CN115647686B - Nuclear power pipe-pipe plate welding gun balancing device, welding device and control method - Google Patents
Nuclear power pipe-pipe plate welding gun balancing device, welding device and control method Download PDFInfo
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- CN115647686B CN115647686B CN202211689045.5A CN202211689045A CN115647686B CN 115647686 B CN115647686 B CN 115647686B CN 202211689045 A CN202211689045 A CN 202211689045A CN 115647686 B CN115647686 B CN 115647686B
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Abstract
A nuclear power pipe-pipe plate welding gun balancing device comprises a fixed roller, a floating roller and an adjusting device, wherein the fixed roller is fixedly suspended above a welding gun working area and used for providing suspension support for a welding gun wire harness, the welding gun wire harness is in lap joint with the floating roller, the adjusting device drives the floating roller to float so as to adjust tension on the welding gun wire harness, and gravity of a welding gun is balanced through the welding gun wire harness tension, so that the welding gun is prevented from deviating after being disconnected with a mechanical arm, and welding quality of a pipe-pipe plate welding seam is improved. The invention also provides a nuclear power tube-tube plate welding device and a welding gun balance control method.
Description
Technical Field
The invention belongs to the field of civil nuclear power, and particularly relates to a tube plate welding gun balancing device of a nuclear power steam generator, a welding gun and a control method.
Background
In the development process of a steam generator of a main device of a nuclear island of a civil nuclear power station, a robot is used for replacing manpower to weld the tubes and the tube plates of the steam generator, so that the welding efficiency can be effectively improved, the automation level is improved, and the construction efficiency is improved. Patent CN105195868A discloses a robot welding system, which uses a single mechanical arm of an industrial robot to hold two welding guns in turn to perform parallel welding operation on the pipe-tube plate welding seam on two welding stations, so as to reduce the idle time of the mechanical arm and improve the welding operation efficiency. However, when the system is used for operation, after a welding gun is inserted into a pipe hole to be welded by the mechanical arm, the welding gun needs to be released for operation of the next welding gun, and the position of the welding gun is easy to deviate due to the gravity action of the welding gun and a welding gun wire harness, so that the welding quality is affected, and the welding quality cannot meet the checking requirement.
Disclosure of Invention
The invention aims to provide a nuclear power tube-tube plate welding gun balancing device, which can keep the position of a welding gun stable after a mechanical arm releases the welding gun and improve the welding quality. The invention also provides a nuclear power steam generator tube plate welding device and a control method.
According to an embodiment of one aspect of the invention, a nuclear power tube-tube plate welding gun balancing device is provided, a welding gun wire harness is used for providing traction force to balance the self weight of a welding gun, and the position of the welding gun is kept not to deviate in the welding process; the fixed roller is fixed above a working area of the welding gun and used for providing suspension support for a wire harness of the welding gun; the floating roller is connected with the adjusting device, and the floating roller is overlapped with the welding gun wire harness so as to allow the adjusting device to drive the floating roller to float to adjust the tensioning degree of the welding gun wire harness.
Move up or move down through the gyro wheel that floats, can adjust the tensioning degree of welder pencil, the traction force that makes the welder pencil provide maintains the balance of welder gesture, and the manipulator is let out and is kept welder position and can not take place the skew under the effect of welder self gravity and pencil gravity after welder, and the most advanced alignment position of tungsten utmost point can not change to guarantee welding quality.
Further, the welding gun wire harness comprises a terminal connecting section, a horizontal section and an adjusting section, wherein the terminal connecting section extends to the fixed rollers from the welding gun, the horizontal section horizontally extends between the adjacent fixed rollers, and the adjusting section is in lap joint with the floating rollers and is adjusted in tensioning degree by the floating rollers.
According to another aspect of the embodiment of the invention, the nuclear power tube-tube plate welding device comprises a mechanical arm, a control device, at least 2 welding guns and corresponding welding gun wire harnesses, and further comprises the nuclear power tube-tube plate welding gun balancing device as described in any one of the above, wherein the control device controls the mechanical arm and the welding guns to perform welding operation, and the nuclear power tube-tube plate welding gun balancing device is used for adjusting the tension degree of the welding gun wire harnesses so as to keep the welding guns balanced in the welding operation process. By utilizing the welding gun balancing device, the welding device can keep the posture of the welding gun stable and ensure the welding quality of the welding seam of the tube-tube plate.
