form a first guide strip 1221, and the first guide strip 1221 is arranged in the direction of the inclination or the curvature of the bottom surface of the first slider 122. As shown in fig. 42, the first guide wheels 1113 are supported on the corresponding first guide strips 1221.

Therefore, the first sliding block 122 is guided to move back and forth along the inclined direction of the bottom surface thereof by the cooperation of the first guide wheel 1113 and the first guide strip 1221, so as to increase the smoothness of the movement of the first sliding block 122 and reduce the frictional resistance between the first sliding block 122 and the first limiting plate when moving.

In this embodiment, a distal end of the second sliding table 121 along the X direction is provided with a second limiting plate 1212, and the second limiting plate 1212 is used for limiting the movement of the corresponding second slider 131 along the X direction when moving on the second sliding table 121.

A second guide wheel 1213 is rotatably connected to the second restriction plate 1212, and an axial direction of the second guide wheel 1213 is arranged in the X direction. As shown in fig. 40, the distal end of the second slider 131 in the X direction extends toward the corresponding second stopper plate 1212 to form a second guide strip 1311, and the second guide strip 1311 is arranged along the inclination or arc direction of the bottom surface of the second slider 131. The second guide wheels 1213 are supported on the corresponding second guide bars 1311.

Thus, the second slider 131 is guided to reciprocate along the inclination direction of the bottom surface thereof by the cooperation of the second guide wheel 1213 and the second guide strip 1311 to increase the smoothness of the movement of the second slider 131 and reduce the frictional resistance between the second slider 131 and the first stopper plate when moving.

Example 2:

as shown in fig. 44, the present embodiment provides a welding system for automatically seal-welding a spring seat of a nuclear production stack discharging mechanism and a plug rod inserted into the spring seat, which includes a grinding motor, a welding machine, a control device 200, and the welding robot 100 of embodiment 1, wherein neither the grinding motor nor the welding machine is shown in the drawing.

And the automatic navigation trolley on the underframe 1 automatically moves to the position near the target unloading mechanism according to the position information of the unloading mechanism input in advance, so as to finish the coarse positioning of the welding position.

The control device 200 is electrically connected with the automatic navigation trolley on the underframe 1 and is used for receiving feedback information of the welding robot 100 reaching a specified operation area; after the control device 200 receives the feedback information that the welding robot 100 reaches the designated operation area, it is used to control the start of the telescopic motors of the four primary adjustment mechanisms 16 on the bottom frame 1, so as to drive the lead screw (electric telescopic rod) connected with the telescopic motors to extend downwards to the support foot at the bottom of the primary adjustment mechanism 16 to abut against the ground, and according to the pressure data feedback of the pressure sensor on the primary adjustment mechanism 16, the telescopic motors are controlled to rotate, so as to adjust the relative heights of the four nut seats, ensure that the stress of each primary adjustment mechanism 16 is uniform, solve the problem of the levelness difference of the operation surface of the robot caused by the unevenness of the ground, and achieve the purpose of performing coarse leveling on the bottom frame 1.

The control device 200 is also electrically connected with a level gauge on the top surface of the worktable 13 of the underframe 1;

the level meter is used for transmitting a levelness detection signal of the top surface of the workbench 13 along the X direction to the control device 200, and the control device 200 is used for controlling the third direction driving mechanism 14 to act according to the levelness detection signal along the X direction so as to drive the four first sliding blocks 122 at the bottom of the movable table 12 to slide on the corresponding first sliding tables 111 at the top of the fixed table 11 until the top surface of the workbench 13 is kept horizontal along the X direction;

the level gauge is further configured to transmit a levelness detection signal of the top surface of the workbench 13 along the Y direction to the control device 200, and the control device 200 is configured to control the fourth-direction driving mechanism 15 to move according to the levelness detection signal along the Y direction, so as to drive the four second sliders 131 at the bottom of the workbench 13 to slide on the corresponding second sliding tables 121 at the top of the moving table 2, until the top surface of the workbench 13 is kept horizontal along the Y direction.

