CN117961384A - Crawler-type nuclear power station containment wall climbing welding robot with hollow structure - Google Patents

Crawler-type nuclear power station containment wall climbing welding robot with hollow structure Download PDF

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Publication number
CN117961384A
CN117961384A CN202410369816.5A CN202410369816A CN117961384A CN 117961384 A CN117961384 A CN 117961384A CN 202410369816 A CN202410369816 A CN 202410369816A CN 117961384 A CN117961384 A CN 117961384A
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China
Prior art keywords
assembly
crawler
driving wheel
welding
transverse
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Granted
Application number
CN202410369816.5A
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Chinese (zh)
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CN117961384B (en
Inventor
邓克剑
高延峰
李兵
武志华
戴伟科
张华�
王岩
刘庆红
苏洪委
陈瑞鹏
谭龙
周依霖
杨勇
李璐
周玉东
胡祎凡
范金鑫
赵志伟
庄同平
张运
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China Nuclear Industry 24 Construction Co Ltd
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China Nuclear Industry 24 Construction Co Ltd
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Application filed by China Nuclear Industry 24 Construction Co Ltd filed Critical China Nuclear Industry 24 Construction Co Ltd
Priority to CN202410369816.5A priority Critical patent/CN117961384B/en
Publication of CN117961384A publication Critical patent/CN117961384A/en
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Publication of CN117961384B publication Critical patent/CN117961384B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of welding, in particular to a crawler-type nuclear power station containment wall climbing welding robot with a hollow structure, which comprises the following components: the crawler belt part is arranged at two sides of the box body part and bears the box body part to move along the welding line direction; the driving part is arranged in the hollow structure; according to the invention, the hollow box body part is arranged, and other parts except the crawler belt part are arranged in the box body part, so that the volume of the whole welding robot is reduced; meanwhile, the crawler belt part is arranged into a magnetic block chain with the capability of moving in the longitudinal direction and the transverse direction, and the power assembly drives the hub assembly or the transverse moving assembly through the reversing mechanism in the driving part, so that the longitudinal and transverse movement of the welding robot is realized.

Description

Crawler-type nuclear power station containment wall climbing welding robot with hollow structure
Technical Field
The invention relates to the technical field of welding, in particular to a crawler-type nuclear power station containment wall climbing welding robot with a hollow structure.
Background
In the construction of a containment vessel of a nuclear power plant, there are many large steel structural members. These structural members are welded at the construction site. The traditional industrial robot has limited operation range and cannot be suitable for automatic welding of large steel structural members. At present, manual welding is generally adopted, and the problems of low efficiency, high operation danger, poor operation environment, large welding quality fluctuation and the like exist. With the improvement of the living standard of people, less technicians engaged in welding work types and the shortage of skilled welders become serious. With the construction of a new pneumatic nuclear power plant in China, the welding requirements for large-scale steel structural members such as containment vessels are growing increasingly. Since the containment vessel of the nuclear power plant has a plurality of welding seams in the longitudinal direction and the transverse direction, the wall climbing welding robot on the market at present can only move longitudinally. After welding a welding line, a long-time turning motion is needed to adjust the posture to the other welding line, and the efficiency is low. And a larger turning radius is required, so that the welding of the intensive welding seams cannot be performed. Therefore, it is necessary to design a wall climbing welding robot capable of achieving longitudinal and transverse movement, and automatic welding of large-sized steel structural members such as a containment vessel of a nuclear power station is achieved.
In addition, the containment steel structural member of the nuclear power station is provided with a plurality of longitudinal and transverse welding seams, the wall climbing welding robot is required to have the longitudinal and transverse moving functions, and the quality of the welding seams and the safety during working are required to be ensured.
Disclosure of Invention
The invention aims to provide a crawler-type nuclear power station containment wall climbing welding robot with a hollow structure, which aims to realize that the robot is adsorbed on a large structural member and can flexibly move transversely and longitudinally.
The invention is realized by the following technical scheme:
A hollow structured crawler-type nuclear power plant containment wall climbing welding robot comprising:
a box body part which is of a hollow structure;
The crawler belt parts are arranged on two sides of the box body part and bear the box body part to move along the welding line direction;
a driving portion disposed within the hollow structure;
The track portion includes: the magnetic block chain comprises a chain and a magnetic block assembly, the chain is connected to the driving wheel assembly and the driven wheel assembly, a plurality of magnetic block assemblies are fixedly connected with the chain, and when the magnetic block chain is used, the magnetic block chain is adsorbed on a large steel structural member to be welded;
The driving section includes: the power assembly is fixedly connected with the box body part, the power output end of the power assembly is connected with the power input end of the reversing mechanism, the reversing mechanism is provided with a crawler power output assembly and a transverse power output assembly, the crawler power output assembly of the reversing mechanism is connected with the driving wheel assembly, and the transverse power output assembly of the reversing mechanism is connected with the transverse movement assembly.