Furthermore, the welding device further comprises an auxiliary support rod, wherein the auxiliary support rod is arranged on the welding gun and is abutted to the surface of the tube plate in the welding process, and the auxiliary support rod provides auxiliary support for the welding gun. The auxiliary support rod can provide more stable support for the welding gun, and the welding gun is convenient to stabilize.
Further, the welding gun comprises a mandrel and a tensioning block, the mandrel is used for being inserted into a pipe hole of a pipe to be welded during welding, and the tensioning block is used for tensioning from the inside of the pipe hole of the pipe to be welded after the mandrel is inserted so as to provide support for the welding gun.
Further, the yield strength of the mandrel is not less than 600MPa to provide a sufficiently stable support for the welding gun.
Further, the welding gun further comprises a tungsten electrode, and the tungsten electrode is mounted on a tungsten electrode fixing block which can be replaced integrally. Tungsten utmost point fixed block supports the tungsten utmost point of quick replacement scaling loss, can also come the different welding pipe diameters of adaptation through the tungsten utmost point fixed block of replacing different parameters.
Further, a quick joint is configured between the welding gun and the mechanical arm. The quick connector allows the robotic arm to quickly connect and release the welding gun.
According to another aspect of the embodiments of the present invention, there is provided a method for controlling balance of a nuclear power tube-tube plate welding gun, which uses any one of the nuclear power tube-tube plate welding devices, the method including the steps of: positioning the pipe hole positions of a pipe to be welded, and determining the wire harness tension required for maintaining the posture balance of a welding gun at each pipe hole position; moving a welding gun to a welding operation position by using a mechanical arm, and adjusting the position of the floating roller by the control device according to the position state of the welding gun to adjust the tension of the wire harness so as to maintain the stable posture of the welding gun; and when the welding gun carries out welding operation, the mechanical arm moves the next welding gun to the position corresponding to the welding operation to carry out the welding operation.
Further, the step of locating the positions of the tube holes of the tubes to be welded includes a preliminary locating process of calibrating the tube plate and an accurate locating process of scanning and identifying the tube holes by using a visual identification device.
Drawings
FIG. 1 is a schematic diagram of a nuclear power tube-tube sheet welding gun balancing apparatus according to an embodiment;
FIG. 2 is a schematic diagram of a nuclear power tube-tube sheet welding gun according to an embodiment;
FIG. 3 is a schematic view of an embodiment of a gas shield;
FIG. 4 is a schematic diagram of a tungsten electrode fixing block according to an embodiment.
The above-mentioned drawings are intended to illustrate the present invention in detail so that those skilled in the art can understand the technical idea of the present invention, and are not intended to limit the present invention. For the sake of clarity, the drawings described above are only schematic representations of the structures relating to the technical features of the invention, not all the equipment and all the details are drawn strictly to scale.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and drawings.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment herein. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive. Those of skill in the art will appreciate that embodiments described herein may be combined with other embodiments without structural conflict.
In the description herein, unless otherwise expressly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly, as meaning movable connections, fixed connections, or integral connections, for example. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.
In the description herein, terms of "upper", "lower", "left", "right", "lateral", "longitudinal", "height", "length", "width", etc., indicating an orientation or positional relationship, are intended for the purpose of accurately describing embodiments and simplifying the description, but do not limit the parts or structures involved to having a particular orientation, being mounted or operated in a particular orientation, and are not to be construed as limiting the embodiments herein.
In the description herein, the terms "first", "second", and the like are used only for distinguishing between different objects and are not to be construed as indicating relative importance or defining the number, specific order, or primary and secondary relationship of the technical features described. In the description herein, "plurality" means at least two.
In the process of developing a steam generator of a main device of a civil nuclear power island, tens of thousands of tube-tube plate welding seams of the steam generator need to be welded, and the manual welding mode has large workload and low efficiency, so that the automatic welding device for the tube plate of the steam generator is developed aiming at the operation process. When the pipe-pipe plate welding seam is welded, one mechanical arm controls two welding guns at the same time, the mechanical arm firstly moves one welding gun to a welding position, a positioning mandrel of the welding gun is inserted into a pipe hole to be welded, after the positioning mandrel is inserted in place and is tensioned, the mechanical arm releases the welding gun to operate the next welding gun, and meanwhile, the welding gun which is in place starts welding operation. The device effectively improves the welding efficiency of the nuclear power tube-tube plate, however, when the welding gun is inserted into the tube hole to be welded by the manipulator and is disconnected, the position of the welding gun is easy to deviate under the action of the manipulator and the gravity of a wire harness, so that the alignment position of the tip of the welding tungsten electrode deviates, and the welding quality of the tube-tube plate welding seam is influenced.