The first moving mechanism 2 of the welding robot 100 is provided with a holder monitoring device 7, the holder monitoring device 7 is electrically connected with the control device 200, and is used for carrying out multi-angle shooting on the surrounding environment of the welding robot 100 and transmitting a real-time shooting signal to the control device 200;

the control device 200 is electrically connected with the first moving mechanism 2 and used for comparing a welding target image stored in the first moving mechanism with a real-time camera signal so as to identify the welding target and controlling the first moving mechanism 2 to drive the jacking device 3 to move until the jacking device 3 initially corresponds to the welding target;

the control device 200 is also electrically connected with the jacking driving device of the jacking device 3 and is used for controlling the jacking driving device to drive the jacking mechanism 31 to ascend until the jacking mechanism 31 provides a preset jacking force for the plug rod;

the vision camera 3121 in the top rod of the jacking device 3 is also electrically connected with the control device 200, and is used for shooting the position information of the stopper rod c in the ascending process of the jacking mechanism 31 and transmitting the shot real-time image signal to the control device 200; the control device 200 controls the horizontal driving mechanism of the first moving mechanism 2 to drive the jacking device 3 to move according to the real-time image information so as to accurately position the plug rod c;

the polishing motor is electrically connected with the polishing mechanism and used for driving a grinding wheel on the polishing mechanism to rotate; the control device 200 is also electrically connected with the third moving mechanism and the polishing motor respectively, and is used for controlling the polishing motor to start and controlling the third moving mechanism to drive the polishing mechanism to move until the polishing mechanism finishes polishing the to-be-welded areas of the spring seat and the stopper rod;

the camera 412 on the welding gun 41 is electrically connected with the control device 200 and is used for transmitting a real-time camera signal of the area to be welded to the control system;

the welding machine is connected with the welding mechanism and used for driving the welding mechanism to work; the control device 200 is also electrically connected to the second moving mechanism and the welding machine, and is configured to control the welding machine to start according to the real-time image pickup signal of the area to be welded, and control the second moving mechanism to drive the welding mechanism to move until the welding mechanism completes the sealing welding of the spring seat and the plug rod.

In order to improve the radiation resistance of the system, a TIG welding power supply (welding machine) and a control system are placed outside the field, a welding gun 41 on the rack is connected with the TIG welding machine through an extension cable, and other electric drive equipment is connected with the control system through the extension cable. In order to solve the problems of winding, unwinding and pulling of long cables, the system is provided with a movable automatic cable winding and unwinding device 300, and automatic winding and unwinding of cables in the moving operation process of the robot can be realized. The cable collecting vehicle is located at an entrance of the operation area, and cables are automatically collected and released according to the moving distance of the robot. The cable collection vehicle is placed at the entrance, so that the cables are prevented from scratching the door edge in the moving process of the welding robot 100. Meanwhile, the welding robot is close to the welding robot 100, and the cable is more convenient to retract.

Therefore, the sealing part of the nuclear production pile discharging mechanism is automatically blocked in a welding mode of autonomous navigation, visual identification and remote control operation, the operation is safe, and the labor intensity and the irradiated amount of workers are greatly reduced.

The control device 200 is further electrically connected with the second pushing mechanism 13 and the lifting driving device 525 of the automatic tungsten electrode replacing device 5, and controls the second moving mechanism, the second clamping mechanism in the welding gun, the second pushing mechanism 13 and the lifting driving device 525 of the automatic tungsten electrode replacing device 5 to act according to the camera signal of the cloud deck monitoring device 7 for the use state of the tungsten electrode, so as to detect and replace the tungsten electrode of the welding gun at regular time in an unmanned environment. Through automatic tungsten electrode detection and replacement technology, continuous long-time welding can be realized, an operator does not need to frequently come in and go out of a plugging place, plugging efficiency is improved, and the complexity of personnel operation is reduced.