Specifically, the driving wheel assembly comprises a driving wheel hub and driving wheel track gears, wherein the driving wheel hub is connected with the track power output assembly, and the two driving wheel track gears are coaxially connected to two sides of the driving wheel hub;
The driven wheel assembly comprises a driven wheel hub and driven wheel track gears, the driven wheel hub is connected with the box body part, and the two driven wheel track gears are coaxially connected to two sides of the driven wheel hub;
The magnetic block chains comprise two chains and a plurality of magnetic block assemblies, the two chains are respectively connected between the driving wheel track gear and the driven wheel track gear, and two ends of the magnetic block assemblies are respectively connected with the two chains.
Specifically, the magnetic block assembly includes:
The magnetic block connecting frames are perpendicular to the advancing direction of the crawler belt part, and two ends of each magnetic block connecting frame are respectively and fixedly arranged in corresponding shaft connecting holes of two chains;
The permanent magnet is a hollow cylindrical magnetic block, the permanent magnet is magnetized along the axial direction, and the central axis of the permanent magnet is perpendicular to the advancing direction of the crawler belt part;
the wheel shafts are arranged in parallel with the advancing direction of the crawler belt part, and two ends of each wheel shaft are respectively and vertically fixedly connected with two adjacent magnetic block connecting frames;
the magnetic block support, the permanent magnet passes through the magnetic block support suit is in the shaft, just the permanent magnet passes through the magnetic block support with the coaxial swivelling joint of shaft.
Optionally, the outer circumference of the permanent magnet is provided with the magnet outer ring which is used for contacting with the large steel structural member.
Preferably, two permanent magnets are a group, and a group of permanent magnets is arranged in parallel between each chain link of the two chains.
Specifically, the power assembly includes: the motor is connected with the box body part, and a power shaft of the motor drives the driving shaft to rotate through the power transmission bevel gear set;
The reversing mechanism comprises:
The sliding sleeve is sleeved on the driving shaft and axially slides relative to the driving shaft;
The transverse driving wheel power input conical gear and the crawler power input cylindrical gear are coaxially and fixedly connected to the sliding sleeve;
the transverse driving wheel power output conical gear is connected with the transverse power output assembly, and the track power output cylindrical gear is connected with the track power output assembly;
when the transverse driving wheel power input conical gear is meshed with the transverse driving wheel power output conical gear, the crawler power input cylindrical gear is separated from the crawler power output cylindrical gear;
When the track power input cylindrical gear is meshed with the track power output cylindrical gear, the transverse driving wheel power input conical gear is separated from the transverse driving wheel power output conical gear.
Specifically, the lateral movement assembly includes: the reversing lifting assembly and the transverse driving assembly;
The lateral drive assembly includes: the transverse power output assembly drives the transverse driving wheel to rotate through the synchronous belt assembly;
One end of the reversing lifting assembly is fixedly connected with the sliding sleeve, and drives the sliding sleeve (axially moves along the driving shaft;
The other end of the reversing lifting assembly is connected with the driving wheel bracket and drives the transverse driving wheel to move up and down.
The reversing lifting assembly comprises: the reversing connecting rod, the linear driving assembly and the lifting connecting rod mechanism are fixedly connected with the sliding sleeve at the first end, the reversing connecting rod is rotatably connected with the first end of the lifting connecting rod mechanism at the second end, and the lifting connecting rod mechanism is rotatably connected with the driving wheel bracket at the second end;
the linear driving assembly is fixedly connected with the reversing connecting rod and drives the reversing connecting rod to move along the central axis of the driving shaft;
When the power input bevel gear of the transverse driving wheel is meshed with the power output bevel gear of the transverse driving wheel, the transverse driving wheel is contacted with the large steel structural member.
Further, the welding robot further includes a weld detecting part and a welding equipment portion, both of which are provided in the case portion, and the weld detecting part is located in front of the welding equipment portion.
Specifically, the weld detecting portion includes: the welding detection device comprises a welding detection bracket, a line structure light camera bracket, a molten pool camera and a molten pool camera bracket, wherein the welding detection bracket is fixedly connected with the box body part, the line structure light camera is fixedly connected with the welding detection bracket through the line structure light camera bracket, the molten pool camera is fixedly connected with the welding detection bracket through the molten pool camera bracket, and the line structure light camera is arranged in front of the molten pool camera;
The welding apparatus portion includes: the welding gun is connected with the box body through the sliding rail module, and the sliding rail module controls the welding gun to be aligned with a welding line for welding.
Compared with the prior art, the invention has the following advantages and beneficial effects:
According to the invention, the hollow box body part is arranged, and other parts except the crawler belt part are arranged in the box body part, so that the volume of the whole welding robot is reduced; meanwhile, the crawler belt part is arranged into a magnetic block chain with the capability of moving in the longitudinal direction and the transverse direction, and the power assembly drives the hub assembly or the transverse moving assembly through the reversing mechanism in the driving part, so that the longitudinal and transverse movement of the welding robot is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.