In order to solve the above problems, an embodiment of an aspect of the present invention provides a balancing device for a pipe and plate welding gun, which is shown in fig. 1 and includes a first fixed roller 3, a second fixed roller 4, a third fixed roller 5, a lead screw 8, and a floating roller 6 and a balancing hanger 7 connected to both ends of the lead screw 8. Wherein first fixed idler wheel 3, second fixed idler wheel 4, third fixed idler wheel 5 fixed mounting are on the support and the arm fixed column of welding operation region top, and floating idler wheel 6 is located between second fixed idler wheel 4 and the third fixed idler wheel 5, and balanced 7 fixed mounting of hanging for equipment stand 10 for balanced 7 hanging and lead screw 8 can drive floating idler wheel 6 and reciprocate as adjusting device. The welding gun 1 of the welding equipment is arranged on one side of the balancing device, and the control cabinet 9 is arranged on the other side of the balancing device; the welding gun wire harness 2 extends from the tail end of the welding gun 1, sequentially crosses over and is lapped on the first fixed roller 3 and the second fixed roller 4, between the second fixed roller 4 and the third fixed roller 5, the welding gun wire harness 2 passes through the lower part of the floating roller 6 and is lapped with the floating roller, and after crossing over the third fixed roller 5, the welding gun wire harness is connected to the control cabinet 9; the control cabinet 9 performs overall control of the welding device, the robot (not shown), and the balancing device. Through the position of adjusting the gyro wheel 6 that floats, can control the tensioning degree of welder pencil 2, and then adjust welder pencil 2 and apply the traction force for welder 1, when welding, when manipulator relieve welder 1, welder's gravity can be balanced to the traction force of pencil 2 to make welder 1's position not take place the skew, avoid the most advanced skew welding position of tungsten electrode, thereby guarantee welded quality. In addition to the balance crane 7 and the lead screw 8, in other embodiments, the device may also use other driving devices such as a servo motor to adjust the position of the floating roller 6.
In the preferred embodiment, the first fixed roller 3 is arranged above the position where the welding gun 1 performs the welding operation, and the wire harness between the welding gun 1 and the first fixed roller 3 is tensioned to reduce the slack of the wire harness; the first fixed roller 3 and the second fixed roller 4 are the same in height, and the wiring harness 2 is kept basically horizontal between the first fixed roller and the second fixed roller; the wiring harness 2 among the second fixed roller 4, the floating roller 6 and the third fixed roller 5 is configured as an adjusting section, and the wiring harness is controlled to adjust the overall tension of the wiring harness. The arrangement mode can reduce the complexity of the wiring harness trend under the condition that a plurality of welding guns exist on the site, and is convenient to overhaul.
An embodiment of another aspect of the present invention provides a nuclear power tube-tube sheet welding apparatus, as shown in fig. 1, using the balance apparatus of any of the above embodiments, and including at least one robot (not shown), at least 2 welding guns 1, and a control cabinet 9 as a control apparatus, each robot controlling at least 2 welding guns 1. The control cabinet 9 can control the manipulator and the welding gun 1, and the balance of the posture of the welding gun is maintained by adjusting the height of the floating idler wheel 6 in the welding process, so that the welding quality of the welding seam of the tube-tube plate is ensured.