Example 3:

the present embodiment provides a method for automatically sealing a welding nuclear production stack unloading mechanism using the welding system of embodiment 2, comprising the steps of:

s1: the automatic navigation trolley at the bottom of the underframe 1 runs along a preset navigation path to drive the welding robot 100 to integrally move, and after the welding robot 100 reaches a specified operation area, the in-place information of the welding robot 100 is fed back to the control device 200;

s2: after receiving feedback information that the welding robot 100 is in place, the control device 200 controls the telescopic motors of the four primary adjustment mechanisms 16 on the underframe 1 to start, so as to drive a lead screw (electric telescopic rod) connected with the telescopic motors to extend downwards to support legs at the bottoms of the primary adjustment mechanisms 16 to be abutted against the ground, and controls the telescopic motors to rotate according to pressure data feedback of pressure sensors on the primary adjustment mechanisms 16, so as to adjust the relative heights of the four nut seats, ensure that the stress of each primary adjustment mechanism 16 is uniform, and achieve the purpose of performing coarse leveling on the underframe 1.

S3: the level gauge on the top surface of the worktable 13 of the underframe 1 transmits a levelness detection signal of the top surface of the worktable 13 along the X direction to the control device 200, and the control device 200 controls the action of the third direction driving mechanism 14 according to the X direction levelness detection signal so as to drive the four first sliding blocks 122 at the bottom of the mobile station 12 to slide on the corresponding first sliding tables 111 at the top of the fixed station 11 until the top surface of the worktable 13 keeps horizontal along the X direction;

the level gauge on the top surface of the working table 13 further transmits a levelness detection signal of the top surface of the working table 13 along the Y direction to the control device 200, and the control device 200 controls the fourth-direction driving mechanism 15 to act according to the levelness detection signal along the Y direction, so as to drive the four second sliders 131 at the bottom of the working table 13 to slide on the corresponding second sliding tables 121 at the top of the moving table 2, until the top surface of the working table 13 keeps horizontal along the Y direction.

S4: the pan-tilt monitoring device 7 performs multi-angle shooting on the environment around the welding robot 100 and transmits a real-time shooting signal to the control device 200;

s5: the control device 200 compares the welding target image stored in the control device with the real-time camera signal to identify the welding target, and controls the first moving mechanism 2 to drive the jacking device 3 of the installation polishing device 6 to move until the jacking device 3 of the installation polishing device 6 corresponds to the welding target;

s6: the control device 200 controls the jacking driving device of the jacking device 3 provided with the polishing device 6 to drive the corresponding jacking mechanism 31 to ascend until the jacking mechanism 31 provides a preset jacking force for the plug rod; meanwhile, the vision camera 3121 in the top rod of the jacking device 3 equipped with the polishing device 6 shoots the position information of the stopper rod c in the process of the jacking mechanism 31 rising, and transmits the shot real-time image signal to the control device 200; the control device 200 controls the horizontal driving mechanism of the first moving mechanism 2 to drive the jacking device 3 provided with the polishing device 6 to move according to the real-time image information so as to accurately position the stopper rod c; and the self-adaptive plate 313 of the jacking mechanism 31 is automatically adjusted through sliding fit with the self-adaptive cavity 321 of the supporting seat 2 to realize the centering of the ejector rod assembly 312 and the plug rod c and compensate errors of visual identification;

s7: the control device 200 controls the grinding motor to start and controls the third moving mechanism to drive the grinding mechanism to move until the grinding mechanism finishes grinding the to-be-welded areas of the spring seat and the plug rod;

s8: the control device 200 controls the first moving mechanism 2 to drive the jacking device 3 provided with the polishing device 6 to move to a position far away from the welding target; s5: the control device 200 controls the first moving mechanism 2 to drive the jacking device 3 of the installation welding device 4 to move until the jacking device 3 of the installation welding device 4 corresponds to a welding target;