Fig. 1 is a schematic diagram of the overall structure of a crawler-type nuclear power station containment wall climbing welding robot with a hollow structure according to the invention.
FIG. 2 is a schematic diagram of a working state of a crawler-type nuclear power station containment wall climbing welding robot with a hollow structure according to the invention;
FIG. 3 is a schematic view of a crawler of a hollow crawler type nuclear power station containment wall climbing welding robot according to the present invention;
FIG. 4 is a schematic view of a magnetic block on a crawler-type nuclear power station containment wall climbing welding robot track with a hollow structure according to the invention;
FIG. 5 is a schematic diagram of a reversing gear of a hollow structured crawler-type nuclear power station containment wall climbing welding robot according to the present invention;
FIG. 6 is a schematic diagram of a transmission mechanism of a crawler-type nuclear power station containment wall climbing welding robot with a hollow structure according to the invention;
FIG. 7 is a schematic diagram of a reversing fork mechanism of a crawler-type nuclear power station containment wall climbing welding robot with a hollow structure according to the invention;
FIG. 8 is a schematic view of a transverse driving wheel structure of a hollow crawler-type nuclear power station containment wall climbing welding robot according to the invention;
FIG. 9 is a schematic diagram of a welding device portion of a hollow structured crawler-type nuclear power plant containment wall climbing welding robot according to the present invention;
Reference numerals:
10-track section; 20-a driving part; 30-a weld detecting section; 40-a box portion; 50-welding equipment parts;
11-a chain; 12-a magnetic block assembly; 121-a magnetic block connecting frame; 122-permanent magnet; 123-a magnet outer ring; 124-a magnet holder; 125-wheel axle;
21-a reversing mechanism; 22-reversing lifting assembly; 23-a transverse drive assembly;
211-motor; 212-a power transfer bevel gear set; 213-transverse driving wheel power input bevel gear; 214-a transverse driving wheel power output conical gear; 215-sliding sleeve; 216-track power input spur gears; 217-track power take off spur gear; 218-a track power take off assembly; 219-a transverse power take-off assembly; 221-reversing connecting rods; 222-a linear drive assembly; 223-lifting linkage; 231-a transverse drive wheel; 232-a timing belt assembly; 233-a drive wheel bracket;
51-a slide rail module; 52-welding gun.
Detailed Description
The present invention will be described in further detail with reference to the drawings and embodiments, for the purpose of making the objects, technical solutions and advantages of the present invention more apparent. It is to be understood that the specific embodiments described herein are merely illustrative of the substances, and not restrictive of the invention.
It should be further noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Embodiments of the present invention and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example 1
As shown in fig. 1 and 2, a crawler-type nuclear power station containment wall climbing welding robot with a hollow structure comprises: a box portion 40, a track portion 10, a driving portion 20, a weld detecting portion 30, and a welding apparatus portion 50.
The box portion 40 is of a hollow structure and serves as a support for the whole robot for mounting the respective components, and the welding line detecting portion 30 is fixedly provided at one end of the box portion 40 for detecting a welding line and detecting welding quality, and guides the welding robot to work along the welding line. The welding device 50 is fixedly arranged at the other end of the box body and is positioned in the middle of the box body 40, and the pose of the welding gun 52 can be adjusted, so that the welding gun 52 can be aligned with a welding seam at the best angle, and the quality of the welding seam is ensured.
The track portions 10 are provided at both sides of the box portion 40 for adsorbing the large steel structural members and enabling the welding robot to move along the welding lines.
The crawler belt parts 10 are arranged at both sides of the box body part 40, and bear the box body part 40 to move along the welding line direction; the driving part 20 is provided in the hollow structure to provide driving force to the entire welding robot.
The track portion 10 includes: the magnetic block chain comprises a chain 11 and a magnetic block assembly 12, the chain 11 is connected to the driving wheel assembly and the driven wheel assembly, the magnetic block assemblies 12 are fixedly connected with the chain 11, and when the magnetic block chain is used, the magnetic block chain is adsorbed on a large steel structural member to be welded; the permanent magnet 122 in the magnetic block assembly 12 is used for adsorbing the large-sized steel structural member, so that the whole robot is fixed with the large-sized steel structural member.
The driving section 20 includes: the reversing mechanism 21 is provided with a crawler power output assembly 218 and a transverse power output assembly 219, the crawler power output assembly 218 of the reversing mechanism 21 is connected with a driving wheel assembly, and the transverse power output assembly 219 of the reversing mechanism 21 is connected with the transverse moving assembly.
When the welding robot needs to longitudinally move, the reversing mechanism 21 is used for controlling the power assembly and the hub assembly to realize power transmission, so that the driving wheel assembly is driven to rotate by the power assembly, the crawler belt is driven to work by the driving wheel assembly, and the whole crawler belt part 10 drives the welding robot to move forward.