In the preferred embodiment, the structure of the welding gun 1 is as shown in fig. 2, and includes a mandrel 12 and a gas protection cover 14, with reference to fig. 3 and 4, a tungsten electrode 19 is mounted on a tungsten electrode fixing block 18, the tungsten electrode fixing block 18 is mounted in a circular hole in the center of the gas protection cover 14, the mandrel 12 is passed through a through hole 20 in the tungsten electrode fixing block 18, and the welding gun wire bundle 2 is connected to the end of the welding gun 1. In some embodiments, the torch wire bundle 2 may also be placed on top of the torch 1 to better provide traction during welding. In the preferred embodiment the yield strength of the mandrel 12 is not less than 600MPa and the mandrel 12 has a higher stiffness to aid in stabilizing the torch position. During welding, a welding gun 1 is operated by a mechanical hand to insert a mandrel 12 into a pipe hole to be welded, a driving device drives a tungsten electrode fixing block 18 to drive a tungsten electrode 19 to rotate for a circle to complete welding, and in the welding process, as shown in fig. 3, besides argon protection of a protective cover center hole, two paths of protective gas sprayed out of a gas hole 17 in the surface of a gas protective cover 14 protect a welding seam. Still fixedly at the welder surface be provided with auxiliary strut 15, auxiliary strut has flexible function, and auxiliary strut 15 butt is in treating the pipe sheet surface of welding when welding to compensate the gap between welder 1 and the plate, provide extra support for welder 1, with the stability that keeps welder 1 in the welding process. In a preferred embodiment, the mandrel 12 of the welding gun 1 is further provided with a tensioning block 13, and after the mandrel 12 is inserted into the pipe hole to be welded, the tensioning block 13 expands outwards along the radial direction of the mandrel 12 to increase the stability of the welding gun during the welding process.
In the preferred embodiment, the tungsten electrode fixing block 18 is configured as a quick-connect assembly, which can be quickly assembled and disassembled as a whole, and can be quickly replaced when the tungsten electrode 19 is burnt.
In the preferred embodiment, the connection location between the welding gun 1 and the robot is configured as a quick connector 16, which enables the robot to quickly grip and release the welding gun 1, improving the overall operating efficiency of the welding apparatus.
The nuclear power tube-tube plate welding device in the embodiment is used for performing the nuclear power steam generator tube-tube plate welding process as follows:
firstly, calibrating the position of a tube plate to be welded, obtaining the position information of tube holes of each tube, namely primary positioning, firstly scanning the tube holes to be welded by utilizing a visual recognition device such as a laser sensor arranged on a mechanical arm, obtaining the accurate position information of the tube holes to be welded, namely accurate positioning, determining the tension provided by a wire harness 2 required for maintaining the posture balance of a welding gun 1 at the position of each tube hole in a calculation or measurement mode, and further determining the height of a corresponding floating roller 6. And then, the manipulator grabs a welding gun 1, a mandrel 12 of the welding gun 1 is inserted into a pipe hole to be welded, the control cabinet controls the balance crane 7 to lift the floating roller 6 by using the lead screw after the welding gun is in place, the welding gun wire harness 2 is tensioned to a proper degree, and the tensioning block 13 is tensioned to fix the welding gun 1. And releasing the welding gun 1 by the manipulator, and grabbing the next welding gun for operation.
Meanwhile, the welding gun 1 starts welding operation, besides argon protection of the central hole of the protective cover, two paths of protective gas sprayed out of the gas hole 17 in the surface of the gas protective cover 14 protect a welding seam, and the tungsten electrode fixing block 18 drives the tungsten electrode 19 to rotate for one circle to complete welding of the pipe fitting and the plate joint.
After welding, the manipulator grabs the welding gun 1 to the next station to be welded for welding operation, and the floating roller 6 is correspondingly adjusted to continuously maintain the balance of the welding gun. The whole welding process lasts for about 1min, the manipulator can operate a plurality of welding guns in turn to carry out welding operation together, the welding efficiency is high, and the welding effect is good.
The above control process is automatically controlled by a program set in the control cabinet 9 in a preferred embodiment, and can be manually controlled to be performed step by step in some embodiments.
The above-described embodiments are intended to explain the present invention in further detail by referring to the figures so that those skilled in the art can understand the technical idea of the present invention. The invention is not intended to be limited to the details of construction and the arrangements of the method steps set forth in the following description, which are set forth in the accompanying drawings.
Claims (10)
1. A nuclear power tube-tube plate welding gun balancing device is characterized in that after a welding gun is inserted into a tube hole of a tube to be welded, traction force is provided by using a welding gun wire harness to balance the self weight of the welding gun, and the position of the welding gun is kept not to deviate in the welding process; the fixed roller is fixed above a working area of the welding gun and used for providing suspension support for a wire harness of the welding gun; the floating roller is connected with the adjusting device, and the floating roller is overlapped with the welding gun wire harness so as to allow the adjusting device to drive the floating roller to float to adjust the tensioning degree of the welding gun wire harness.
2. The nuclear power tube-tube sheet welding gun balance device of claim 1, wherein the welding gun wire harness includes an end connection section extending from the welding gun to the fixed rollers, a horizontal section extending horizontally between a plurality of adjacent fixed rollers, and an adjustment section overlapping the floating rollers and adjusted in tension by the floating rollers.