s9: the control device 200 controls the jacking driving device of the jacking device 3 provided with the welding device 4 to drive the corresponding jacking mechanism 31 to ascend until the jacking mechanism 31 provides a preset jacking force for the plug rod; meanwhile, the vision camera 3121 in the top rod of the jacking device 3 equipped with the welding device 4 shoots the position information of the stopper rod c in the process of the jacking mechanism 31 rising, and transmits the shot real-time image signal to the control device 200; the control device 200 controls the horizontal driving mechanism of the first moving mechanism 2 to drive the jacking device 3 of the welding device 4 to move according to the real-time image information so as to accurately position the plug rod c, and the plug rod c is automatically adjusted through the sliding fit of the self-adaptive plate 313 of the jacking mechanism 31 and the self-adaptive cavity 321 of the supporting seat 2 so as to realize the centering of the jacking rod assembly 312 and the plug rod c and compensate errors of visual identification;

s10: the control device 200 controls the welding machine to start according to the real-time camera signal of the area to be welded fed back by the camera 412 on the welding gun 41, so that the welding mechanism operates, and controls the second moving mechanism to drive the welding mechanism to move until the welding mechanism completes the seal welding of the spring seat and the plug rod.

It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims

1. A welding robot for automatically plugging a nuclear production stacking and unloading mechanism mainly takes a spring seat of the nuclear production stacking and unloading mechanism and a plug rod penetrating the spring seat as welding targets to carry out sealing welding of the spring seat and the plug rod,

it is characterized in that it comprises: a frame, a jacking device (3) and a welding device (4),

the frame comprises an underframe (1) and a first moving mechanism (2), wherein the first moving mechanism (2) is connected between the underframe (1) and the jacking device (3) and is used for driving the jacking device (3) to move relative to the underframe (1) to correspond to a welding target;

the jacking device (3) comprises a jacking driving device and a jacking mechanism (31), the jacking driving device is connected with the jacking mechanism (31) and is used for driving the jacking mechanism (31) to ascend to be abutted against the plug rod so as to provide jacking force for the plug rod;

the welding device (4) comprises a second moving mechanism and a welding mechanism, wherein the second moving mechanism is connected between the jacking mechanism (31) and the welding mechanism and used for driving the welding mechanism to move relative to the jacking mechanism (31) so as to enable the welding mechanism to weld the welding target in a sealing mode.

2. The welding robot according to claim 1, wherein the lifting mechanism (31) is slidably supported at an upper end of the lifting driving means and is slidable in any direction of a horizontal plane with respect to the lifting driving means,

a positioning groove (311) is arranged at the center of the top surface of the jacking mechanism (31), the positioning groove (311) is of a frustum structure with a large upper part and a small lower part and is used for the lower end of the plug rod to extend into in the lifting process of the jacking mechanism (31),

jacking mechanism (31) can move to it and the gag lever post is coaxial under jacking drive arrangement's drive power effect, or jacking drive arrangement's drive power and the horizontal thrust combined action of gag lever post, just the outer fringe of certain cross section of frustum structure and the outer fringe cooperation butt of gag lever post lower extreme face.

3. The welding robot according to claim 2, characterized in that the lift-up driving means comprises a support base (32) and a lift-up driving mechanism (33), the support base (32) is supported on the lift-up driving mechanism (33),

a self-adaptive cavity (321) is arranged in the supporting seat (32),

the jacking mechanism (31) comprises a jacking rod assembly (312) and a self-adaptive plate (313), the self-adaptive plate (313) is arranged in the self-adaptive cavity (321) in a sliding mode, and the jacking rod assembly (312) is arranged at the upper end of the self-adaptive plate (313) and extends out of the self-adaptive cavity (321);

a restoring structure is arranged between the outer side wall of the self-adaptive plate (313) and the side cavity wall of the self-adaptive cavity (321), the restoring structure is used for generating restoring force opposite to horizontal thrust to the self-adaptive plate (313) in the process that the plug rod generates horizontal thrust to the jacking mechanism (31) to push the self-adaptive plate (313) to slide, and when the ejector rod assembly (312) is disconnected with the plug rod, the restoring force drives the self-adaptive plate (313) to slide so as to restore to the initial state.