When the welding robot needs to longitudinally move, the reversing mechanism 21 controls the power assembly and the transverse moving assembly to realize power transmission, so that the transverse moving assembly is driven to work through the power assembly, and at the moment, the whole crawler belt part 10 does not longitudinally move, and the whole device is driven to transversely move through the transverse moving assembly.
Example two
As can be seen from the first embodiment, one of the key points of the longitudinal and lateral movement of the entire welding robot is the structure of the track section 10, i.e. the track section 10 is capable of both longitudinal and lateral movement.
As shown in fig. 3 and 4, the structure of the track portion 10 is explained.
The driving wheel assembly comprises a driving wheel hub and driving wheel track gears, the driving wheel hub is connected with the track power output assembly 218, and the two driving wheel track gears are coaxially connected to two sides of the driving wheel hub;
the driven wheel assembly comprises a driven wheel hub and driven wheel track gears, wherein the driven wheel hub is connected with the box body part 40, and the two driven wheel track gears are coaxially connected to two sides of the driven wheel hub;
The magnetic block chain comprises two chains 11 and a plurality of magnetic block assemblies 12, wherein the two chains 11 are respectively connected between the driving wheel track gear and the driven wheel track gear, and two ends of the magnetic block assemblies 12 are respectively connected with the two chains 11.
The driving wheel hub is driven to rotate by the crawler power output component 218 of the reversing mechanism 21, the driving wheel hub rotates to drive the driving wheel crawler gear to rotate, and the function of the crawler is realized by the driven wheel crawler gear and the driven wheel hub.
The fixing of the welding robot is realized through the adsorption of the magnet assembly on the magnet chain to the large-scale steel structural member.
When the welding robot is required to perform longitudinal movement, the welding robot is in a conventional crawler type movement.
To effect lateral movement of the welding robot, the magnet assembly 12 includes: magnet attachment frame 121, permanent magnet 122, axle 125, and magnet support 124.
The magnetic block connecting frame 121 is arranged perpendicular to the travelling direction of the crawler belt part 10, and two ends of the magnetic block connecting frame 121 are respectively and fixedly arranged in corresponding shaft connecting holes of the two chains 11; that is, the magnet connecting frame 121 connects links of two chains 11, and two adjacent magnet connecting frames 121 and two chains 11 are structured as a rectangular frame structure.
The permanent magnet 122 is a hollow cylindrical magnet, the permanent magnet 122 is magnetized along the axial direction, and the central axis of the permanent magnet 122 is perpendicular to the travelling direction of the crawler belt part 10; the wheel axle 125 is arranged in parallel with the travelling direction of the crawler belt part 10, and two ends of the wheel axle 125 are respectively and vertically fixedly connected with two adjacent magnetic block connecting frames 121; the permanent magnet 122 is sleeved on the wheel axle 125 through the magnetic block bracket 124, and the permanent magnet is coaxially and rotatably connected with the wheel axle 125 through the magnetic block bracket 124.
The permanent magnet 122 is rotatably fixed on the wheel shaft 125 through the magnetic block support 124, when the transverse movement is needed, the wheel hub of the driving wheel does not rotate any more, the lower side face of the crawler belt part 10 is attached to a large steel structural member, then transverse acting force is applied to the whole device through the transverse moving assembly, and the permanent magnet 122 is driven to rotate around the wheel shaft 125 under the pushing of the transverse acting force, so that the whole welding robot transversely moves.
In order to protect the permanent magnet 122, a magnet outer ring 123 for contacting with a large steel structural member is provided on the outer circumferential surface of the permanent magnet 122, and the magnet outer ring 123 is made of 45 steel, and in practice, may be coated on the outer side surface of the permanent magnet 122 in a ring shape, or may be connected to both ends of the permanent magnet 122 in a circular shape.
Preferably, for the purpose of connection stability, two permanent magnets 122 are grouped together, and a group of permanent magnets 122 is arranged in parallel between each link of the two chains 11.
Example III
As can be seen from the first embodiment, the power output to the hub assembly and the lateral movement assembly is achieved by the reversing mechanism 21.
As shown in fig. 5 and 6, the power assembly includes: the motor 211, the power transmission bevel gear set 212 and the driving shaft, wherein the motor 211 is connected with the box body part 40, and the power shaft of the motor 211 drives the driving shaft to rotate through the power transmission bevel gear set 212; the motor 211 is connected with a bevel gear, and the driving shaft is driven to rotate by the motor 211 through the engagement of the bevel gear with the power transmission bevel gear set 212.
The reversing mechanism 21 includes: a sliding sleeve 215, a transverse driving wheel power input bevel gear 213, a track power input cylindrical gear 216, a transverse driving wheel power output bevel gear 214 and a track power output cylindrical gear 217.