3. A nuclear power pipe-pipe plate welding device comprises a mechanical arm, a control device, at least 2 welding guns and corresponding welding gun wire harnesses, and is characterized by further comprising the nuclear power pipe-pipe plate welding gun balancing device according to claim 1 or 2, wherein the control device is respectively in signal connection with the welding guns, the mechanical arm and the nuclear power pipe-pipe plate welding gun balancing device, the control device controls the mechanical arm and the welding guns to perform welding operation, and the nuclear power pipe-pipe plate welding gun balancing device is used for adjusting the tensioning degree of the welding gun wire harnesses so as to enable the welding guns to keep balance in the welding operation process.
4. The nuclear power tube-tube sheet welding device of claim 3, further comprising an auxiliary support bar disposed on the welding torch and abutting against a surface of the tube sheet during welding for providing auxiliary support to the welding torch.
5. The nuclear power tube-tube sheet welding device of claim 3, wherein the welding gun includes a mandrel and a tension block, the mandrel is configured to be inserted into a tube hole of the tube to be welded during welding, and the tension block is configured to be tensioned from inside the tube hole of the tube to be welded after the mandrel is inserted to provide support for the welding gun.
6. The nuclear power tube-tube sheet welding apparatus of claim 5, wherein the yield strength of the mandrel is not less than 600MPa.
7. The nuclear power tube-tube sheet welding apparatus of claim 3 wherein the welding gun further includes a tungsten electrode mounted on a tungsten electrode mounting block that is integrally replaceable.
8. The nuclear power tube-tube sheet welding device of claim 3 wherein the welding gun and the robotic arm are connected by a quick connect joint.
9. A nuclear power tube-tube sheet welding gun balance control method, characterized in that the nuclear power tube-tube sheet welding device according to any one of claims 3 to 8 is adopted, the method comprising the steps of: positioning the positions of pipe holes of a pipe to be welded, and determining the wire harness tension required for maintaining the posture balance of a welding gun at each pipe hole position; moving a welding gun to a welding operation position by using a mechanical arm, and adjusting the position of the floating roller by the control device according to the position state of the welding gun to adjust the tension of the wire harness so as to maintain the stable posture of the welding gun; and when the welding gun carries out welding operation, the mechanical arm moves the next welding gun to the position corresponding to the welding operation to carry out the welding operation.
10. The nuclear power tube-tube sheet weld gun balance control method of claim 9 wherein the step of locating the tube holes of the tubes to be welded includes a preliminary locating process for calibrating the tube sheets and a fine locating process for scanning and identifying the tube holes using a visual identification device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211689045.5A CN115647686B (en) | 2022-12-28 | 2022-12-28 | Nuclear power pipe-pipe plate welding gun balancing device, welding device and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211689045.5A CN115647686B (en) | 2022-12-28 | 2022-12-28 | Nuclear power pipe-pipe plate welding gun balancing device, welding device and control method |
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| CN115647686A CN115647686A (en) | 2023-01-31 |
| CN115647686B true CN115647686B (en) | 2023-03-21 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2953353B2 (en) * | 1995-07-19 | 1999-09-27 | 株式会社日立製作所 | Vehicle spot welding gun and vehicle body assembly device |
| CN102085591A (en) * | 2009-12-04 | 2011-06-08 | 上海东升焊接集团有限公司 | Mobile hand-held brazing machine |
| CN105195868B (en) * | 2015-11-12 | 2018-05-15 | 上海电气核电设备有限公司 | A kind of robot welding system and its welding method |
| CN105414824B (en) * | 2015-12-01 | 2017-06-13 | 深圳市瑞凌实业股份有限公司 | Moment compensator and movable welding connection device |
| CN105856205B (en) * | 2016-06-17 | 2017-11-17 | 中国矿业大学 | A kind of flexible cable suspention simulation system in parallel and its method |
| CN207953006U (en) * | 2017-12-20 | 2018-10-12 | 林德英利（天津）汽车部件有限公司 | A kind of flexible welding system of suspention |
| EP3924140B1 (en) * | 2019-02-11 | 2023-09-27 | Clem Cuschieri | A weight balancing gantry |
| CN113102870A (en) * | 2021-04-25 | 2021-07-13 | 山西丰喜化工设备有限公司 | Inner hole rotating argon arc welding gun head for pipe and pipe plate and welding method |
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