4. The welding robot according to claim 3, characterized in that the adaptive plate (313) is a square structure, the restoring structure comprises four sets of compression springs (322), the four sets of compression springs (322) correspond to four sides of the adaptive plate (313) one by one, the side cavity wall of the adaptive cavity (321) has a guide section corresponding to and parallel to each side of the adaptive plate (313), each set of compression springs (322) is connected between the corresponding side of the adaptive plate (313) and the guide section, and the central axis of the compression springs (322) is perpendicular to the corresponding side of the adaptive plate (313);

when the self-adaptive plate (313) is in an initial state, the two groups of compression springs (322) on two opposite sides of the self-adaptive plate (313) have the same magnitude of compression force on the self-adaptive plate (313) and have opposite directions.

5. The welding robot according to claim 3, characterized in that the second moving mechanism comprises a swing mechanism (42), the swing mechanism (42) comprises a swing reducer (421) and a turntable (422), and the welding mechanism is arranged on the turntable (422);

the rotary table (422) is sleeved on the ejector rod assembly (312), and the upper end of the rotary table extends out of the self-adaptive cavity (321);

and the rotary speed reducer (421) is arranged on the self-adaptive plate (313) and is connected with the rotary table (422) and used for driving the rotary table (422) to rotate around the ejector rod assembly (312) so as to enable the welding mechanism to complete full welding of the spring seat and the plug rod in the rotating process.

6. The welding robot of claim 5,

the welding mechanism comprises a welding gun (41) and a wire feeding mechanism (43), a wire feeding nozzle (412) is arranged on the welding gun (41), and the wire feeding mechanism (43) is arranged on a rotary table (422) and used for drawing a welding wire to pass through the wire feeding nozzle (412);

the second moving mechanism further comprises an adjusting mechanism (44), wherein the adjusting mechanism (44) is connected between the rotary table (422) and the welding gun (41) and is used for driving the welding gun (41) to move relative to the rotary table (422) so that a muzzle of the welding gun (41) faces to and is close to a to-be-welded area of the spring seat and the plug rod.

7. The welding robot according to claim 6, characterized by further comprising an automatic tungsten electrode changing device (5), wherein the automatic tungsten electrode changing device (5) is arranged on the supporting base (32) and comprises a feeding device (51) and a discharging device (52);

the feeding device (51) comprises a tungsten electrode bin (511) and a pushing unit, the tungsten electrode bin (511) is used for containing a replacement tungsten electrode, a discharge hole (517) is formed in the top surface of the tungsten electrode bin (511), and the pushing unit is arranged on the tungsten electrode bin (511) and used for driving the replacement tungsten electrode to extend out of the discharge hole (517);

the discharging device (52) comprises a waste bin (524) and a first clamping mechanism, the waste bin (524) is connected with the tungsten electrode bin (511),

the first clamping mechanism is arranged on the waste bin (524) and used for clamping or loosening the waste tungsten electrode, a blanking port (5241) is formed in the waste bin (524), and when the first clamping mechanism loosens the waste tungsten electrode, the waste tungsten electrode enters the waste bin (524) through the blanking port (5241) under the action of gravity;

the welding gun (41) is internally provided with a second clamping mechanism for clamping or loosening the tungsten electrode,

the adjusting mechanism (44) is also used for driving the welding gun (41) to move to a position above a discharge hole (517) of the automatic tungsten electrode replacing device (5), so that a second clamping mechanism in the welding gun (41) clamps a replacement tungsten electrode extending out of the discharge hole (517); or driving the welding gun (41) to move to the position where the waste tungsten electrode clamped by the second clamping mechanism extends into the first clamping mechanism, so that the first clamping mechanism clamps the waste tungsten electrode.