The sliding sleeve 215 is sleeved on the driving shaft, the sliding sleeve 215 can axially slide relative to the driving shaft and can not circumferentially rotate, namely, the relative position of the sliding sleeve 215 and the driving shaft in the axial direction can be changed, but the sliding sleeve 215 still needs to rotate along with the driving shaft.
The transverse driving wheel power input bevel gear 213 and the crawler power input cylindrical gear 216 are coaxially and fixedly connected to the sliding sleeve 215; the transverse drive wheel power take off bevel gear 214 is connected to a transverse power take off assembly 219 and the track power take off spur gear 217 is connected to a track power take off assembly 218.
When the track power input spur gear 216 is meshed with the track power output spur gear 217, the transverse drive wheel power input bevel gear 213 is separated from the transverse drive wheel power output bevel gear 214. At this time, the driving shaft of the power assembly drives the sliding sleeve 215 to rotate, the cylindrical gear set connected to the sliding sleeve 215 outputs power to the crawler power output assembly 218, and the crawler power output assembly 218 drives the driving wheel hub to rotate, so that the whole welding robot moves in the longitudinal direction.
When the transverse driving wheel power input bevel gear 213 is meshed with the transverse driving wheel power output bevel gear 214, the track power input spur gear 216 is separated from the track power output spur gear 217; at this time, the driving shaft of the power assembly rotates, the driving shaft rotates to drive the sliding sleeve 215 to rotate, and the rotation of the sliding sleeve 215 is transmitted to the transverse moving assembly through the two bevel gears.
As shown in fig. 7 and 8, in order to realize that the traverse assembly drives the welding robot to traverse, the traverse assembly includes: a reversing lifting assembly 22 and a transverse driving assembly 23; the reversing lifting assembly 22 is used for controlling the movement of the sliding sleeve 215 and realizing the lifting of the transverse driving wheel 231, namely, when the transverse movement is not needed, the transverse driving wheel 231 is not contacted with a large steel structural member, so that abrasion is avoided.
The lateral drive assembly 23 comprises: the transverse power take-off assembly 219 drives the transverse driving wheel 231 to rotate through the timing belt assembly 232, and the transverse driving wheel 231 is rotatably connected with the second end of the driving wheel support 233, and the first end of the driving wheel support 233 is rotatably connected with the box portion 40.
The first end of the driving wheel bracket 233 is fixed in position, and the up-and-down movement of the lateral driving wheel 231 is achieved by controlling the second end of the driving wheel bracket 233 to move up and down by the reversing lift assembly 22. The power of the lateral power take-off assembly 219 is transmitted to the lateral drive wheels 231 via the timing belt assembly 232, but transmission may be realized by gear engagement.
In the present embodiment, the rotation axis of the transverse driving shaft is provided in the longitudinal direction, and the transverse driving shaft is advanced in the traveling direction of the transverse driving wheel 231.
One end of the reversing lifting assembly 22 is fixedly connected with the sliding sleeve 215, and the sliding sleeve 215 is driven to axially move along the driving shaft; i.e. by reversing the lifting assembly 22 to drive the slide sleeve 215 to move, when the slide sleeve 215 is moved to the first operating state, i.e. the left end as viewed in fig. 6, the track power input spur gear 216 is engaged with the track power output spur gear 217, and the welding robot is moved longitudinally. When the slide sleeve 215 is moved to the second working state, i.e. the right end as viewed in fig. 6, the transverse driving wheel power input bevel gear 213 is engaged with the transverse driving wheel power output bevel gear 214, and the welding robot is moved transversely.
The other end of the reversing lifting assembly 22 is connected to a driving wheel bracket 233 and drives the transverse driving wheel 231 to move up and down.
The reversing lift assembly 22 includes: the reversing connecting rod 221, the linear driving assembly 222 and the lifting connecting rod mechanism 223, wherein a first end of the reversing connecting rod 221 is fixedly connected with the sliding sleeve 215, a second end of the reversing connecting rod 221 is rotatably connected with a first end of the lifting connecting rod mechanism 223, and a second end of the lifting connecting rod mechanism 223 is rotatably connected with the driving wheel bracket 233.
The linear driving assembly 222 provides an acting force for the reversing connecting rod 221, the first end of the reversing connecting rod 221 can drive the sliding sleeve 215 to move, and the second end of the reversing connecting rod 221 controls the second end of the driving wheel bracket 233 through the lifting connecting rod structure to realize lifting.
The linear driving assembly 222 is fixedly connected with the reversing connecting rod 221, and the linear driving assembly 222 drives the reversing connecting rod 221 to move along the central axis of the driving shaft;
As shown in fig. 7 and 8, the reversing link 221, the lifting link structure, and the driving wheel bracket 233 constitute a three-link mechanism that moves up the second end of the driving wheel bracket 233 when the slide cover 215 is at the left end. When the sliding sleeve 215 is at the right end, the three-bar linkage causes the second end of the drive wheel bracket 233 to move downward, i.e., when the transverse drive wheel power input bevel 213 is engaged with the transverse drive wheel power output bevel 214, the transverse drive wheel 231 is in contact with the large structural steel member.
Example IV
The welding robot further includes a weld detecting member and a welding apparatus portion 50, both the weld detecting portion 30 and the welding apparatus portion 50 are disposed within the case portion 40, and the weld detecting portion 30 is located in front of the welding apparatus portion 50.
The bead detecting section 30 includes: the welding detection device comprises a welding detection bracket, a line structure light camera bracket, a molten pool camera and a molten pool camera bracket, wherein the welding detection bracket is fixedly connected with a box body part 40, the line structure light camera is fixedly connected with the welding detection bracket through the line structure light camera bracket, the molten pool camera is fixedly connected with the welding detection bracket through the molten pool camera bracket, and the line structure light camera is arranged in front of the molten pool camera.
When the wall climbing welding robot works, the crawler belt part 10 is adsorbed on a large steel structural member, so that the welding robot can be adsorbed on a wall surface and move. The line structure light camera detects the welding seam of the large steel structural member, so that the welding robot works along the welding seam. The welding equipment part 50 adjusts the pose of the welding gun 52 to finish welding work, and a molten pool camera detects the condition of a molten pool to ensure that the quality of a welding seam reaches the standard.
The line structure light camera is arranged at the forefront end of the welding robot and used for detecting the position of a welding line relative to the box body part 40, is connected with the control cabinet through a cable concentrated on the aviation plug, transmits power and information data, processes the information data by the host after the control cabinet acquires the information, converts the information data into corresponding control signals, and transmits the control signals to the driving stepping motor 211, the Y-axis direction guide mechanism and the Z-axis direction guide mechanism through the cable to control the movement direction of the crawler part 10 and the pose of the welding gun 52. When the welding gun 52 performs welding, the molten pool camera detects the molten pool condition in real time, the acquired data information is transmitted to a host in the control cabinet through a cable, the host judges whether the molten pool condition is in a condition that a high-quality welding seam can be acquired, if the condition that the position of the welding gun 52 relative to the welding seam needs to be adjusted occurs, a corresponding control signal is generated, the control signal is transmitted to the Y-axis direction guide mechanism and the Z-axis direction guide mechanism through the cable, and the pose of the welding gun 52 is adjusted.
The wire structure camera of the welding robot is connected to the welding detection part bracket through the wire structure light camera bracket, and the molten pool camera is connected to the welding detection part bracket through the molten pool camera bracket. The line structure camera and the bath camera are connected with the control cabinet through cables to transmit power and information data. In this embodiment, the model of the line structure camera and the bath camera are not fixed, and the bracket for connection is changed according to the installation mode of different models. The weld detecting portion 30 is connected to the front of the case portion 40.
As shown in fig. 9, the welding apparatus portion 50 includes: the welding gun 52 is connected with the box body portion 40 through the sliding rail module 51, and the sliding rail module 51 controls the welding gun 52 to be aligned with the welding line for welding.
According to actual conditions, the sliding rail die components can be divided into a welding connection plate, a Y-axis direction guide mechanism, a Z-axis direction guide mechanism, a welding gun pitch angle clamping part and the like. The fixed end of the Y-axis direction guiding mechanism is fixedly connected with the box body part 40 through a welding connecting plate, the fixed end of the Z-axis direction guiding mechanism is fixedly connected with the movable end of the Y-axis direction guiding mechanism, the welding gun pitch angle clamping part is fixedly connected with the movable end of the Z-axis direction guiding mechanism, the welding gun pitch angle clamping part is used for clamping and welding, and the welding gun 52 is controlled to be aligned with a welding line for welding.
The moving direction of the Y-axis direction guiding mechanism, the moving direction of the Z-axis direction guiding mechanism and the advancing direction of the robot are arranged in a pairwise perpendicular mode.
The Y-axis direction guiding mechanism includes a Y-axis direction ball screw and a Y-axis direction stepping motor 211, and the Z-axis direction guiding mechanism includes a Z-axis direction ball screw and a Z-axis direction stepping motor 211;
the Y-axis direction guide mechanism is used for adjusting the movement of the welding gun 52 in the width direction of the weld, the Z-axis direction guide mechanism is used for adjusting the movement of the welding gun 52 in the height direction of the weld, and the pitching clamping portion of the welding gun 52 is used for adjusting the angle of the welding gun 52 relative to the weld.