8. The welding robot according to claim 7, characterized in that the pushing unit comprises a first pushing mechanism and a second pushing mechanism (513),

the first pushing mechanism and the second pushing mechanism (513) are both arranged on the tungsten electrode bin (511), a discharging station is arranged in the tungsten electrode bin (511), the discharging station corresponds to the discharging port (517),

the tungsten electrode bin (511) is used for accommodating a plurality of replacement tungsten electrodes which are vertically arranged and linearly arranged, the replacement tungsten electrodes are connected with the tungsten electrode bin (511) in a sliding way,

the second pushing mechanism (513) is used for driving the replacement tungsten electrode positioned at the discharging station to axially move to protrude from the discharging port (517).

9. The welding robot of claim 7,

the first clamping mechanism comprises a first clamping component (523) and a clamping driving mechanism,

the first clamping assembly (523) comprises two clamping arms (5231) and a second spring (5232), the second spring (5232) is arranged between the two clamping arms (5231) and is horizontally arranged, and the clamping arms (5231) are slidably arranged on the waste bin (524) and can slide along the axial direction of the second spring (5232) relative to the waste bin (524);

the clamping driving mechanism comprises a sliding seat (522) and a lifting driving device (525), the sliding seat (522) is arranged above the waste bin (524), and the lifting driving device (525) is connected between the sliding seat (522) and the waste bin (524) and is used for driving the sliding seat (522) to move up and down relative to the waste bin (524);

a lower through groove (5221) is formed in the sliding seat (522) to allow the lower portions of the two clamping arms (5231) to extend into, two wall surfaces of the lower through groove (5221) along the axial direction of the second spring (5232) are provided with first inclined surfaces (5222), the upper end of each first inclined surface (5222) is inclined outwards relative to the lower end of the corresponding first inclined surface (5222) towards the lower through groove (5221), and the upper end of each first inclined surface extends upwards to the upper end surface of the sliding seat (522),

the sliding seat (522) can move upwards relatively until the first inclined surface (5222) of the sliding seat abuts against the corresponding clamping arm (5231), and a pushing force towards the other clamping arm (5231) is applied to the clamping arm (5231), so that the two clamping arms (5231) move oppositely to clamp the waste tungsten electrode, and the second spring (5232) is compressed;

the sliding seat (522) can move downwards until the first inclined surface (5222) of the sliding seat is separated from the corresponding clamping arm (5231) so as to enable the second spring (5232) to reset to push the two clamping arms (5231) to move back to release the waste tungsten electrode.

10. The welding robot according to any one of claims 1-9, characterized in that it further comprises two grinding devices (6), said lifting devices (3) being provided, said welding device (4) being provided on one of the lifting devices (3), said grinding device (6) being provided on the other lifting device (3),

grinding device (6) include third moving mechanism and grinding machanism, third moving mechanism connects between climbing mechanism (31) and the grinding machanism of corresponding jacking device (3) for drive grinding machanism is corresponding climbing mechanism (31) relatively and is removed, so that grinding machanism polishes the welding target.

11. The welding robot of claim 10,

the first moving mechanism (2) comprises a lifting mechanism (21) and a horizontal driving mechanism,

the lifting mechanism (21) is connected between the bottom frame (1) and the horizontal driving mechanism and is used for driving the horizontal driving mechanism to lift,

the horizontal driving mechanism comprises a first directional driving mechanism (22) and a second directional driving mechanism (23), the number of the first directional driving mechanism (22) and the second directional driving mechanism (23) is two, and the first directional driving mechanism and the second directional driving mechanism correspond to the two jacking devices (3) one by one,

the first direction driving mechanism (22) is connected between the lifting mechanism (21) and the corresponding second direction driving mechanism (23) and is used for driving the corresponding second direction driving mechanism (23) to slide along the first horizontal direction,

the second direction driving mechanism (23) is connected with the corresponding jacking device (3) and used for driving the corresponding jacking device (3) to slide along a second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.