The welding apparatus portion 50 includes a welding apparatus portion 50 connection plate, a Y-axis direction guide mechanism, a Z-axis direction guide mechanism, a welding gun 52 pitch clamping portion, and a welding gun 52. The Y-axis direction guide mechanism and the Z-axis direction guide mechanism are connected with the control cabinet through cables concentrated on the aviation plug, acquire power and information data transmitted by the control cabinet, and control the pose of the welding gun 52. The pitch grip of the weld gun 52 is used to control the distance of the weld gun 52 head from the weld and the angle relative to the weld. The Y-axis direction guide mechanism is used to control the position of the welding gun 52 in the weld width direction, and the Z-axis direction guide mechanism is used to control the position of the welding gun 52 in the weld height direction. The Y-axis and Z-axis directional guides work in tandem to address small amplitude curved welds that are inconvenient for the tracked wall climbing welding robot to turn, or for welds of varying widths for kerf reasons, or based on different welding modes, welding situations that require the gun 52 to move continuously along the width of the weld or the height of the weld. Based on the data acquired by the line structure light camera and the molten pool camera, the control cabinet sends out a control model, and the stepping motor 211 for controlling the Y-axis direction guide mechanism and the Z-axis direction guide mechanism is driven to finish welding, so that the process requirements of different welding seams are met.
The cables in the embodiment are not limited in length, and proper cable lengths are arranged according to the sizes of different large steel structural members so as to avoid the influence of overlong cables on the operation of the crawler type wall climbing welding robot.
The control cabinet provides power through the cable, acquires welding seam information, transmits to the host computer based on the information acquired by the welding seam detection part 30, processes the information into corresponding control signals through relevant programs, sends the control signals to the crawler-type wall climbing welding robot, controls the crawler-type wall climbing welding robot to move along the welding seam, and controls the welding equipment part 50 to meet the technological requirements on welding of the welding seam.
In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "a particular example," "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
It will be appreciated by persons skilled in the art that the above embodiments are provided for clarity of illustration only and are not intended to limit the scope of the invention. Other variations or modifications of the above-described invention will be apparent to those of skill in the art, and are still within the scope of the invention.

Claims (10)

1. Crawler-type nuclear power station containment wall climbing welding robot of hollow structure, its characterized in that includes:
a box portion (40) of hollow construction;
Track sections (10) which are provided on both sides of the box section (40) and which bear the movement of the box section (40) in the direction of the weld;
a driving portion (20) disposed within the hollow structure;
The track portion (10) comprises: the magnetic block chain comprises a driving wheel assembly and a driven wheel assembly, the magnetic block chain comprises a chain (11) and a magnetic block assembly (12), the chain (11) is connected to the driving wheel assembly and the driven wheel assembly, the magnetic block assemblies (12) are fixedly connected with the chain (11), and when the magnetic block chain is used, the magnetic block chain is adsorbed on a large steel structural member to be welded;
The driving section (20) includes: the automatic reversing mechanism comprises a power assembly, a reversing mechanism (21) and a transverse moving assembly, wherein the power assembly is fixedly connected with the box body part (40), the power output end of the power assembly is connected with the power input end of the reversing mechanism (21), the reversing mechanism (21) is provided with a crawler power output assembly (218) and a transverse power output assembly (219), the crawler power output assembly (218) of the reversing mechanism (21) is connected with the driving wheel assembly, and the transverse power output assembly (219) of the reversing mechanism (21) is connected with the transverse moving assembly.
2. The crawler-type nuclear power station containment wall climbing welding robot with a hollow structure according to claim 1, wherein the driving wheel assembly comprises a driving wheel hub and driving wheel crawler gears, the driving wheel hub is connected with the crawler power output assembly (218), and the two driving wheel crawler gears are coaxially connected to two sides of the driving wheel hub;
the driven wheel assembly comprises a driven wheel hub and driven wheel track gears, the driven wheel hub is connected with the box body part (40), and the two driven wheel track gears are coaxially connected to two sides of the driven wheel hub;
The magnetic block chain comprises two chains (11) and a plurality of magnetic block assemblies (12), wherein the two chains (11) are respectively connected between the driving wheel track gear and the driven wheel track gear, and two ends of the magnetic block assemblies (12) are respectively connected with the two chains (11).
3. A crawler-type nuclear power station containment wall climbing welding robot of hollow structure as in claim 2, wherein said magnet assembly (12) comprises:
The magnetic block connecting frames (121) are arranged perpendicular to the advancing direction of the crawler belt part (10), and two ends of each magnetic block connecting frame (121) are respectively and fixedly arranged in corresponding shaft connecting holes of two chains (11);
A permanent magnet (122) which is a hollow cylindrical magnet, wherein the permanent magnet (122) is magnetized along the axial direction, and the central axis of the permanent magnet (122) is perpendicular to the travelling direction of the crawler belt part (10);
the wheel shafts (125) are arranged in parallel with the advancing direction of the crawler belt part (10), and two ends of each wheel shaft (125) are respectively and vertically fixedly connected with two adjacent magnetic block connecting frames (121);
The magnetic block support (124), the permanent magnet (122) is sleeved on the wheel shaft (125) through the magnetic block support (124), and the permanent magnet (122) is coaxially and rotatably connected with the wheel shaft (125) through the magnetic block support (124).
4. A hollow structured crawler-type nuclear power station containment wall climbing welding robot as in claim 3, wherein the outer circumference of the permanent magnet (122) is provided with a magnet outer ring (123) for contacting with a large-sized steel structural member.
5. A crawler-type nuclear power station containment wall climbing welding robot with a hollow structure according to claim 3, wherein two permanent magnets (122) are in a group, and a group of permanent magnets (122) are arranged in parallel between each chain link of two chains (11).
6. A hollow structured crawler-type nuclear power plant containment wall climbing welding robot as recited in claim 3, wherein said power assembly comprises: the motor (211), the power transmission bevel gear set (212) and the driving shaft are connected with the box body part (40), and the driving shaft is driven to rotate by the power shaft of the motor (211) through the power transmission bevel gear set (212);
The reversing mechanism (21) includes:
a sliding sleeve (215) sleeved on the driving shaft, wherein the sliding sleeve (215) axially slides relative to the driving shaft;
The transverse driving wheel power input conical gear (213) and the crawler power input cylindrical gear (216) are coaxially and fixedly connected to the sliding sleeve (215);
A transverse driving wheel power output conical gear (214) and a crawler power output cylindrical gear (217), wherein the transverse driving wheel power output conical gear (214) is connected with the transverse power output assembly (219), and the crawler power output cylindrical gear (217) is connected with the crawler power output assembly (218);
When the transverse driving wheel power input bevel gear (213) is meshed with the transverse driving wheel power output bevel gear (214), the crawler power input cylindrical gear (216) is separated from the crawler power output cylindrical gear (217);
When the track power input spur gear (216) is meshed with the track power output spur gear (217), the transverse drive wheel power input bevel gear (213) is separated from the transverse drive wheel power output bevel gear (214).
7. A hollow structured crawler-type nuclear power plant containment wall climbing welding robot as recited in claim 6, wherein the lateral movement assembly comprises: a reversing lifting assembly (22) and a transverse driving assembly (23);
The transverse drive assembly (23) comprises: a driving wheel bracket (233), a transverse driving wheel (231) and a synchronous belt assembly (232), wherein a first end of the driving wheel bracket (233) is rotationally connected with the box body part (40), the transverse driving wheel (231) is rotationally connected with a second end of the driving wheel bracket (233), and the transverse power output assembly (219) drives the transverse driving wheel (231) to rotate through the synchronous belt assembly (232);
one end of the reversing lifting assembly (22) is fixedly connected with the sliding sleeve (215), and the sliding sleeve (215) is driven to axially move along the driving shaft;
The other end of the reversing lifting assembly (22) is connected with the driving wheel bracket (233) and drives the transverse driving wheel (231) to move up and down.
8. The crawler-type nuclear power station containment wall climbing welding robot of claim 7 wherein said reversing lift assembly (22) comprises: the reversing connecting rod (221), the linear driving assembly (222) and the lifting connecting rod mechanism (223), wherein a first end of the reversing connecting rod (221) is fixedly connected with the sliding sleeve (215), a second end of the reversing connecting rod (221) is rotationally connected with a first end of the lifting connecting rod mechanism (223), and a second end of the lifting connecting rod mechanism (223) is rotationally connected with the driving wheel bracket (233);
The linear driving assembly (222) is fixedly connected with the reversing connecting rod (221), and the linear driving assembly (222) drives the reversing connecting rod (221) to move along the central axis of the driving shaft;
when the transverse driving wheel power input conical gear (213) is meshed with the transverse driving wheel power output conical gear (214), the transverse driving wheel (231) is contacted with a large steel structural member.
9. The crawler-type nuclear power station containment wall climbing welding robot of hollow structure according to claim 1, further comprising a weld detecting part and a welding equipment part (50), wherein the weld detecting part (30) and the welding equipment part (50) are both disposed in the box part (40), and the weld detecting part (30) is located in front of the welding equipment part (50).
10. The crawler-type nuclear power station containment wall climbing welding robot of a hollow structure according to claim 9, wherein the weld detecting portion (30) includes: the welding detection device comprises a welding detection bracket, a line structure light camera bracket, a molten pool camera and a molten pool camera bracket, wherein the welding detection bracket is fixedly connected with a box body part (40), the line structure light camera is fixedly connected with the welding detection bracket through the line structure light camera bracket, the molten pool camera is fixedly connected with the welding detection bracket through the molten pool camera bracket, and the line structure light camera is arranged in front of the molten pool camera;
The welding apparatus portion (50) includes: the welding device comprises a sliding rail module (51) and a welding gun (52), wherein the welding gun (52) is connected with the box body part (40) through the sliding rail module (51), and the sliding rail module (51) controls the welding gun (52) to be aligned with a welding line for welding.
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