12. The welding robot according to any one of claims 1-9,

the base frame (1) comprises a fixed table (11), a moving table (12) and a working table (13), wherein the fixed table (11), the moving table (12) and the working table (13) are sequentially arranged from bottom to top;

two end parts of the top surface of the fixed table (11) along a third horizontal direction are provided with third inclined surfaces or first concave arc surfaces, and the far ends of the third inclined surfaces or the first concave arc surfaces along the third horizontal direction are obliquely and upwards arranged relative to the near ends of the third inclined surfaces or the first concave arc surfaces;

two ends of the bottom of the moving platform (12) along a third horizontal direction are respectively abutted against a corresponding third inclined surface or a second concave cambered surface, and a third direction driving mechanism (14) is connected between the fixed platform (11) and the moving platform (12) and used for driving two ends of the bottom of the moving platform (12) along the third horizontal direction to reciprocate in the inclination direction of the corresponding third inclined surface or the radian direction of the second concave cambered surface so as to adjust the levelness of the top surface of the working platform (13) along the third horizontal direction;

the top surface of the mobile station (12) is provided with a fourth inclined surface or a second concave cambered surface at two end parts along a fourth horizontal direction, the far end of the fourth inclined surface or the second concave cambered surface along the fourth horizontal direction is obliquely and upwards arranged relative to the near end of the fourth inclined surface or the second concave cambered surface, and the fourth horizontal direction is vertical to the third horizontal direction;

the bottom of workstation (13) is followed the both ends of fourth horizontal direction and is respectively with corresponding fourth inclined plane or the concave cambered surface butt of second, be connected with fourth drive mechanism (15) between mobile station (12) and workstation (13) for drive workstation (13) bottom is followed the radian direction reciprocating motion of two tip on corresponding fourth inclined plane or the concave cambered surface of second on fourth horizontal direction, in order to adjust workstation (13) top surface is along the levelness of fourth horizontal direction.

13. A welding system for automatically seal-welding a spring seat of a nuclear production stack-discharge mechanism and a stopper rod inserted into the spring seat, comprising a welding machine, a control device (200), and a welding robot (100) according to any one of claims 1 to 12;

the first moving mechanism (2) of the welding robot (100) is provided with a holder monitoring device (7), and the holder monitoring device (7) is electrically connected with the control device (200) and is used for carrying out multi-angle shooting on the surrounding environment of the welding robot (100) and transmitting a real-time shooting signal to the control device (200);

the control device (200) is electrically connected with the first moving mechanism (2) and used for comparing the welding target image stored in the control device with the real-time camera shooting signal to identify the welding target and controlling the first moving mechanism (2) to drive the jacking device (3) to move until the jacking device (3) corresponds to the welding target;

the control device (200) is also electrically connected with the lifting driving device (525) and is used for controlling the lifting driving device to drive the lifting mechanism (31) to ascend until the lifting mechanism (31) provides a preset lifting force for the plug rod;

the welding machine is connected with the welding mechanism and used for driving the welding mechanism to operate, and the control device (200) is further respectively electrically connected with the second moving mechanism and the welding machine and used for controlling the welding machine to start and controlling the second moving mechanism to drive the welding mechanism to move until the welding mechanism completes the sealing welding of the spring seat and the plug rod.

14. A method of automatically sealing a welding nuclear production stack discharge mechanism using the welding system of claim 13, comprising the steps of:

s1: the holder monitoring device (7) carries out multi-angle shooting on the surrounding environment of the welding robot and transmits a real-time shooting signal to the control device (200);

s2: the control device (200) compares the welding target image stored in the control device with the real-time camera signal to identify the welding target, and controls the first moving mechanism (2) to drive the jacking device (3) to move until the jacking device (3) corresponds to the welding target;

s3: the control device (200) controls the jacking driving device to drive the jacking mechanism (31) to ascend until the jacking mechanism (31) provides a preset jacking force for the plug rod;

s4: the control device (200) controls the welding machine to be started so as to drive the welding mechanism to operate, and controls the second moving mechanism to drive the welding mechanism to move until the welding mechanism completes the sealing welding of the spring seat and the plug rod.